Modules/MotionControl/MotionStabilizer.h

Go to the documentation of this file.

/**
* @file MotionStabilizer.h
* 
* Definition of class MotionStabilizer
*
* @author Jan Hoffmann
*/

#ifndef __MotionStabilizer_h_
#define __MotionStabilizer_h_

#include "Modules/WalkingEngine/WalkingEngine.h"
#include "Tools/Math/PIDsmoothedValue.h"
#include "Representations/Perception/SensorDataBuffer.h"



/**
* @class MotionStabilizer
*
* class/function that tries to stabilize the robot in such a way that
* no forces other then gravity act on the center of mass (or wherever
* the acceleration sensor is placed). idea is to stabilize walking 
* movement of the robot. 
*
* @author Jan Hoffmann
*/

class MotionStabilizer
{
public:

  MotionStabilizer();

  /**
  * takes all parameters used to generate a motion and alters the joint
  * datas in order to stabilize the motion
  * 
  * @todo this is no parameter documentation!
  * @param lastMotionType
  * @param motionRequest
  * @param jointData
  * @param odometryData
  * @param sensorDataBuffer
  * 
  * @return true if successfull
  */ 
  bool stabilize(
    MotionRequest::MotionID lastMotionType,
    const MotionRequest& motionRequest, 
    JointData& jointData, 
    OdometryData& odometryData,
    const SensorDataBuffer& sensorDataBuffer);
  
  PIDsmoothedValue accelX, accelY, accelZ,
    xFore, xHind, yLeft, yRight;

  double stabilizerScale;

private: 
};

#endif// __MotionStabilizer_h_

---