#include <GT2004ParameterSet.h>
Definition at line 314 of file GT2004ParameterSet.h.
enum describing indexes of a set of parameters
Definition at line 320 of file GT2004ParameterSet.h.
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.
void GT2004ParametersSet::calculateMergedParameterSet | ( | Pose2D & | currentRequest | ) |
calculate merged parameters set according to motion request
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
index | the index of the parameters set you want to get the mirrored version of |
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
index | the index of the parameters we would like to get the name of |
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
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
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().
buffers for merging up to 8 parameter sets around the requested one
Definition at line 370 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet().
pointers to merged parameter sets to minimize merging afford
Definition at line 373 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 373 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 374 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 374 of file GT2004ParameterSet.h.
Referenced by GT2004WalkingEngine::calculateLegSpeeds(), calculateMergedParameterSet(), GT2004WalkingEngine::executeParameterized(), GT2004ParametersSet(), GT2004WalkingEngine::handleMessage(), GT2004WalkingEngine::init(), and load().
Definition at line 363 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), load(), operator<<(), and operator>>().
Definition at line 373 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 373 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 374 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), and GT2004ParametersSet().
Definition at line 364 of file GT2004ParameterSet.h.
Referenced by calculateMergedParameterSet(), getParameters(), GT2004ParametersSet(), operator<<(), and operator>>().