WalkingEngineInterfaces Class Reference

The interfaces of the module WalkingEngine. More...

Inheritance diagram for WalkingEngineInterfaces:

[legend]Collaboration diagram for WalkingEngineInterfaces:


Public Member Functions
	WalkingEngineInterfaces (const SensorDataBuffer &sensorDataBuffer, const InvKinWalkingParameters &invKinWalkingParameters, const GT2004Parameters &gt2004Parameters, const unsigned long &walkParameterTimeStamp, const bool &receivedNewSensorData, const MotionRequest::MotionID &lastMotionType, PIDData &pidData, OdometryData &odometryData, MotionInfo &motionInfo, GTWalkParametersIndividual &gt2005Parameters, GT2005DebugData &gt2005DebugData)
	Constructor.
Protected Attributes
const SensorDataBuffer &	sensorDataBuffer
	The sensor data buffer containing all joint angles and others.
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.
const MotionRequest::MotionID &	lastMotionType
	The motion type of the previous frame.
PIDData &	pidData
	The current PID servo gains.
OdometryData &	odometryData
	Has to be incremented by the walking engine.
MotionInfo &	motionInfo
	The neck height and the body tilt to be estimated by the walking engine.
GTWalkParametersIndividual &	gt2005Parameters
GT2005DebugData &	gt2005DebugData

Detailed Description

The interfaces of the module WalkingEngine.

Definition at line 30 of file WalkingEngine.h.

WalkingEngineInterfaces::WalkingEngineInterfaces ( const SensorDataBuffer & sensorDataBuffer,

const InvKinWalkingParameters & invKinWalkingParameters,

const GT2004Parameters & gt2004Parameters,

const unsigned long & walkParameterTimeStamp,

const bool & receivedNewSensorData,

const MotionRequest::MotionID & lastMotionType,

PIDData & pidData,

OdometryData & odometryData,

MotionInfo & motionInfo,

GTWalkParametersIndividual & gt2005Parameters,

GT2005DebugData & gt2005DebugData

) [inline]

Constructor.

Definition at line 34 of file WalkingEngine.h.

const SensorDataBuffer& WalkingEngineInterfaces::sensorDataBuffer [protected]

The sensor data buffer containing all joint angles and others.

Definition at line 63 of file WalkingEngine.h.

const InvKinWalkingParameters& WalkingEngineInterfaces::invKinWalkingParameters [protected]

walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior

Definition at line 66 of file WalkingEngine.h.

const unsigned long& WalkingEngineInterfaces::walkParameterTimeStamp [protected]

Definition at line 68 of file WalkingEngine.h.

const bool& WalkingEngineInterfaces::receivedNewSensorData [protected]

Indicates that the Motion Process received a new SensorDataBuffer.

Definition at line 71 of file WalkingEngine.h.

const MotionRequest::MotionID& WalkingEngineInterfaces::lastMotionType [protected]

The motion type of the previous frame.

Definition at line 74 of file WalkingEngine.h.

PIDData& WalkingEngineInterfaces::pidData [protected]

The current PID servo gains.

Definition at line 77 of file WalkingEngine.h.

OdometryData& WalkingEngineInterfaces::odometryData [protected]

Has to be incremented by the walking engine.

Definition at line 80 of file WalkingEngine.h.

MotionInfo& WalkingEngineInterfaces::motionInfo [protected]

The neck height and the body tilt to be estimated by the walking engine.

Definition at line 83 of file WalkingEngine.h.

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

Generated on Mon Mar 20 22:23:09 2006 for GT2005 by

1.3.6