GT2004GetupEngine Class Reference

#include <GT2004GetupEngine.h>

Inheritance diagram for GT2004GetupEngine:

GetupEngine Module GetupEngineInterfaces MessageHandler List of all members.

Public Member Functions

 GT2004GetupEngine (const GetupEngineInterfaces &interfaces)
virtual bool executeParameterized (JointData &jointData)

Protected Types

 unknown
 leftSideDown
 rightSideDown
 getupFromUpright
 standing
 rollRight
 rollLeft
 numOfStates
enum  {
  unknown, leftSideDown, rightSideDown, getupFromUpright,
  standing, rollRight, rollLeft, numOfStates
}

Protected Attributes

JointDataSequencer sequencer
enum GT2004GetupEngine:: { ... }  state
enum GT2004GetupEngine:: { ... }  lastState
JointDataSequence sequence [numOfStates]
JointDataSequence sequenceERS7 [numOfStates]
unsigned long stateStartTime
unsigned long lastGetupTime
int countTry

Detailed Description

The GT2004 getup engine.

It executes different JointDataSequences for different body roll angles. Body roll angle is determined by current acceleration sensor values.

Definition at line 33 of file GT2004GetupEngine.h.


Member Enumeration Documentation

anonymous enum [protected]

current state

Enumerator:
unknown 
leftSideDown 
rightSideDown 
getupFromUpright 
standing 
rollRight 
rollLeft 
numOfStates 

Definition at line 48 of file GT2004GetupEngine.h.


Constructor & Destructor Documentation

GT2004GetupEngine::GT2004GetupEngine ( const GetupEngineInterfaces interfaces  ) 

Constructor

Definition at line 114 of file GT2004GetupEngine.cpp.

References countTry, JointDataSequence::entry, getupFromUpright, I, JointDataSequence::interpolate, leftSideDown, JointDataSequence::loop, JointDataSequence::numOfEntries, JointDataSequence::repeats, rightSideDown, rollLeft, rollRight, sequence, sequenceERS7, standing, and unknown.


Member Function Documentation

bool GT2004GetupEngine::executeParameterized ( JointData jointData  )  [virtual]

Executes the engine

Implements GetupEngine.

Definition at line 427 of file GT2004GetupEngine.cpp.

References SensorData::accelerationX, SensorData::accelerationY, SensorData::accelerationZ, GetupEngineInterfaces::bodyPosture, BodyPosture::bodyRollCalculatedFromAccelerationSensors, BodyPosture::bodyTiltCalculatedFromAccelerationSensors, countTry, SensorData::data, RobotDesign::ERS210, MotionInfo::executedMotionRequest, SystemCall::getCurrentSystemTime(), getRobotConfiguration(), RobotConfiguration::getRobotDesign(), SystemCall::getTimeSince(), MotionRequest::getup, getupFromUpright, gt2004GetupEngineFalldownRollAngle, gt2004GetupEngineFalldownRollAngle7, gt2004GetupEngineFalldownTiltAngle, gt2004GetupEngineFalldownTiltAngle7, gt2004GetupEngineFalldownTiltAngleBack7, gt2004GetupEngineRollOnWallAngle, gt2004GetupEngineRollOnWallAngle7, JointDataSequencer::isRunning(), SensorDataBuffer::lastFrame(), lastGetupTime, GetupEngineInterfaces::lastMotionType, lastState, leftSideDown, GetupEngineInterfaces::motionInfo, MotionInfo::motionIsStable, MotionRequest::motionType, MotionInfo::neckHeight, JointDataSequencer::nextSequenceData(), SensorDataBuffer::numOfFrames, rightSideDown, rollLeft, rollRight, GetupEngineInterfaces::sensorDataBuffer, sequence, sequenceERS7, sequencer, standing, JointDataSequencer::start(), state, stateStartTime, and unknown.


Member Data Documentation

int GT2004GetupEngine::countTry [protected]

Definition at line 83 of file GT2004GetupEngine.h.

Referenced by executeParameterized(), and GT2004GetupEngine().

unsigned long GT2004GetupEngine::lastGetupTime [protected]

Definition at line 82 of file GT2004GetupEngine.h.

Referenced by executeParameterized().

enum { ... } GT2004GetupEngine::lastState [protected]

current state

Referenced by executeParameterized().

JointDataSequence GT2004GetupEngine::sequence[numOfStates] [protected]

joint data sequence executed in each state

Definition at line 76 of file GT2004GetupEngine.h.

Referenced by executeParameterized(), and GT2004GetupEngine().

JointDataSequence GT2004GetupEngine::sequenceERS7[numOfStates] [protected]

joint data sequence executed in each state for ERS 7

Definition at line 79 of file GT2004GetupEngine.h.

Referenced by executeParameterized(), and GT2004GetupEngine().

JointDataSequencer GT2004GetupEngine::sequencer [protected]

the JointDataSequencer

Definition at line 45 of file GT2004GetupEngine.h.

Referenced by executeParameterized().

enum { ... } GT2004GetupEngine::state [protected]

current state

Referenced by executeParameterized().

unsigned long GT2004GetupEngine::stateStartTime [protected]

Definition at line 81 of file GT2004GetupEngine.h.

Referenced by executeParameterized().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:34:08 2006 for DT2005.panorama by  doxygen 1.4.7