MotionControlInterfaces Class Reference

The interfaces of the MotionControl module. More...

#include <MotionControl.h>

Inheritance diagram for MotionControlInterfaces:

[legend]Collaboration diagram for MotionControlInterfaces:

[legend]List of all members.

Public Member Functions
	MotionControlInterfaces (const unsigned long &frameNumber, const MotionRequest &motionRequest, const HeadMotionRequest &headMotionRequest, const SensorDataBuffer &sensorDataBuffer, const BodyPosture &bodyPosture, const InvKinWalkingParameters &invKinWalkingParameters, const GT2004Parameters &gt2004Parameters, const unsigned long &walkParameterTimeStamp, const bool &receivedNewSensorData, JointDataBuffer &jointDataBuffer, PIDData &pidData, OdometryData &odometryData, MotionInfo &motionInfo, bool headIsBlockedBySpecialActionOrWalk, GTWalkParametersIndividual &gt2005Parameters, GT2005DebugData &gt2005DebugData)
	Constructor.
Protected Attributes
const unsigned long &	frameNumber
	A reference to the frame number.
const MotionRequest &	motionRequest
	A request from the behavior control.
const HeadMotionRequest &	headMotionRequest
	Head joint values from the head control.
const SensorDataBuffer &	sensorDataBuffer
	The current body sensor data.
const BodyPosture &	bodyPosture
	The current body posture.
const InvKinWalkingParameters &	invKinWalkingParameters
	walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior
const GT2004Parameters &	gt2004Parameters
const unsigned long &	walkParameterTimeStamp
const bool &	receivedNewSensorData
	Indicates that the Motion Process received a new SensorDataBuffer.
JointDataBuffer &	jointDataBuffer
	A buffer of joint data to be filled.
PIDData &	pidData
	The current PID servo gains.
OdometryData &	odometryData
	The odometry to be incremented.
MotionInfo &	motionInfo
	The height of the neck and the body tilt to be calculated.
bool	headIsBlockedBySpecialActionOrWalk
	Specifies if the head is blocked by a special action or walk.
GTWalkParametersIndividual &	gt2005Parameters
GT2005DebugData &	gt2005DebugData

---

Detailed Description

The interfaces of the MotionControl module.

Definition at line 38 of file MotionControl.h.

---

Constructor & Destructor Documentation

MotionControlInterfaces::MotionControlInterfaces (  const unsigned long &  frameNumber, const MotionRequest &  motionRequest, const HeadMotionRequest &  headMotionRequest, const SensorDataBuffer &  sensorDataBuffer, const BodyPosture &  bodyPosture, const InvKinWalkingParameters &  invKinWalkingParameters, const GT2004Parameters &  gt2004Parameters, const unsigned long &  walkParameterTimeStamp, const bool &  receivedNewSensorData, JointDataBuffer &  jointDataBuffer, PIDData &  pidData, OdometryData &  odometryData, MotionInfo &  motionInfo, bool  headIsBlockedBySpecialActionOrWalk, GTWalkParametersIndividual &  gt2005Parameters, GT2005DebugData &  gt2005DebugData )  [inline]

Constructor. Definition at line 42 of file MotionControl.h.

---

Member Data Documentation

const unsigned long& MotionControlInterfaces::frameNumber [protected]

A reference to the frame number. Definition at line 82 of file MotionControl.h.

const MotionRequest& MotionControlInterfaces::motionRequest [protected]

A request from the behavior control. Definition at line 85 of file MotionControl.h.

const HeadMotionRequest& MotionControlInterfaces::headMotionRequest [protected]

Head joint values from the head control. Definition at line 88 of file MotionControl.h.

const SensorDataBuffer& MotionControlInterfaces::sensorDataBuffer [protected]

The current body sensor data. Definition at line 91 of file MotionControl.h.

const BodyPosture& MotionControlInterfaces::bodyPosture [protected]

The current body posture. Definition at line 94 of file MotionControl.h.

const InvKinWalkingParameters& MotionControlInterfaces::invKinWalkingParameters [protected]

walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior Definition at line 97 of file MotionControl.h.

const GT2004Parameters& MotionControlInterfaces::gt2004Parameters [protected]

Definition at line 98 of file MotionControl.h.

const unsigned long& MotionControlInterfaces::walkParameterTimeStamp [protected]

Definition at line 99 of file MotionControl.h.

const bool& MotionControlInterfaces::receivedNewSensorData [protected]

Indicates that the Motion Process received a new SensorDataBuffer. Definition at line 102 of file MotionControl.h.

JointDataBuffer& MotionControlInterfaces::jointDataBuffer [protected]

A buffer of joint data to be filled. Definition at line 105 of file MotionControl.h.

PIDData& MotionControlInterfaces::pidData [protected]

The current PID servo gains. Definition at line 108 of file MotionControl.h.

OdometryData& MotionControlInterfaces::odometryData [protected]

The odometry to be incremented. Definition at line 111 of file MotionControl.h.

MotionInfo& MotionControlInterfaces::motionInfo [protected]

The height of the neck and the body tilt to be calculated. Definition at line 114 of file MotionControl.h.

bool MotionControlInterfaces::headIsBlockedBySpecialActionOrWalk [protected]

Specifies if the head is blocked by a special action or walk. Definition at line 117 of file MotionControl.h.

GTWalkParametersIndividual& MotionControlInterfaces::gt2005Parameters [protected]

Definition at line 120 of file MotionControl.h.

GT2005DebugData& MotionControlInterfaces::gt2005DebugData [protected]

Definition at line 121 of file MotionControl.h.

---

The documentation for this class was generated from the following file:

• Modules/MotionControl/MotionControl.h

---