fawkes::HumanoidMotionInterface Class Reference
[Fawkes Interfaces]

HumanoidMotionInterface Fawkes BlackBoard Interface. More...

#include <interfaces/HumanoidMotionInterface.h>

Inheritance diagram for fawkes::HumanoidMotionInterface:

[legend]
List of all members.

Public Types

 LEG_LEFT
 Left leg.
 LEG_RIGHT
 Right leg.
 STANDUP_DETECT
 Detect via accelerometer.
 STANDUP_BACK
 Standup from lying on the back.
 STANDUP_FRONT
 Standup from lying on the tummy.
 WALK
 The walk pattern.
 KICK
 The kick pattern.
enum  LegEnum { LEG_LEFT, LEG_RIGHT }
 Type to determinate leg side. More...
enum  StandupEnum { STANDUP_DETECT, STANDUP_BACK, STANDUP_FRONT }
 From which position to standup. More...
enum  StiffnessMotionPatternEnum { WALK, KICK }
 The motion patterns that need specific stiffness settings. More...

Public Member Functions

const char * tostring_LegEnum (LegEnum value) const
 Convert LegEnum constant to string.
const char * tostring_StandupEnum (StandupEnum value) const
 Convert StandupEnum constant to string.
const char * tostring_StiffnessMotionPatternEnum (StiffnessMotionPatternEnum value) const
 Convert StiffnessMotionPatternEnum constant to string.
virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued.
bool is_walking () const
 Get walking value.
void set_walking (const bool new_walking)
 Set walking value.
size_t maxlenof_walking () const
 Get maximum length of walking value.
LegEnum supporting_leg () const
 Get supporting_leg value.
void set_supporting_leg (const LegEnum new_supporting_leg)
 Set supporting_leg value.
size_t maxlenof_supporting_leg () const
 Get maximum length of supporting_leg value.
float max_step_length () const
 Get max_step_length value.
void set_max_step_length (const float new_max_step_length)
 Set max_step_length value.
size_t maxlenof_max_step_length () const
 Get maximum length of max_step_length value.
float max_step_height () const
 Get max_step_height value.
void set_max_step_height (const float new_max_step_height)
 Set max_step_height value.
size_t maxlenof_max_step_height () const
 Get maximum length of max_step_height value.
float max_step_side () const
 Get max_step_side value.
void set_max_step_side (const float new_max_step_side)
 Set max_step_side value.
size_t maxlenof_max_step_side () const
 Get maximum length of max_step_side value.
float max_step_turn () const
 Get max_step_turn value.
void set_max_step_turn (const float new_max_step_turn)
 Set max_step_turn value.
size_t maxlenof_max_step_turn () const
 Get maximum length of max_step_turn value.
float zmp_offset_forward () const
 Get zmp_offset_forward value.
void set_zmp_offset_forward (const float new_zmp_offset_forward)
 Set zmp_offset_forward value.
size_t maxlenof_zmp_offset_forward () const
 Get maximum length of zmp_offset_forward value.
float zmp_offset_sideward () const
 Get zmp_offset_sideward value.
void set_zmp_offset_sideward (const float new_zmp_offset_sideward)
 Set zmp_offset_sideward value.
size_t maxlenof_zmp_offset_sideward () const
 Get maximum length of zmp_offset_sideward value.
float l_hip_roll_compensation () const
 Get l_hip_roll_compensation value.
void set_l_hip_roll_compensation (const float new_l_hip_roll_compensation)
 Set l_hip_roll_compensation value.
size_t maxlenof_l_hip_roll_compensation () const
 Get maximum length of l_hip_roll_compensation value.
float r_hip_roll_compensation () const
 Get r_hip_roll_compensation value.
void set_r_hip_roll_compensation (const float new_r_hip_roll_compensation)
 Set r_hip_roll_compensation value.
size_t maxlenof_r_hip_roll_compensation () const
 Get maximum length of r_hip_roll_compensation value.
float hip_height () const
 Get hip_height value.
void set_hip_height (const float new_hip_height)
 Set hip_height value.
size_t maxlenof_hip_height () const
 Get maximum length of hip_height value.
float torso_sideward_orientation () const
 Get torso_sideward_orientation value.
void set_torso_sideward_orientation (const float new_torso_sideward_orientation)
 Set torso_sideward_orientation value.
size_t maxlenof_torso_sideward_orientation () const
 Get maximum length of torso_sideward_orientation value.
bool is_arms_enabled () const
 Get arms_enabled value.
void set_arms_enabled (const bool new_arms_enabled)
 Set arms_enabled value.
size_t maxlenof_arms_enabled () const
 Get maximum length of arms_enabled value.
float shoulder_pitch_median () const
 Get shoulder_pitch_median value.
void set_shoulder_pitch_median (const float new_shoulder_pitch_median)
 Set shoulder_pitch_median value.
size_t maxlenof_shoulder_pitch_median () const
 Get maximum length of shoulder_pitch_median value.
float shoulder_pitch_amplitude () const
 Get shoulder_pitch_amplitude value.
void set_shoulder_pitch_amplitude (const float new_shoulder_pitch_amplitude)
 Set shoulder_pitch_amplitude value.
size_t maxlenof_shoulder_pitch_amplitude () const
 Get maximum length of shoulder_pitch_amplitude value.
float elbow_roll_median () const
 Get elbow_roll_median value.
void set_elbow_roll_median (const float new_elbow_roll_median)
 Set elbow_roll_median value.
size_t maxlenof_elbow_roll_median () const
 Get maximum length of elbow_roll_median value.
float elbow_roll_amplitude () const
 Get elbow_roll_amplitude value.
void set_elbow_roll_amplitude (const float new_elbow_roll_amplitude)
 Set elbow_roll_amplitude value.
size_t maxlenof_elbow_roll_amplitude () const
 Get maximum length of elbow_roll_amplitude value.
uint32_t msgid () const
 Get msgid value.
void set_msgid (const uint32_t new_msgid)
 Set msgid value.
size_t maxlenof_msgid () const
 Get maximum length of msgid value.
virtual Messagecreate_message (const char *type) const
 Create message based on type name.
virtual void copy_values (const Interface *other)
 Copy values from other interface.
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string.

Classes

class  GetUpMessage
 GetUpMessage Fawkes BlackBoard Interface Message. More...
struct  HumanoidMotionInterface_data_t
 Internal data storage, do NOT modify!
class  KickMessage
 KickMessage Fawkes BlackBoard Interface Message. More...
class  ParkMessage
 ParkMessage Fawkes BlackBoard Interface Message. More...
class  SetStiffnessParamsMessage
 SetStiffnessParamsMessage Fawkes BlackBoard Interface Message. More...
class  SetWalkArmsParamsMessage
 SetWalkArmsParamsMessage Fawkes BlackBoard Interface Message. More...
class  SetWalkParamsMessage
 SetWalkParamsMessage Fawkes BlackBoard Interface Message. More...
class  StandupMessage
 StandupMessage Fawkes BlackBoard Interface Message. More...
class  StopMessage
 StopMessage Fawkes BlackBoard Interface Message. More...
class  TurnMessage
 TurnMessage Fawkes BlackBoard Interface Message. More...
class  WalkArcMessage
 WalkArcMessage Fawkes BlackBoard Interface Message. More...
class  WalkMessage
 WalkMessage Fawkes BlackBoard Interface Message. More...
class  WalkSidewaysMessage
 WalkSidewaysMessage Fawkes BlackBoard Interface Message. More...
class  WalkStraightMessage
 WalkStraightMessage Fawkes BlackBoard Interface Message. More...
class  YawPitchHeadMessage
 YawPitchHeadMessage Fawkes BlackBoard Interface Message. More...

Detailed Description

HumanoidMotionInterface Fawkes BlackBoard Interface.

This interface provides acces to basic humanoid motion patterns.

Definition at line 33 of file HumanoidMotionInterface.h.


Member Enumeration Documentation

enum fawkes::HumanoidMotionInterface::LegEnum

Type to determinate leg side.

Enumerator:
LEG_LEFT  Left leg.
LEG_RIGHT  Right leg.

Definition at line 42 of file HumanoidMotionInterface.h.

enum fawkes::HumanoidMotionInterface::StandupEnum

From which position to standup.

Enumerator:
STANDUP_DETECT  Detect via accelerometer.
STANDUP_BACK  Standup from lying on the back.
STANDUP_FRONT  Standup from lying on the tummy.

Definition at line 49 of file HumanoidMotionInterface.h.

enum fawkes::HumanoidMotionInterface::StiffnessMotionPatternEnum

The motion patterns that need specific stiffness settings.

Enumerator:
WALK  The walk pattern.
KICK  The kick pattern.

Definition at line 57 of file HumanoidMotionInterface.h.


Member Function Documentation

void fawkes::HumanoidMotionInterface::copy_values ( const Interface other  )  [virtual]

Copy values from other interface.

Parameters:
other other interface to copy values from

Implements fawkes::Interface.

Definition at line 808 of file HumanoidMotionInterface.cpp.

References data, and fawkes::Interface::type().

Message * fawkes::HumanoidMotionInterface::create_message ( const char *  type  )  const [virtual]

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters:
type message type
Returns:
message of the given type, empty
Exceptions:
UnknownTypeException thrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 767 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::elbow_roll_amplitude (  )  const

Get elbow_roll_amplitude value.

Amplitude of the elbow roll movement during walking.

Returns:
elbow_roll_amplitude value

Definition at line 700 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::elbow_roll_median (  )  const

Get elbow_roll_median value.

Median in radians of the elbow roll during walking.

Returns:
elbow_roll_median value

Definition at line 665 of file HumanoidMotionInterface.cpp.

const char * fawkes::HumanoidMotionInterface::enum_tostring ( const char *  enumtype,
int  val 
) const [virtual]

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters:
enumtype enum type as string
val value to convert
Returns:
string representation of value
Exceptions:
UnknownTypeException thrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 819 of file HumanoidMotionInterface.cpp.

References tostring_LegEnum(), tostring_StandupEnum(), and tostring_StiffnessMotionPatternEnum().

float fawkes::HumanoidMotionInterface::hip_height (  )  const

Get hip_height value.

Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.

Returns:
hip_height value

Definition at line 487 of file HumanoidMotionInterface.cpp.

bool fawkes::HumanoidMotionInterface::is_arms_enabled (  )  const

Get arms_enabled value.

If true the arms are controlled during walking for balancing.

Returns:
arms_enabled value

Definition at line 560 of file HumanoidMotionInterface.cpp.

bool fawkes::HumanoidMotionInterface::is_walking (  )  const

Get walking value.

True if the robot is currently moving.

Returns:
walking value

Definition at line 138 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::l_hip_roll_compensation (  )  const

Get l_hip_roll_compensation value.

Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.

Returns:
l_hip_roll_compensation value

Definition at line 413 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::max_step_height (  )  const

Get max_step_height value.

Maxium height of a footstep cycloid in m.

Returns:
max_step_height value

Definition at line 237 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::max_step_length (  )  const

Get max_step_length value.

Maximum length of a footstep in m.

Returns:
max_step_length value

Definition at line 202 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::max_step_side (  )  const

Get max_step_side value.

Maximum length of side step in m.

Returns:
max_step_side value

Definition at line 272 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::max_step_turn (  )  const

Get max_step_turn value.

Maximum change around vertical axis on radians per footstep.

Returns:
max_step_turn value

Definition at line 307 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_arms_enabled (  )  const

Get maximum length of arms_enabled value.

Returns:
length of arms_enabled value, can be length of the array or number of maximum number of characters for a string

Definition at line 570 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_elbow_roll_amplitude (  )  const

Get maximum length of elbow_roll_amplitude value.

Returns:
length of elbow_roll_amplitude value, can be length of the array or number of maximum number of characters for a string

Definition at line 710 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_elbow_roll_median (  )  const

Get maximum length of elbow_roll_median value.

Returns:
length of elbow_roll_median value, can be length of the array or number of maximum number of characters for a string

Definition at line 675 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_hip_height (  )  const

Get maximum length of hip_height value.

Returns:
length of hip_height value, can be length of the array or number of maximum number of characters for a string

Definition at line 497 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_l_hip_roll_compensation (  )  const

Get maximum length of l_hip_roll_compensation value.

Returns:
length of l_hip_roll_compensation value, can be length of the array or number of maximum number of characters for a string

Definition at line 423 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_height (  )  const

Get maximum length of max_step_height value.

Returns:
length of max_step_height value, can be length of the array or number of maximum number of characters for a string

Definition at line 247 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_length (  )  const

Get maximum length of max_step_length value.

Returns:
length of max_step_length value, can be length of the array or number of maximum number of characters for a string

Definition at line 212 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_side (  )  const

Get maximum length of max_step_side value.

Returns:
length of max_step_side value, can be length of the array or number of maximum number of characters for a string

Definition at line 282 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_turn (  )  const

Get maximum length of max_step_turn value.

Returns:
length of max_step_turn value, can be length of the array or number of maximum number of characters for a string

Definition at line 317 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_msgid (  )  const

Get maximum length of msgid value.

Returns:
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 746 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_r_hip_roll_compensation (  )  const

Get maximum length of r_hip_roll_compensation value.

Returns:
length of r_hip_roll_compensation value, can be length of the array or number of maximum number of characters for a string

Definition at line 460 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_shoulder_pitch_amplitude (  )  const

Get maximum length of shoulder_pitch_amplitude value.

Returns:
length of shoulder_pitch_amplitude value, can be length of the array or number of maximum number of characters for a string

Definition at line 640 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_shoulder_pitch_median (  )  const

Get maximum length of shoulder_pitch_median value.

Returns:
length of shoulder_pitch_median value, can be length of the array or number of maximum number of characters for a string

Definition at line 605 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_supporting_leg (  )  const

Get maximum length of supporting_leg value.

Returns:
length of supporting_leg value, can be length of the array or number of maximum number of characters for a string

Definition at line 179 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_torso_sideward_orientation (  )  const

Get maximum length of torso_sideward_orientation value.

Returns:
length of torso_sideward_orientation value, can be length of the array or number of maximum number of characters for a string

Definition at line 534 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_walking (  )  const

Get maximum length of walking value.

Returns:
length of walking value, can be length of the array or number of maximum number of characters for a string

Definition at line 148 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_zmp_offset_forward (  )  const

Get maximum length of zmp_offset_forward value.

Returns:
length of zmp_offset_forward value, can be length of the array or number of maximum number of characters for a string

Definition at line 352 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::maxlenof_zmp_offset_sideward (  )  const

Get maximum length of zmp_offset_sideward value.

Returns:
length of zmp_offset_sideward value, can be length of the array or number of maximum number of characters for a string

Definition at line 387 of file HumanoidMotionInterface.cpp.

bool fawkes::HumanoidMotionInterface::message_valid ( const Message message  )  const [virtual]

Check if message is valid and can be enqueued.

Parameters:
message Message to check
Returns:
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 3703 of file HumanoidMotionInterface.cpp.

uint32_t fawkes::HumanoidMotionInterface::msgid (  )  const

Get msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Returns:
msgid value

Definition at line 736 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::r_hip_roll_compensation (  )  const

Get r_hip_roll_compensation value.

Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.

Returns:
r_hip_roll_compensation value

Definition at line 450 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::set_arms_enabled ( const bool  new_arms_enabled  ) 

Set arms_enabled value.

If true the arms are controlled during walking for balancing.

Parameters:
new_arms_enabled new arms_enabled value

Definition at line 582 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_elbow_roll_amplitude ( const float  new_elbow_roll_amplitude  ) 

Set elbow_roll_amplitude value.

Amplitude of the elbow roll movement during walking.

Parameters:
new_elbow_roll_amplitude new elbow_roll_amplitude value

Definition at line 722 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_elbow_roll_median ( const float  new_elbow_roll_median  ) 

Set elbow_roll_median value.

Median in radians of the elbow roll during walking.

Parameters:
new_elbow_roll_median new elbow_roll_median value

Definition at line 687 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_hip_height ( const float  new_hip_height  ) 

Set hip_height value.

Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.

Parameters:
new_hip_height new hip_height value

Definition at line 510 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_l_hip_roll_compensation ( const float  new_l_hip_roll_compensation  ) 

Set l_hip_roll_compensation value.

Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.

Parameters:
new_l_hip_roll_compensation new l_hip_roll_compensation value

Definition at line 436 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_max_step_height ( const float  new_max_step_height  ) 

Set max_step_height value.

Maxium height of a footstep cycloid in m.

Parameters:
new_max_step_height new max_step_height value

Definition at line 259 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_max_step_length ( const float  new_max_step_length  ) 

Set max_step_length value.

Maximum length of a footstep in m.

Parameters:
new_max_step_length new max_step_length value

Definition at line 224 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_max_step_side ( const float  new_max_step_side  ) 

Set max_step_side value.

Maximum length of side step in m.

Parameters:
new_max_step_side new max_step_side value

Definition at line 294 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_max_step_turn ( const float  new_max_step_turn  ) 

Set max_step_turn value.

Maximum change around vertical axis on radians per footstep.

Parameters:
new_max_step_turn new max_step_turn value

Definition at line 329 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_msgid ( const uint32_t  new_msgid  ) 

Set msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Parameters:
new_msgid new msgid value

Definition at line 759 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_r_hip_roll_compensation ( const float  new_r_hip_roll_compensation  ) 

Set r_hip_roll_compensation value.

Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.

Parameters:
new_r_hip_roll_compensation new r_hip_roll_compensation value

Definition at line 473 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_shoulder_pitch_amplitude ( const float  new_shoulder_pitch_amplitude  ) 

Set shoulder_pitch_amplitude value.

Amplitude of the shoulder pitch movement during walking.

Parameters:
new_shoulder_pitch_amplitude new shoulder_pitch_amplitude value

Definition at line 652 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_shoulder_pitch_median ( const float  new_shoulder_pitch_median  ) 

Set shoulder_pitch_median value.

Median in radians of the shoulder pitch during walking.

Parameters:
new_shoulder_pitch_median new shoulder_pitch_median value

Definition at line 617 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_supporting_leg ( const LegEnum  new_supporting_leg  ) 

Set supporting_leg value.

Marks the supporting leg

Parameters:
new_supporting_leg new supporting_leg value

Definition at line 189 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_torso_sideward_orientation ( const float  new_torso_sideward_orientation  ) 

Set torso_sideward_orientation value.

Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.

Parameters:
new_torso_sideward_orientation new torso_sideward_orientation value

Definition at line 547 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_walking ( const bool  new_walking  ) 

Set walking value.

True if the robot is currently moving.

Parameters:
new_walking new walking value

Definition at line 158 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_zmp_offset_forward ( const float  new_zmp_offset_forward  ) 

Set zmp_offset_forward value.

Zero moment point offset in forward direction in m.

Parameters:
new_zmp_offset_forward new zmp_offset_forward value

Definition at line 364 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

void fawkes::HumanoidMotionInterface::set_zmp_offset_sideward ( const float  new_zmp_offset_sideward  ) 

Set zmp_offset_sideward value.

Zero moment point offset in sideward direction in m.

Parameters:
new_zmp_offset_sideward new zmp_offset_sideward value

Definition at line 399 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

float fawkes::HumanoidMotionInterface::shoulder_pitch_amplitude (  )  const

Get shoulder_pitch_amplitude value.

Amplitude of the shoulder pitch movement during walking.

Returns:
shoulder_pitch_amplitude value

Definition at line 630 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::shoulder_pitch_median (  )  const

Get shoulder_pitch_median value.

Median in radians of the shoulder pitch during walking.

Returns:
shoulder_pitch_median value

Definition at line 595 of file HumanoidMotionInterface.cpp.

HumanoidMotionInterface::LegEnum fawkes::HumanoidMotionInterface::supporting_leg (  )  const

Get supporting_leg value.

Marks the supporting leg

Returns:
supporting_leg value

Definition at line 169 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::torso_sideward_orientation (  )  const

Get torso_sideward_orientation value.

Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.

Returns:
torso_sideward_orientation value

Definition at line 524 of file HumanoidMotionInterface.cpp.

const char * fawkes::HumanoidMotionInterface::tostring_LegEnum ( LegEnum  value  )  const

Convert LegEnum constant to string.

Parameters:
value value to convert to string
Returns:
constant value as string.

Definition at line 97 of file HumanoidMotionInterface.cpp.

References LEG_LEFT, and LEG_RIGHT.

Referenced by enum_tostring().

const char * fawkes::HumanoidMotionInterface::tostring_StandupEnum ( StandupEnum  value  )  const

Convert StandupEnum constant to string.

Parameters:
value value to convert to string
Returns:
constant value as string.

Definition at line 110 of file HumanoidMotionInterface.cpp.

References STANDUP_BACK, STANDUP_DETECT, and STANDUP_FRONT.

Referenced by enum_tostring().

const char * fawkes::HumanoidMotionInterface::tostring_StiffnessMotionPatternEnum ( StiffnessMotionPatternEnum  value  )  const

Convert StiffnessMotionPatternEnum constant to string.

Parameters:
value value to convert to string
Returns:
constant value as string.

Definition at line 124 of file HumanoidMotionInterface.cpp.

References KICK, and WALK.

Referenced by enum_tostring().

float fawkes::HumanoidMotionInterface::zmp_offset_forward (  )  const

Get zmp_offset_forward value.

Zero moment point offset in forward direction in m.

Returns:
zmp_offset_forward value

Definition at line 342 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::zmp_offset_sideward (  )  const

Get zmp_offset_sideward value.

Zero moment point offset in sideward direction in m.

Returns:
zmp_offset_sideward value

Definition at line 377 of file HumanoidMotionInterface.cpp.


The documentation for this class was generated from the following files:
Generated on Tue Feb 22 13:31:34 2011 for Fawkes API by  doxygen 1.4.7