GT2004ParametersSet Class Reference

#include <GT2004ParameterSet.h>

List of all members.

Public Types

 much_rturn_fast
 much_rturn_med
 much_rturn_slow
 stand
 much_lturn_slow
 much_lturn_med
 much_lturn_fast
 med_rturn_min180_slow
 med_rturn_min135_slow
 med_rturn_min90_slow
 med_rturn_min45_slow
 med_rturn_0_slow
 med_rturn_45_slow
 med_rturn_90_slow
 med_rturn_135_slow
 few_rturn_min180_slow
 few_rturn_min135_slow
 few_rturn_min90_slow
 few_rturn_min45_slow
 few_rturn_0_slow
 few_rturn_45_slow
 few_rturn_90_slow
 few_rturn_135_slow
 no_turn_min180_slow
 no_turn_min135_slow
 no_turn_min90_slow
 no_turn_min45_slow
 no_turn_0_slow
 no_turn_45_slow
 no_turn_90_slow
 no_turn_135_slow
 few_lturn_min180_slow
 few_lturn_min135_slow
 few_lturn_min90_slow
 few_lturn_min45_slow
 few_lturn_0_slow
 few_lturn_45_slow
 few_lturn_90_slow
 few_lturn_135_slow
 med_lturn_min180_slow
 med_lturn_min135_slow
 med_lturn_min90_slow
 med_lturn_min45_slow
 med_lturn_0_slow
 med_lturn_45_slow
 med_lturn_90_slow
 med_lturn_135_slow
 med_rturn_min180_med
 med_rturn_min135_med
 med_rturn_min90_med
 med_rturn_min45_med
 med_rturn_0_med
 med_rturn_45_med
 med_rturn_90_med
 med_rturn_135_med
 few_rturn_min180_med
 few_rturn_min135_med
 few_rturn_min90_med
 few_rturn_min45_med
 few_rturn_0_med
 few_rturn_45_med
 few_rturn_90_med
 few_rturn_135_med
 no_turn_min180_med
 no_turn_min135_med
 no_turn_min90_med
 no_turn_min45_med
 no_turn_0_med
 no_turn_45_med
 no_turn_90_med
 no_turn_135_med
 few_lturn_min180_med
 few_lturn_min135_med
 few_lturn_min90_med
 few_lturn_min45_med
 few_lturn_0_med
 few_lturn_45_med
 few_lturn_90_med
 few_lturn_135_med
 med_lturn_min180_med
 med_lturn_min135_med
 med_lturn_min90_med
 med_lturn_min45_med
 med_lturn_0_med
 med_lturn_45_med
 med_lturn_90_med
 med_lturn_135_med
 med_rturn_min180_fast
 med_rturn_min135_fast
 med_rturn_min90_fast
 med_rturn_min45_fast
 med_rturn_0_fast
 med_rturn_45_fast
 med_rturn_90_fast
 med_rturn_135_fast
 few_rturn_min180_fast
 few_rturn_min135_fast
 few_rturn_min90_fast
 few_rturn_min45_fast
 few_rturn_0_fast
 few_rturn_45_fast
 few_rturn_90_fast
 few_rturn_135_fast
 no_turn_min180_fast
 no_turn_min135_fast
 no_turn_min90_fast
 no_turn_min45_fast
 no_turn_0_fast
 no_turn_45_fast
 no_turn_90_fast
 no_turn_135_fast
 few_lturn_min180_fast
 few_lturn_min135_fast
 few_lturn_min90_fast
 few_lturn_min45_fast
 few_lturn_0_fast
 few_lturn_45_fast
 few_lturn_90_fast
 few_lturn_135_fast
 med_lturn_min180_fast
 med_lturn_min135_fast
 med_lturn_min90_fast
 med_lturn_min45_fast
 med_lturn_0_fast
 med_lturn_45_fast
 med_lturn_90_fast
 med_lturn_135_fast
 numberOfParameters
enum  IndexName {
  much_rturn_fast, much_rturn_med, much_rturn_slow, stand,
  much_lturn_slow, much_lturn_med, much_lturn_fast, med_rturn_min180_slow,
  med_rturn_min135_slow, med_rturn_min90_slow, med_rturn_min45_slow, med_rturn_0_slow,
  med_rturn_45_slow, med_rturn_90_slow, med_rturn_135_slow, few_rturn_min180_slow,
  few_rturn_min135_slow, few_rturn_min90_slow, few_rturn_min45_slow, few_rturn_0_slow,
  few_rturn_45_slow, few_rturn_90_slow, few_rturn_135_slow, no_turn_min180_slow,
  no_turn_min135_slow, no_turn_min90_slow, no_turn_min45_slow, no_turn_0_slow,
  no_turn_45_slow, no_turn_90_slow, no_turn_135_slow, few_lturn_min180_slow,
  few_lturn_min135_slow, few_lturn_min90_slow, few_lturn_min45_slow, few_lturn_0_slow,
  few_lturn_45_slow, few_lturn_90_slow, few_lturn_135_slow, med_lturn_min180_slow,
  med_lturn_min135_slow, med_lturn_min90_slow, med_lturn_min45_slow, med_lturn_0_slow,
  med_lturn_45_slow, med_lturn_90_slow, med_lturn_135_slow, med_rturn_min180_med,
  med_rturn_min135_med, med_rturn_min90_med, med_rturn_min45_med, med_rturn_0_med,
  med_rturn_45_med, med_rturn_90_med, med_rturn_135_med, few_rturn_min180_med,
  few_rturn_min135_med, few_rturn_min90_med, few_rturn_min45_med, few_rturn_0_med,
  few_rturn_45_med, few_rturn_90_med, few_rturn_135_med, no_turn_min180_med,
  no_turn_min135_med, no_turn_min90_med, no_turn_min45_med, no_turn_0_med,
  no_turn_45_med, no_turn_90_med, no_turn_135_med, few_lturn_min180_med,
  few_lturn_min135_med, few_lturn_min90_med, few_lturn_min45_med, few_lturn_0_med,
  few_lturn_45_med, few_lturn_90_med, few_lturn_135_med, med_lturn_min180_med,
  med_lturn_min135_med, med_lturn_min90_med, med_lturn_min45_med, med_lturn_0_med,
  med_lturn_45_med, med_lturn_90_med, med_lturn_135_med, med_rturn_min180_fast,
  med_rturn_min135_fast, med_rturn_min90_fast, med_rturn_min45_fast, med_rturn_0_fast,
  med_rturn_45_fast, med_rturn_90_fast, med_rturn_135_fast, few_rturn_min180_fast,
  few_rturn_min135_fast, few_rturn_min90_fast, few_rturn_min45_fast, few_rturn_0_fast,
  few_rturn_45_fast, few_rturn_90_fast, few_rturn_135_fast, no_turn_min180_fast,
  no_turn_min135_fast, no_turn_min90_fast, no_turn_min45_fast, no_turn_0_fast,
  no_turn_45_fast, no_turn_90_fast, no_turn_135_fast, few_lturn_min180_fast,
  few_lturn_min135_fast, few_lturn_min90_fast, few_lturn_min45_fast, few_lturn_0_fast,
  few_lturn_45_fast, few_lturn_90_fast, few_lturn_135_fast, med_lturn_min180_fast,
  med_lturn_min135_fast, med_lturn_min90_fast, med_lturn_min45_fast, med_lturn_0_fast,
  med_lturn_45_fast, med_lturn_90_fast, med_lturn_135_fast, numberOfParameters
}

Public Member Functions

 GT2004ParametersSet ()
void calculateMergedParameterSet (Pose2D &currentRequest)
GT2004ParametersgetParameters (int index)
bool isMaxSpeedIndex (int index)
void mirrorThis (int index)
void mirrorLeftTurnToRightTurn ()
bool load (char *filename=0)
void save (char *filename=0)

Static Public Member Functions

static char * getIndexString (int index)
static int getIndexOfMirror (int index)
static double getSpeed (const Pose2D &request)
static double getRatio (const Pose2D &request)
static double getDirection (const Pose2D &request)
static void setSpeed (Pose2D &request, double speed)
static void setRatio (Pose2D &request, double ratio)
static void setDirection (Pose2D &request, double direct)

Public Attributes

GT2004Parameters rotationOnly [7]
GT2004Parameters withWalk [3][5][8]
GT2004Parameters llBuf
GT2004Parameters luBuf
GT2004Parameters ulBuf
GT2004Parameters uuBuf
GT2004Parameters lBuf
GT2004Parameters uBuf
GT2004Parameters mBuf
GT2004ParameterslowRatioLowSpeed
GT2004ParameterslowRatioUpSpeed
GT2004ParametersupRatioLowSpeed
GT2004ParametersupRatioUpSpeed
GT2004ParameterslowSpeed
GT2004ParametersupSpeed
GT2004ParametersmergedParameters


Detailed Description

ParametersSet for GT2004WalkingEngine

Author:
Uwe Düffert

Definition at line 314 of file GT2004ParameterSet.h.


Member Enumeration Documentation

enum GT2004ParametersSet::IndexName

enum describing indexes of a set of parameters

Enumerator:
much_rturn_fast 
much_rturn_med 
much_rturn_slow 
stand 
much_lturn_slow 
much_lturn_med 
much_lturn_fast 
med_rturn_min180_slow 
med_rturn_min135_slow 
med_rturn_min90_slow 
med_rturn_min45_slow 
med_rturn_0_slow 
med_rturn_45_slow 
med_rturn_90_slow 
med_rturn_135_slow 
few_rturn_min180_slow 
few_rturn_min135_slow 
few_rturn_min90_slow 
few_rturn_min45_slow 
few_rturn_0_slow 
few_rturn_45_slow 
few_rturn_90_slow 
few_rturn_135_slow 
no_turn_min180_slow 
no_turn_min135_slow 
no_turn_min90_slow 
no_turn_min45_slow 
no_turn_0_slow 
no_turn_45_slow 
no_turn_90_slow 
no_turn_135_slow 
few_lturn_min180_slow 
few_lturn_min135_slow 
few_lturn_min90_slow 
few_lturn_min45_slow 
few_lturn_0_slow 
few_lturn_45_slow 
few_lturn_90_slow 
few_lturn_135_slow 
med_lturn_min180_slow 
med_lturn_min135_slow 
med_lturn_min90_slow 
med_lturn_min45_slow 
med_lturn_0_slow 
med_lturn_45_slow 
med_lturn_90_slow 
med_lturn_135_slow 
med_rturn_min180_med 
med_rturn_min135_med 
med_rturn_min90_med 
med_rturn_min45_med 
med_rturn_0_med 
med_rturn_45_med 
med_rturn_90_med 
med_rturn_135_med 
few_rturn_min180_med 
few_rturn_min135_med 
few_rturn_min90_med 
few_rturn_min45_med 
few_rturn_0_med 
few_rturn_45_med 
few_rturn_90_med 
few_rturn_135_med 
no_turn_min180_med 
no_turn_min135_med 
no_turn_min90_med 
no_turn_min45_med 
no_turn_0_med 
no_turn_45_med 
no_turn_90_med 
no_turn_135_med 
few_lturn_min180_med 
few_lturn_min135_med 
few_lturn_min90_med 
few_lturn_min45_med 
few_lturn_0_med 
few_lturn_45_med 
few_lturn_90_med 
few_lturn_135_med 
med_lturn_min180_med 
med_lturn_min135_med 
med_lturn_min90_med 
med_lturn_min45_med 
med_lturn_0_med 
med_lturn_45_med 
med_lturn_90_med 
med_lturn_135_med 
med_rturn_min180_fast 
med_rturn_min135_fast 
med_rturn_min90_fast 
med_rturn_min45_fast 
med_rturn_0_fast 
med_rturn_45_fast 
med_rturn_90_fast 
med_rturn_135_fast 
few_rturn_min180_fast 
few_rturn_min135_fast 
few_rturn_min90_fast 
few_rturn_min45_fast 
few_rturn_0_fast 
few_rturn_45_fast 
few_rturn_90_fast 
few_rturn_135_fast 
no_turn_min180_fast 
no_turn_min135_fast 
no_turn_min90_fast 
no_turn_min45_fast 
no_turn_0_fast 
no_turn_45_fast 
no_turn_90_fast 
no_turn_135_fast 
few_lturn_min180_fast 
few_lturn_min135_fast 
few_lturn_min90_fast 
few_lturn_min45_fast 
few_lturn_0_fast 
few_lturn_45_fast 
few_lturn_90_fast 
few_lturn_135_fast 
med_lturn_min180_fast 
med_lturn_min135_fast 
med_lturn_min90_fast 
med_lturn_min45_fast 
med_lturn_0_fast 
med_lturn_45_fast 
med_lturn_90_fast 
med_lturn_135_fast 
numberOfParameters 

Definition at line 320 of file GT2004ParameterSet.h.


Constructor & Destructor Documentation

GT2004ParametersSet::GT2004ParametersSet (  ) 

default constructor

Definition at line 171 of file GT2004ParameterSet.cpp.

References abs(), GT2004Parameters::correctedMotion, GT2004Parameters::index, load(), lowRatioLowSpeed, lowRatioUpSpeed, lowSpeed, mergedParameters, pi_2, pi_4, GT2004Parameters::requestedMotion, rotationOnly, upRatioLowSpeed, upRatioUpSpeed, upSpeed, and withWalk.


Member Function Documentation

void GT2004ParametersSet::calculateMergedParameterSet ( Pose2D currentRequest  ) 

calculate merged parameters set according to motion request

Parameters:
currentRequest the request the merged parameters set shall be optimized for

Definition at line 320 of file GT2004ParameterSet.cpp.

References Vector2< V >::abs(), int(), GT2004Parameters::interpolate(), lBuf, llBuf, lowRatioLowSpeed, lowRatioUpSpeed, lowSpeed, luBuf, mBuf, mergedParameters, min, pi, Pose2D::rotation, rotationOnly, sqr, Pose2D::translation, uBuf, ulBuf, upRatioLowSpeed, upRatioUpSpeed, upSpeed, uuBuf, withWalk, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004WalkingEngine::calculateLegSpeeds().

double GT2004ParametersSet::getDirection ( const Pose2D request  )  [static]

Definition at line 948 of file GT2004ParameterSet.cpp.

References Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), CGT2004WalkingEngineParamSetDlgBar::OnChangeRequest(), setRatio(), and setSpeed().

int GT2004ParametersSet::getIndexOfMirror ( int  index  )  [static]

return the index of the left right mirrored parameters set

Parameters:
index the index of the parameters set you want to get the mirrored version of
Returns:
the index of the left right mirrored parameters set or -1 if that doesnt exist

Definition at line 785 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, few_rturn_0_fast, few_rturn_0_med, few_rturn_0_slow, few_rturn_135_fast, few_rturn_135_med, few_rturn_135_slow, few_rturn_45_fast, few_rturn_45_med, few_rturn_45_slow, few_rturn_90_fast, few_rturn_90_med, few_rturn_90_slow, few_rturn_min135_fast, few_rturn_min135_med, few_rturn_min135_slow, few_rturn_min180_fast, few_rturn_min180_med, few_rturn_min180_slow, few_rturn_min45_fast, few_rturn_min45_med, few_rturn_min45_slow, few_rturn_min90_fast, few_rturn_min90_med, few_rturn_min90_slow, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, med_rturn_0_fast, med_rturn_0_med, med_rturn_0_slow, med_rturn_135_fast, med_rturn_135_med, med_rturn_135_slow, med_rturn_45_fast, med_rturn_45_med, med_rturn_45_slow, med_rturn_90_fast, med_rturn_90_med, med_rturn_90_slow, med_rturn_min135_fast, med_rturn_min135_med, med_rturn_min135_slow, med_rturn_min180_fast, med_rturn_min180_med, med_rturn_min180_slow, med_rturn_min45_fast, med_rturn_min45_med, med_rturn_min45_slow, med_rturn_min90_fast, med_rturn_min90_med, med_rturn_min90_slow, much_lturn_fast, much_lturn_med, much_lturn_slow, much_rturn_fast, much_rturn_med, much_rturn_slow, no_turn_135_fast, no_turn_135_med, no_turn_135_slow, no_turn_45_fast, no_turn_45_med, no_turn_45_slow, no_turn_90_fast, no_turn_90_med, no_turn_90_slow, no_turn_min135_fast, no_turn_min135_med, no_turn_min135_slow, no_turn_min45_fast, no_turn_min45_med, no_turn_min45_slow, no_turn_min90_fast, no_turn_min90_med, and no_turn_min90_slow.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BehaviorControl::handleMessage(), and mirrorThis().

char * GT2004ParametersSet::getIndexString ( int  index  )  [static]

returns the name string of a certain index

Parameters:
index the index of the parameters we would like to get the name of
Returns:
the name of the index as char*

Definition at line 650 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, few_rturn_0_fast, few_rturn_0_med, few_rturn_0_slow, few_rturn_135_fast, few_rturn_135_med, few_rturn_135_slow, few_rturn_45_fast, few_rturn_45_med, few_rturn_45_slow, few_rturn_90_fast, few_rturn_90_med, few_rturn_90_slow, few_rturn_min135_fast, few_rturn_min135_med, few_rturn_min135_slow, few_rturn_min180_fast, few_rturn_min180_med, few_rturn_min180_slow, few_rturn_min45_fast, few_rturn_min45_med, few_rturn_min45_slow, few_rturn_min90_fast, few_rturn_min90_med, few_rturn_min90_slow, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, med_rturn_0_fast, med_rturn_0_med, med_rturn_0_slow, med_rturn_135_fast, med_rturn_135_med, med_rturn_135_slow, med_rturn_45_fast, med_rturn_45_med, med_rturn_45_slow, med_rturn_90_fast, med_rturn_90_med, med_rturn_90_slow, med_rturn_min135_fast, med_rturn_min135_med, med_rturn_min135_slow, med_rturn_min180_fast, med_rturn_min180_med, med_rturn_min180_slow, med_rturn_min45_fast, med_rturn_min45_med, med_rturn_min45_slow, med_rturn_min90_fast, med_rturn_min90_med, med_rturn_min90_slow, much_lturn_fast, much_lturn_med, much_lturn_slow, much_rturn_fast, much_rturn_med, much_rturn_slow, no_turn_0_fast, no_turn_0_med, no_turn_0_slow, no_turn_135_fast, no_turn_135_med, no_turn_135_slow, no_turn_45_fast, no_turn_45_med, no_turn_45_slow, no_turn_90_fast, no_turn_90_med, no_turn_90_slow, no_turn_min135_fast, no_turn_min135_med, no_turn_min135_slow, no_turn_min180_fast, no_turn_min180_med, no_turn_min180_slow, no_turn_min45_fast, no_turn_min45_med, no_turn_min45_slow, no_turn_min90_fast, no_turn_min90_med, no_turn_min90_slow, and stand.

Referenced by GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), and GT2004BehaviorControl::handleMessage().

GT2004Parameters * GT2004ParametersSet::getParameters ( int  index  ) 

return one of the GT2004Parameters in the tables according to index

Definition at line 619 of file GT2004ParameterSet.cpp.

References rotationOnly, and withWalk.

Referenced by CGT2004WalkingEngineParamSetDlgBar::CGT2004WalkingEngineParamSetDlgBar(), GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BehaviorControl::GT2004BehaviorControl(), CGT2004WalkingEngineParamSetDlgBar::handleMessage(), GT2004BehaviorControl::handleMessage(), mirrorThis(), CGT2004WalkingEngineParamSetDlgBar::OnSelchangeChooseSet(), CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard(), and GT2004WalkingEngine::setNextParameters().

double GT2004ParametersSet::getRatio ( const Pose2D request  )  [static]

Definition at line 945 of file GT2004ParameterSet.cpp.

References Vector2< V >::abs(), pi, Pose2D::rotation, and Pose2D::translation.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), CGT2004WalkingEngineParamSetDlgBar::OnChangeRequest(), setSpeed(), and EvolutionSymbols::update().

double GT2004ParametersSet::getSpeed ( const Pose2D request  )  [static]

some functions to access and modify polar parts of a (motionRequest) Pose2D

Definition at line 942 of file GT2004ParameterSet.cpp.

References Vector2< V >::abs(), Pose2D::rotation, sqr, and Pose2D::translation.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BehaviorControl::handleMessage(), CGT2004WalkingEngineParamSetDlgBar::OnChangeRequest(), and setRatio().

bool GT2004ParametersSet::isMaxSpeedIndex ( int  index  ) 

returns true if the given index is for a parametersset designed for max speed

Definition at line 635 of file GT2004ParameterSet.cpp.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute().

bool GT2004ParametersSet::load ( char *  filename = 0  ) 

tries to load the parameters set from a file

Returns:
true, if reading was successful, false if set is unchanged

Definition at line 986 of file GT2004ParameterSet.cpp.

References RobotDesign::ERS210, InFile::exists(), getRobotConfiguration(), mergedParameters, and rotationOnly.

Referenced by GT2004ParametersSet(), GT2004WalkingEngine::handleMessage(), GT2004BehaviorControl::handleMessage(), and CGT2004WalkingEngineParamSetDlgBar::OnLoad().

void GT2004ParametersSet::mirrorLeftTurnToRightTurn (  ) 

changes all right turn parameters to match the according left turn parameters

Definition at line 259 of file GT2004ParameterSet.cpp.

References few_lturn_0_fast, few_lturn_0_med, few_lturn_0_slow, few_lturn_135_fast, few_lturn_135_med, few_lturn_135_slow, few_lturn_45_fast, few_lturn_45_med, few_lturn_45_slow, few_lturn_90_fast, few_lturn_90_med, few_lturn_90_slow, few_lturn_min135_fast, few_lturn_min135_med, few_lturn_min135_slow, few_lturn_min180_fast, few_lturn_min180_med, few_lturn_min180_slow, few_lturn_min45_fast, few_lturn_min45_med, few_lturn_min45_slow, few_lturn_min90_fast, few_lturn_min90_med, few_lturn_min90_slow, med_lturn_0_fast, med_lturn_0_med, med_lturn_0_slow, med_lturn_135_fast, med_lturn_135_med, med_lturn_135_slow, med_lturn_45_fast, med_lturn_45_med, med_lturn_45_slow, med_lturn_90_fast, med_lturn_90_med, med_lturn_90_slow, med_lturn_min135_fast, med_lturn_min135_med, med_lturn_min135_slow, med_lturn_min180_fast, med_lturn_min180_med, med_lturn_min180_slow, med_lturn_min45_fast, med_lturn_min45_med, med_lturn_min45_slow, med_lturn_min90_fast, med_lturn_min90_med, med_lturn_min90_slow, mirrorThis(), much_lturn_fast, much_lturn_med, and much_lturn_slow.

Referenced by CGT2004WalkingEngineParamSetDlgBar::OnMirror().

void GT2004ParametersSet::mirrorThis ( int  index  ) 

changes the mirrored parameters set to match the given one except for sign

Parameters:
index the index of the source parameters set, the mirrored one shall look like that

Definition at line 926 of file GT2004ParameterSet.cpp.

References GT2004Parameters::correctedMotion, getIndexOfMirror(), getParameters(), GT2004Parameters::index, GT2004Parameters::requestedMotion, Pose2D::rotation, Pose2D::translation, and Vector2< V >::y.

Referenced by GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), CGT2004WalkingEngineParamSetDlgBar::handleMessage(), mirrorLeftTurnToRightTurn(), GT2004WalkingEngine::nextParametersInterpolation(), and CGT2004WalkingEngineParamSetDlgBar::pasteFromClipboard().

void GT2004ParametersSet::save ( char *  filename = 0  ) 

saves the parameters set to a file

Definition at line 1014 of file GT2004ParameterSet.cpp.

References RobotDesign::ERS210, and getRobotConfiguration().

Referenced by GT2004BehaviorControl::handleMessage(), and CGT2004WalkingEngineParamSetDlgBar::OnSave().

void GT2004ParametersSet::setDirection ( Pose2D request,
double  direct 
) [static]

Definition at line 975 of file GT2004ParameterSet.cpp.

References Vector2< V >::abs(), Pose2D::rotation, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), CGT2004WalkingEngineParamSetDlgBar::OnChangeDirection(), CGT2004WalkingEngineParamSetDlgBar::OnChangeRatio(), and CGT2004WalkingEngineParamSetDlgBar::OnChangeSpeed().

void GT2004ParametersSet::setRatio ( Pose2D request,
double  ratio 
) [static]

Definition at line 963 of file GT2004ParameterSet.cpp.

References getDirection(), getSpeed(), pi, Pose2D::rotation, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), CGT2004WalkingEngineParamSetDlgBar::OnChangeRatio(), and CGT2004WalkingEngineParamSetDlgBar::OnChangeSpeed().

void GT2004ParametersSet::setSpeed ( Pose2D request,
double  speed 
) [static]

Definition at line 951 of file GT2004ParameterSet.cpp.

References getDirection(), getRatio(), pi, Pose2D::rotation, Pose2D::translation, Vector2< V >::x, and Vector2< V >::y.

Referenced by GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BehaviorControl::handleMessage(), and CGT2004WalkingEngineParamSetDlgBar::OnChangeSpeed().


Member Data Documentation

GT2004Parameters GT2004ParametersSet::lBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::llBuf

buffers for merging up to 8 parameter sets around the requested one

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters* GT2004ParametersSet::lowRatioLowSpeed

pointers to merged parameter sets to minimize merging afford

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::lowRatioUpSpeed

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters* GT2004ParametersSet::lowSpeed

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters GT2004ParametersSet::luBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::mBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters * GT2004ParametersSet::mergedParameters

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by GT2004WalkingEngine::calculateLegSpeeds(), calculateMergedParameterSet(), GT2004WalkingEngine::executeParameterized(), GT2004ParametersSet(), GT2004WalkingEngine::handleMessage(), GT2004WalkingEngine::init(), and load().

GT2004Parameters GT2004ParametersSet::rotationOnly[7]

Definition at line 363 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), load(), operator<<(), and operator>>().

GT2004Parameters GT2004ParametersSet::uBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::ulBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters * GT2004ParametersSet::upRatioLowSpeed

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::upRatioUpSpeed

Definition at line 373 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters * GT2004ParametersSet::upSpeed

Definition at line 374 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().

GT2004Parameters GT2004ParametersSet::uuBuf

Definition at line 370 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet().

GT2004Parameters GT2004ParametersSet::withWalk[3][5][8]

Definition at line 364 of file GT2004ParameterSet.h.

Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), operator<<(), and operator>>().


The documentation for this class was generated from the following files:
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