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_
1.3.6