#include <Motion.h>
Inheritance diagram for Motion:
Public Member Functions | |
| Motion () | |
| ~Motion () | |
| virtual int | main () |
| is called from the framework once in every frame | |
| virtual void | init () |
| is called direct before the first call of main() | |
| virtual bool | handleMessage (InMessage &message) |
| The function handles incoming debug messages. | |
Protected Attributes | |
| unsigned int | motionControlExecuteSlowMotion |
| double | gameSpeed |
| Can be used to slow down the game for debugging purposes (slow motion). | |
| bool | headIsBlockedBySpecialActionOrWalk |
| Specifies if the head is blocked by a special action or walk. | |
| bool | traceStored |
| Has a trace already been stored? | |
| bool | replace |
| Pose2D | walkParams |
modules | |
| SensorDataProcessorSelector * | pSensorDataProcessor |
| a reference to the sensor data processor | |
| HeadControlSelector * | pHeadControl |
| a pointer to the HeadControl module | |
| LEDControlSelector * | pLEDControl |
| a pointer to the LEDControl module | |
| MotionControlSelector * | pMotionControl |
| a pointer to the MotionControl module | |
| SoundControlSelector * | pSoundControl |
| a pointer to the SoundControl module | |
representations | |
| HeadMotionRequest | headMotionRequest |
| the head motion request | |
| CameraMatrix | cameraMatrix |
| The position and rotation of the camera relative to the robot. | |
| PSDPercept | psdPercept |
| The psd percept calculated by the sensor data processor. | |
| BodyPercept | bodyPercept |
| The body percept calculated by the sensor data processor. | |
| BodyPosture | bodyPosture |
| The height and the inclination of the robot's body. | |
| OdometryData | lastOdometry |
| The odometry which was calculated in the before last frame. | |
| ObstaclesModel | obstaclesModel |
| obstacles model from cognition | |
| unsigned long | lastFrameRobotPoseWasUpdated |
| Frame number in which robot pose was last updated. | |
| RingBuffer< OdometryData, 40 > | odometryHistory |
| Used to update robot pose. | |
Private Member Functions | |
| RECEIVER (SensorDataBuffer) | |
| RECEIVER (PackageCognitionMotion) | |
| SHARED_SENDER (Trace) | |
| SHARED_RECEIVER (Trace) | |
| SENDER (PackageMotionCognition) | |
| SENDER (OdometryData) | |
Private Attributes | |
| DEBUGGING | |
| SENDER_MOTORCOMMANDS | |
| SENDER_SOUNDDATA | |
Definition at line 28 of file Motion.h.
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Definition at line 16 of file Motion.cpp. References Process::debugOut, INIT_DEBUGGING, INIT_RECEIVER, INIT_RECEIVER_SENSORDATA, INIT_SENDER, INIT_SENDER_MOTORCOMMANDS, INIT_SENDER_SOUNDDATA, pHeadControl, pLEDControl, pMotionControl, pSoundControl, replace, MessageQueue::setSize(), and setTrace(). |
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Definition at line 108 of file Motion.cpp. References pHeadControl, pLEDControl, pMotionControl, and pSoundControl. |
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is called from the framework once in every frame
Implements Process. Definition at line 124 of file Motion.cpp. References DEBUG_RESPONSE, ModuleSelector::execute(), idJointData, idSensorData, idText, INFO, and OUTPUT. |
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is called direct before the first call of main()
Reimplemented from Process. Definition at line 117 of file Motion.cpp. |
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The function handles incoming debug messages.
Reimplemented from Process. Definition at line 280 of file Motion.cpp. References InMessage::bin, Process::debugDataTable, gameSpeed, InMessage::getMessageID(), getRobotConfiguration(), Process::handleMessage(), ModuleSelector::handleMessage(), RobotConfiguration::handleMessage(), idBodyOffsets, idDebugDataChangeRequest, idGameSpeed, idGT2005Request, idHeadMotionRequest, idMotionControlSlowMotion, idOdometryData, idOdometryScale, idPIDData, idXabsl2DebugRequest, motionControlExecuteSlowMotion, pHeadControl, pMotionControl, and DebugDataTable::processChangeRequest(). |
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a reference to the sensor data processor
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a pointer to the HeadControl module
Definition at line 68 of file Motion.h. Referenced by handleMessage(), Motion(), and ~Motion(). |
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a pointer to the LEDControl module
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a pointer to the MotionControl module
Definition at line 74 of file Motion.h. Referenced by handleMessage(), Motion(), and ~Motion(). |
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a pointer to the SoundControl module
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Definition at line 80 of file Motion.h. Referenced by handleMessage(). |
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the head motion request
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The position and rotation of the camera relative to the robot.
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The psd percept calculated by the sensor data processor.
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The body percept calculated by the sensor data processor.
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The height and the inclination of the robot's body.
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The odometry which was calculated in the before last frame.
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obstacles model from cognition
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Frame number in which robot pose was last updated.
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Used to update robot pose.
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Can be used to slow down the game for debugging purposes (slow motion). Is multiplied to the incoming MotionRequest and to the outgoing executedMotionRequest. 1: Normal speed -- 0.1: almost dont move Definition at line 118 of file Motion.h. Referenced by handleMessage(). |
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Specifies if the head is blocked by a special action or walk.
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Has a trace already been stored?
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Definition at line 126 of file Motion.h. Referenced by Motion(). |
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1.3.6