fawkes::HumanoidMotionInterface::SetWalkParamsMessage Class Reference

SetWalkParamsMessage Fawkes BlackBoard Interface Message. More...

#include <interfaces/HumanoidMotionInterface.h>

Inheritance diagram for fawkes::HumanoidMotionInterface::SetWalkParamsMessage:


Classes
struct	SetWalkParamsMessage_data_t
	Internal data storage, do NOT modify!
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 Message *	clone () const
	Clone this message.

Detailed Description

SetWalkParamsMessage Fawkes BlackBoard Interface Message.

Definition at line 124 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 775 of file HumanoidMotionInterface.cpp.

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

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

Constructor.

Definition at line 803 of file HumanoidMotionInterface.cpp.

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

Referenced by clone().

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

Destructor.

Definition at line 822 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 830 of file HumanoidMotionInterface.cpp.

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

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 1193 of file HumanoidMotionInterface.cpp.

References SetWalkParamsMessage().

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 1123 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 1051 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 880 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 846 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 914 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 948 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 1133 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 1061 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 890 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 856 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 924 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 958 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 1097 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 1169 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 992 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 1026 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 1087 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 1146 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 1074 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 902 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 868 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 936 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 970 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 1110 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 1182 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 1004 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 1038 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 1159 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 982 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 1016 of file HumanoidMotionInterface.cpp.

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

src/interfaces/HumanoidMotionInterface.h
src/interfaces/HumanoidMotionInterface.cpp

Context Navigation

fawkes::HumanoidMotionInterface::SetWalkParamsMessage Class Reference

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Detailed Description

Constructor & Destructor Documentation

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