Main Page | Namespace List | Class Hierarchy | Alphabetical List | Class List | File List | Namespace Members | Class Members | File Members | Related Pages

# Modules/MotionControl/WakeUpEngine.h

Go to the documentation of this file.

    00001 /**
    00002 * @file WakeUpEngine.h
    00003 *
    00004 * Definition of class WakeUpEngine
    00005 *
    00006 * @author Andreas Heinze
    00007 */
    00008
    00009 #ifndef __WakeUpEngine_h_
    00010 #define __WakeUpEngine_h_
    00011
    00012
    00013 #include "Representations/Perception/SensorDataBuffer.h"
    00014 #include "Representations/Motion/JointData.h"
    00015 #include "Representations/Motion/PIDData.h"
    00016
    00017 /**
    00018 * @class WakeUpEngine
    00019 *
    00020 *
    00021 *
    00022 */
    00023 class WakeUpEngine
    00024 {
    00025 public:
    00026   WakeUpEngine();
    00027
    00028   ~WakeUpEngine();
    00029
    00030
    00031
    00032   bool execute(unsigned int frameNumber, const SensorData& sensorData, JointData& jointData, PIDData& pidData);
    00033
    00034 private:
    00035   bool running;
    00036   int counter;
    00037   bool finished;
    00038   unsigned long lastTimeRunFrameNumber;
    00039   enum {numberOfKeyFrames = 6}; // old value: 4 ->changed by Denis Fisseler
    00040   long int position[JointData::numOfJoint][numberOfKeyFrames];
    00041   long int stepSize[JointData::numOfJoint][numberOfKeyFrames-1];
    00042   int frameNumberOfKeyFrame[numberOfKeyFrames];
    00043   int frameNumberWhenDefaultPidDataIsReached;
    00044   int currentKeyFrame;
    00045   double diffP[JointData::numOfJoint];
    00046   double diffI[JointData::numOfJoint];
    00047   double diffD[JointData::numOfJoint];
    00048
    00049   void start(const SensorData& sensorData, PIDData& pidData);
    00050 };
    00051
    00052 #endif// __WakeUpEngine_h_