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GT2005WalkingEngine Class Reference

#include <GT2005WalkingEngine.h>

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List of all members.

Public Member Functions

 GT2005WalkingEngine (const WalkingEngineInterfaces &interfaces)
 ~GT2005WalkingEngine ()
virtual bool executeParameterized (JointData &jointData, const WalkRequest &walkRequest, double positionInWalkingCycle)
 Calculates the next joint data set.

virtual bool handleMessage (InMessage &message)
 Called from a MessageQueue to distribute messages.


Public Attributes

bool initWithOldStyleShape
int activePoints
double footPhase [4]
Vector3< double > footZeroPosition [4]
GT2005Polygon * currentPoly [4]
GT2005Parameters * currentFIPSParameters
int currentStep
bool standing
bool loadingFailed

Static Public Attributes

const int Leg_FR = 0
const int Leg_FL = 1
const int Leg_HR = 2
const int Leg_HL = 3

Private Member Functions

void calculateData (JointData &j)
void smoothMotionRequest (const Pose2D &request, Pose2D &currentRequest)
void readDebugData (double ssf[4], double a[4], double c_offset[4], JointData &j)
void streamDebugData ()
void readResampleData (double c_scale[4], double c_angle[4], double c_offset[4], JointData &j, Vector3< double > fp[4])
void loadPolys (int polyID, InMessage &message)
void sendPolys (int polyID)
void readOdometryCalibrationData ()
Pose2D calculateOdometryCalibrationData (Pose2D request, WalkRequest::WalkType walkType)
void loadOdometryPlane (int planeNum, char *filename, int alternateDir)
void loadOdometryRotation (int rotNum, char *filename, int alternateDir)

Private Attributes

double neckHeight
double bodyTilt
Pose2D odometry
Pose2D currentRequest
double currentStepPercentage
GT2004Parameters * currentParameters
GT2004ParametersSet paramSet
bool debugging
bool debugRequest
bool debugLoop
Vector3< double > debugDataReal [4][128]
Vector3< double > debugDataIdeal [4][128]
long debugDataBuffer [4][12]
bool resampleRequest
bool resampling
int polygonsRecieved
odometryPoint odometryCalibrationData [15][13][7]
odometryPoint odometryCalibrationData2 [2][21]

Constructor & Destructor Documentation

GT2005WalkingEngine::GT2005WalkingEngine (  const WalkingEngineInterfaces &  interfaces  ) 
 

Definition at line 21 of file GT2005WalkingEngine.cpp.

References currentFIPSParameters, currentPoly, currentStep, debugging, debugLoop, debugRequest, GT2005DebugData::gt2005Status, idText, Leg_FL, Leg_FR, Leg_HL, Leg_HR, GT2005Parameters::loadingFailed, GT2004ParametersSet::mergedParameters, OUTPUT, polygonsRecieved, readOdometryCalibrationData(), resampleRequest, and resampling.

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GT2005WalkingEngine::~GT2005WalkingEngine (   ) 
 

Definition at line 75 of file GT2005WalkingEngine.cpp.

References currentFIPSParameters, and currentPoly.

Member Function Documentation

bool GT2005WalkingEngine::executeParameterized (  JointData &  jointData,
const WalkRequest &  walkRequest,
double  positionInWalkingCycle
)  [virtual]
 

Calculates the next joint data set.

Parameters:
jointData stores calculated frame
walkRequest The current motion request
positionInWalkingCycle A request position for the walkcycle.
Returns:
true if next set should be calculated by WalkingEngine false if change to other module can occur

Implements WalkingEngine.

Definition at line 346 of file GT2005WalkingEngine.cpp.

References Vector2< double >::abs(), GTWalkParametersIndividual::bMessage, MotionInfo::bodyTilt, RobotCalibration::bodyTiltOffset, GT2005Parameters::calculateCurrentPoly(), calculateData(), calculateOdometryCalibrationData(), Pose2D::conc(), GT2005Polygon::copy(), currentFIPSParameters, currentPoly, currentStep, debugging, debugRequest, GT2005Parameters::evoPoly, MotionInfo::executedMotionRequest, GT2005Parameters::footPhase, GT2005Parameters::footZeroPosition, RobotConfiguration::getRobotCalibration(), getRobotConfiguration(), GT2005DebugData::gt2005Status, idText, Leg_FL, Leg_FR, Leg_HL, Leg_HR, MotionInfo::motionIsStable, MotionRequest::motionType, MotionInfo::neckHeight, OUTPUT, polygonsRecieved, MotionInfo::positionInWalkCycle, resampleRequest, resampling, Pose2D::rotation, PIDData::setLegFJ1Values(), PIDData::setLegFJ2Values(), PIDData::setLegFJ3Values(), PIDData::setLegHJ1Values(), PIDData::setLegHJ2Values(), PIDData::setLegHJ3Values(), smoothMotionRequest(), GT2005Parameters::specialMode, GT2005Polygon::stepLength, GT2005Parameters::stepLength, streamDebugData(), Pose2D::translation, GTWalkParametersIndividual::walkingParameters, WalkRequest::walkParams, MotionRequest::walkRequest, WalkRequest::walkType, Vector2< double >::x, and Vector2< double >::y.

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bool GT2005WalkingEngine::handleMessage (  InMessage &  message  )  [virtual]
 

Called from a MessageQueue to distribute messages.

Parameters:
message The message that can be read.
Returns:
true if the message was read (handled).

Reimplemented from Module.

Definition at line 671 of file GT2005WalkingEngine.cpp.

References InMessage::bin, debugRequest, InMessage::getMessageID(), idGT2005Request, idText, loadPolys(), OUTPUT, resampleRequest, and sendPolys().

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void GT2005WalkingEngine::calculateData (  JointData &  j  )  [private]
 

Definition at line 537 of file GT2005WalkingEngine.cpp.

References currentFIPSParameters, currentPoly, JointData::data, debugging, GT2005Parameters::footZeroPosition, GT2004Parameters::headPan, GT2004Parameters::headRoll, GT2004Parameters::headTilt, Kinematics::jointsFromLegPosition(), Leg_FL, Leg_FR, Leg_HL, Leg_HR, GT2004Parameters::mouth, GT2005Polygon::polyLengthX, readDebugData(), readResampleData(), resampling, Pose2D::rotation, GT2005Parameters::stepLength, toMicroRad(), Pose2D::translation, Vector2< double >::x, Vector3< V >::x, Vector2< double >::y, Vector3< V >::y, and Vector3< V >::z.

Referenced by executeParameterized().

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void GT2005WalkingEngine::smoothMotionRequest (  const Pose2D &  request,
Pose2D &  currentRequest
)  [private]
 

Definition at line 951 of file GT2005WalkingEngine.cpp.

References Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by executeParameterized().

void GT2005WalkingEngine::readDebugData (  double  ssf[4],
double  a[4],
double  c_offset[4],
JointData &  j
)  [private]
 

Definition at line 995 of file GT2005WalkingEngine.cpp.

References currentFIPSParameters, currentStep, SensorData::data, JointData::data, debugDataBuffer, debugDataIdeal, debugDataReal, debugRequest, GT2005Parameters::footZeroPosition, SensorDataBuffer::frame, fromMicroRad(), Leg_FL, Leg_FR, Leg_HL, Leg_HR, Kinematics::legPositionFromJoints(), Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.

Referenced by calculateData().

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void GT2005WalkingEngine::streamDebugData (   )  [private]
 

Definition at line 1443 of file GT2005WalkingEngine.cpp.

References OutMessage::bin, currentFIPSParameters, debugDataIdeal, debugDataReal, OutMessage::finishMessage(), getDebugOut(), idGT2005DebugData, Leg_FL, Leg_FR, Leg_HL, Leg_HR, GT2005Polygon::numPoints, out, GT2005Polygon::setSegment(), and GT2005Parameters::stepLength.

Referenced by executeParameterized().

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void GT2005WalkingEngine::readResampleData (  double  c_scale[4],
double  c_angle[4],
double  c_offset[4],
JointData &  j,
Vector3< double >  fp[4]
)  [private]
 

Definition at line 1232 of file GT2005WalkingEngine.cpp.

References currentFIPSParameters, currentStep, SensorData::data, JointData::data, debugDataBuffer, debugDataIdeal, debugDataReal, GT2005Parameters::footZeroPosition, SensorDataBuffer::frame, fromMicroRad(), Leg_FL, Leg_FR, Leg_HL, Leg_HR, Kinematics::legPositionFromJoints(), resampleRequest, Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.

Referenced by calculateData().

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void GT2005WalkingEngine::loadPolys (  int  polyID,
InMessage &  message
)  [private]
 

Definition at line 718 of file GT2005WalkingEngine.cpp.

References GT2005Parameters::backwardPoly, InMessage::bin, GT2005Parameters::boostPoly, currentFIPSParameters, GT2005Parameters::dbackwardPoly, GT2005Parameters::dforwardPoly, GT2005Parameters::evoPoly, GT2005Parameters::forwardPoly, GT2005Parameters::grabPoly, Leg_FL, Leg_FR, Leg_HL, Leg_HR, GT2005Parameters::omniPoly, GT2005Parameters::rgrabPoly, GT2005Parameters::rotPoly, GT2005Parameters::sbackwardPoly, GT2005Parameters::sforwardPoly, and GT2005Parameters::sidewardsPoly.

Referenced by handleMessage().

void GT2005WalkingEngine::sendPolys (  int  polyID  )  [private]
 

Definition at line 829 of file GT2005WalkingEngine.cpp.

References GT2005Parameters::backwardPoly, OutMessage::bin, GT2005Parameters::boostPoly, currentFIPSParameters, GT2005Parameters::dbackwardPoly, GT2005Parameters::dforwardPoly, GT2005Parameters::evoPoly, OutMessage::finishMessage(), GT2005Parameters::forwardPoly, getDebugOut(), GT2005Parameters::grabPoly, idGT2005DebugData, Leg_FL, Leg_FR, Leg_HL, Leg_HR, GT2005Parameters::omniPoly, out, GT2005Parameters::rgrabPoly, GT2005Parameters::rotPoly, GT2005Parameters::sbackwardPoly, GT2005Parameters::sforwardPoly, and GT2005Parameters::sidewardsPoly.

Referenced by handleMessage().

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void GT2005WalkingEngine::readOdometryCalibrationData (   )  [private]
 

Definition at line 184 of file GT2005WalkingEngine.cpp.

References InStream< InFile, InConfig >::eof(), InFile::exists(), SystemCall::getMacAddress(), idText, loadOdometryPlane(), loadOdometryRotation(), and OUTPUT.

Referenced by GT2005WalkingEngine().

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Pose2D GT2005WalkingEngine::calculateOdometryCalibrationData (  Pose2D  request,
WalkRequest::WalkType  walkType
)  [private]
 

Definition at line 211 of file GT2005WalkingEngine.cpp.

References GT2005WalkingEngine::odometryPoint::controlled, GT2005WalkingEngine::odometryPoint::measured, odometryCalibrationData, odometryCalibrationData2, Pose2D::rotation, Pose2D::translation, Vector2< double >::x, and Vector2< double >::y.

Referenced by executeParameterized().

void GT2005WalkingEngine::loadOdometryPlane (  int  planeNum,
char *  filename,
int  alternateDir
)  [private]
 

Definition at line 84 of file GT2005WalkingEngine.cpp.

References GT2005WalkingEngine::odometryPoint::controlled, InFile::exists(), idText, odometryCalibrationData, and OUTPUT.

Referenced by readOdometryCalibrationData().

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void GT2005WalkingEngine::loadOdometryRotation (  int  rotNum,
char *  filename,
int  alternateDir
)  [private]
 

Definition at line 138 of file GT2005WalkingEngine.cpp.

References GT2005WalkingEngine::odometryPoint::controlled, InFile::exists(), idText, odometryCalibrationData2, and OUTPUT.

Referenced by readOdometryCalibrationData().

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Member Data Documentation

bool GT2005WalkingEngine::initWithOldStyleShape
 

Definition at line 47 of file GT2005WalkingEngine.h.

const int GT2005WalkingEngine::Leg_FR = 0 [static]
 

Definition at line 16 of file GT2005WalkingEngine.cpp.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), loadPolys(), readDebugData(), readResampleData(), sendPolys(), and streamDebugData().

const int GT2005WalkingEngine::Leg_FL = 1 [static]
 

Definition at line 17 of file GT2005WalkingEngine.cpp.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), loadPolys(), readDebugData(), readResampleData(), sendPolys(), and streamDebugData().

const int GT2005WalkingEngine::Leg_HR = 2 [static]
 

Definition at line 18 of file GT2005WalkingEngine.cpp.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), loadPolys(), readDebugData(), readResampleData(), sendPolys(), and streamDebugData().

const int GT2005WalkingEngine::Leg_HL = 3 [static]
 

Definition at line 19 of file GT2005WalkingEngine.cpp.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), loadPolys(), readDebugData(), readResampleData(), sendPolys(), and streamDebugData().

int GT2005WalkingEngine::activePoints
 

Definition at line 55 of file GT2005WalkingEngine.h.

double GT2005WalkingEngine::footPhase[4]
 

Definition at line 57 of file GT2005WalkingEngine.h.

Vector3<double> GT2005WalkingEngine::footZeroPosition[4]
 

Definition at line 58 of file GT2005WalkingEngine.h.

GT2005Polygon* GT2005WalkingEngine::currentPoly[4]
 

Definition at line 59 of file GT2005WalkingEngine.h.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), and ~GT2005WalkingEngine().

GT2005Parameters* GT2005WalkingEngine::currentFIPSParameters
 

Definition at line 61 of file GT2005WalkingEngine.h.

Referenced by calculateData(), executeParameterized(), GT2005WalkingEngine(), loadPolys(), readDebugData(), readResampleData(), sendPolys(), streamDebugData(), and ~GT2005WalkingEngine().

int GT2005WalkingEngine::currentStep
 

Definition at line 63 of file GT2005WalkingEngine.h.

Referenced by executeParameterized(), GT2005WalkingEngine(), readDebugData(), and readResampleData().

bool GT2005WalkingEngine::standing
 

Definition at line 65 of file GT2005WalkingEngine.h.

bool GT2005WalkingEngine::loadingFailed
 

Definition at line 67 of file GT2005WalkingEngine.h.

double GT2005WalkingEngine::neckHeight [private]
 

Definition at line 71 of file GT2005WalkingEngine.h.

double GT2005WalkingEngine::bodyTilt [private]
 

Definition at line 72 of file GT2005WalkingEngine.h.

Pose2D GT2005WalkingEngine::odometry [private]
 

Definition at line 74 of file GT2005WalkingEngine.h.

Pose2D GT2005WalkingEngine::currentRequest [private]
 

Definition at line 75 of file GT2005WalkingEngine.h.

double GT2005WalkingEngine::currentStepPercentage [private]
 

Definition at line 76 of file GT2005WalkingEngine.h.

GT2004Parameters* GT2005WalkingEngine::currentParameters [private]
 

Definition at line 77 of file GT2005WalkingEngine.h.

GT2004ParametersSet GT2005WalkingEngine::paramSet [private]
 

Definition at line 78 of file GT2005WalkingEngine.h.

bool GT2005WalkingEngine::debugging [private]
 

Definition at line 83 of file GT2005WalkingEngine.h.

Referenced by calculateData(), executeParameterized(), and GT2005WalkingEngine().

bool GT2005WalkingEngine::debugRequest [private]
 

Definition at line 84 of file GT2005WalkingEngine.h.

Referenced by executeParameterized(), GT2005WalkingEngine(), handleMessage(), and readDebugData().

bool GT2005WalkingEngine::debugLoop [private]
 

Definition at line 85 of file GT2005WalkingEngine.h.

Referenced by GT2005WalkingEngine().

Vector3<double> GT2005WalkingEngine::debugDataReal[4][128] [private]
 

Definition at line 87 of file GT2005WalkingEngine.h.

Referenced by readDebugData(), readResampleData(), and streamDebugData().

Vector3<double> GT2005WalkingEngine::debugDataIdeal[4][128] [private]
 

Definition at line 88 of file GT2005WalkingEngine.h.

Referenced by readDebugData(), readResampleData(), and streamDebugData().

long GT2005WalkingEngine::debugDataBuffer[4][12] [private]
 

Definition at line 89 of file GT2005WalkingEngine.h.

Referenced by readDebugData(), and readResampleData().

bool GT2005WalkingEngine::resampleRequest [private]
 

Definition at line 92 of file GT2005WalkingEngine.h.

Referenced by executeParameterized(), GT2005WalkingEngine(), handleMessage(), and readResampleData().

bool GT2005WalkingEngine::resampling [private]
 

Definition at line 93 of file GT2005WalkingEngine.h.

Referenced by calculateData(), executeParameterized(), and GT2005WalkingEngine().

int GT2005WalkingEngine::polygonsRecieved [private]
 

Definition at line 99 of file GT2005WalkingEngine.h.

Referenced by executeParameterized(), and GT2005WalkingEngine().

odometryPoint GT2005WalkingEngine::odometryCalibrationData[15][13][7] [private]
 

Definition at line 108 of file GT2005WalkingEngine.h.

Referenced by calculateOdometryCalibrationData(), and loadOdometryPlane().

odometryPoint GT2005WalkingEngine::odometryCalibrationData2[2][21] [private]
 

Definition at line 109 of file GT2005WalkingEngine.h.

Referenced by calculateOdometryCalibrationData(), and loadOdometryRotation().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:15:46 2006 for GT2005 by doxygen 1.3.6