fawkes::HumanoidMotionInterface::SetWalkParamsMessage Class Reference

SetWalkParamsMessage Fawkes BlackBoard Interface Message. More...

#include <interfaces/HumanoidMotionInterface.h>

Inheritance diagram for fawkes::HumanoidMotionInterface::SetWalkParamsMessage:

[legend]
List of all members.

Public Member Functions

 SetWalkParamsMessage (const float ini_max_step_length, const float ini_max_step_height, const float ini_max_step_side, const float ini_max_step_turn, const float ini_zmp_offset_forward, const float ini_zmp_offset_sideward, const float ini_l_hip_roll_compensation, const float ini_r_hip_roll_compensation, const float ini_hip_height, const float ini_torso_sideward_orientation)
 Constructor with initial values.
 SetWalkParamsMessage ()
 Constructor.
 ~SetWalkParamsMessage ()
 Destructor.
 SetWalkParamsMessage (const SetWalkParamsMessage *m)
 Copy constructor.
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.
virtual Messageclone () const
 Clone this message.

Classes

struct  SetWalkParamsMessage_data_t
 Internal data storage, do NOT modify!

Detailed Description

SetWalkParamsMessage Fawkes BlackBoard Interface Message.

Definition at line 131 of file HumanoidMotionInterface.h.


Constructor & Destructor Documentation

fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage ( const float  ini_max_step_length,
const float  ini_max_step_height,
const float  ini_max_step_side,
const float  ini_max_step_turn,
const float  ini_zmp_offset_forward,
const float  ini_zmp_offset_sideward,
const float  ini_l_hip_roll_compensation,
const float  ini_r_hip_roll_compensation,
const float  ini_hip_height,
const float  ini_torso_sideward_orientation 
)

Constructor with initial values.

Parameters:
ini_max_step_length initial value for max_step_length
ini_max_step_height initial value for max_step_height
ini_max_step_side initial value for max_step_side
ini_max_step_turn initial value for max_step_turn
ini_zmp_offset_forward initial value for zmp_offset_forward
ini_zmp_offset_sideward initial value for zmp_offset_sideward
ini_l_hip_roll_compensation initial value for l_hip_roll_compensation
ini_r_hip_roll_compensation initial value for r_hip_roll_compensation
ini_hip_height initial value for hip_height
ini_torso_sideward_orientation initial value for torso_sideward_orientation

Definition at line 853 of file HumanoidMotionInterface.cpp.

References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, and fawkes::IFT_FLOAT.

fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage (  ) 

Constructor.

Definition at line 882 of file HumanoidMotionInterface.cpp.

References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, and fawkes::IFT_FLOAT.

fawkes::HumanoidMotionInterface::SetWalkParamsMessage::~SetWalkParamsMessage (  ) 

Destructor.

Definition at line 902 of file HumanoidMotionInterface.cpp.

References fawkes::Message::data_ptr.

fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage ( const SetWalkParamsMessage m  ) 

Copy constructor.

Parameters:
m message to copy from

Definition at line 910 of file HumanoidMotionInterface.cpp.

References fawkes::Message::data_ptr, fawkes::Message::data_size, and fawkes::Message::data_ts.


Member Function Documentation

Message * fawkes::HumanoidMotionInterface::SetWalkParamsMessage::clone (  )  const [virtual]

Clone this message.

Produces a message of the same type as this message and copies the data to the new message.

Returns:
clone of this message

Reimplemented from fawkes::Message.

Definition at line 1274 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1204 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1132 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 961 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_length (  )  const

Get max_step_length value.

Maximum length of a footstep in m.

Returns:
max_step_length value

Definition at line 927 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_side (  )  const

Get max_step_side value.

Maximum length of side step in m.

Returns:
max_step_side value

Definition at line 995 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1029 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1214 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1142 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 971 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 937 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1005 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1039 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1178 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1250 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1073 of file HumanoidMotionInterface.cpp.

size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1107 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1168 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1227 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1155 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 983 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 949 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1017 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1051 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1191 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1263 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1085 of file HumanoidMotionInterface.cpp.

void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1119 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1240 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1063 of file HumanoidMotionInterface.cpp.

float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::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 1097 of file HumanoidMotionInterface.cpp.


The documentation for this class was generated from the following files:
Generated on Tue Feb 22 13:32:40 2011 for Fawkes API by  doxygen 1.4.7