WalkingEngine Class Reference

A generic class for walking engine modules. More...

#include <WalkingEngine.h>

Inheritance diagram for WalkingEngine:

[legend]Collaboration diagram for WalkingEngine:

[legend]List of all members.

Public Member Functions
	WalkingEngine (const WalkingEngineInterfaces &interfaces)
virtual bool	executeParameterized (JointData &jointData, const WalkRequest &walkRequest, double positionInWalkingCycle)=0
	Calculates the next joint data set.
virtual	~WalkingEngine ()
	Destructor.
Private Member Functions
virtual void	execute ()
	That function is not used but has to be implemented.

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Detailed Description

A generic class for walking engine modules.

It generates JointData and OdometryData according to current MotionRequest executing walking type motions.

Definition at line 96 of file WalkingEngine.h.

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Constructor & Destructor Documentation

WalkingEngine::WalkingEngine (  const WalkingEngineInterfaces &  interfaces  )  [inline]

Definition at line 103 of file WalkingEngine.h. References getRobotConfiguration().

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virtual WalkingEngine::~WalkingEngine (   )  [inline, virtual]

Destructor. Definition at line 120 of file WalkingEngine.h.

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Member Function Documentation

virtual bool WalkingEngine::executeParameterized (  JointData &  jointData, const WalkRequest &  walkRequest, double  positionInWalkingCycle )  [pure 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 Implemented in GT2004WalkingEngine, GT2005WalkingEngine, InvKinWalkingEngine, ParamInvKinWalkingEngine, ParamRearOnlyInvKinWalkingEngine, and WalkingEngineSelector. Referenced by GT2005MotionControl::execute().

virtual void WalkingEngine::execute (   )  [inline, private, virtual]

That function is not used but has to be implemented. Reimplemented from Module. Definition at line 124 of file WalkingEngine.h.

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

• Modules/WalkingEngine/WalkingEngine.h

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