#include <GT2004GetupEngine.h>
Inheritance diagram for GT2004GetupEngine:
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 |
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.
anonymous enum [protected] |
current state
unknown | |
leftSideDown | |
rightSideDown | |
getupFromUpright | |
standing | |
rollRight | |
rollLeft | |
numOfStates |
Definition at line 48 of file GT2004GetupEngine.h.
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.
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.
int GT2004GetupEngine::countTry [protected] |
Definition at line 83 of file GT2004GetupEngine.h.
Referenced by executeParameterized(), and GT2004GetupEngine().
unsigned long GT2004GetupEngine::lastGetupTime [protected] |
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] |
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] |