UPennWalkMC.cc File Reference

Defines UPennWalkMC, which uses the UPennalizers' 2004 RoboCup code to compute walking gaits. More...

#include "UPennWalkMC.h"
#include "Motion/MotionCommand.h"
#include "Motion/MotionManager.h"
#include <math.h>

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Defines
#define	PI   M_PI
Enumerations
enum	LegIdentifier { LEG_LEFT_FORE = 0, LEG_LEFT_HIND = 1, LEG_RIGHT_FORE = 2, LEG_RIGHT_HIND = 3 }
Variables
const size_t	MAX_WIDTH = 208
const size_t	MAX_HEIGHT = 160
const size_t	LAYERM_WIDTH = 104
const size_t	LAYERM_HEIGHT = 80
const double	FIELD_VIEW_H = 56.9*(PI/180)
const double	FIELD_VIEW_V = 45.2*(PI/180)
const double	FOCAL_LENGTH = 192.0
const unsigned int	IMAGE_WIDTH = 208
const unsigned int	IMAGE_HEIGHT = 160
const double	BODY_TILT = -13*PI/180
const double	BODY_WIDTH = 134.4
const double	BODY_LENGTH = 130.0
const size_t	NUM_LEG = 4
const size_t	NUM_LEG_JOINT = 3*NUM_LEG
const double	LEG_FORE_UPPER_Z = 69.5
const double	LEG_FORE_UPPER_Y = 9.0
const double	LEG_FORE_LOWER_Z = 76.4
const double	LEG_FORE_LOWER_Y = -9.0
const double	LEG_HIND_UPPER_Z = 69.5
const double	LEG_HIND_UPPER_Y = 9.0
const double	LEG_HIND_LOWER_Z = 78.9
const double	LEG_HIND_LOWER_Y = -9.0
const double	NECK_TILT2_TO_CAMERA_Y = 81.0
const double	NECK_TILT2_TO_CAMERA_Z = -14.6
const double	NECK_TILT_TO_TILT2 = 80.0
const double	SHOULDER_TO_NECK_TILT_Y = 2.5
const double	SHOULDER_TO_NECK_TILT_Z = 19.5
const double	MIN_SHOULDER_HEIGHT = 50.0
const double	TURN_OFFSET = 75.0
const double	STANCE_BODY_TILT = 0*PI/180
const double	STANCE_SHOULDER_HEIGHT = 105.
const double	STANCE_FORE_X0 = 7.
const double	STANCE_FORE_Y0 = 60.
const double	STANCE_HIND_X0 = 2.
const double	STANCE_HIND_Y0 = -45.
const int	WALK_QUARTER_PERIOD = 3
const double	WALK_MAX_DISTANCE = 13.
const double	WALK_FORE_LIFT_INITIAL = 25
const double	WALK_FORE_LIFT_FINAL = 45
const double	WALK_HIND_LIFT_INITIAL = 25
const double	WALK_HIND_LIFT_FINAL = 25
const double	WALK_FORE_XMIN = -10
const double	WALK_FORE_XMAX = 30
const double	WALK_FORE_YMIN = 25
const double	WALK_FORE_YMAX = 90
const double	WALK_HIND_XMIN = -15
const double	WALK_HIND_XMAX = 35
const double	WALK_HIND_YMIN = -70
const double	WALK_HIND_YMAX = -15

---

Detailed Description

Defines UPennWalkMC, which uses the UPennalizers' 2004 RoboCup code to compute walking gaits.

Author:

UPennalizers 2004 (Creator)

ejt (Ported)

The UPennalizers code was released under the GPL:
-------------------------------------------------------------------------
This software is distributed under the GNU General Public License,
version 2. If you do not have a copy of this licence, visit
www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
Suite 330 Boston, MA 02111-1307 USA. This program is distributed
in the hope that it will be useful, but WITHOUT ANY WARRANTY,
including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-------------------------------------------------------------------------

Definition in file UPennWalkMC.cc.

---

Define Documentation

#define PI   M_PI

Definition at line 19 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

---

Enumeration Type Documentation

enum LegIdentifier

Enumerator:

LEG_LEFT_FORE
LEG_LEFT_HIND
LEG_RIGHT_FORE
LEG_RIGHT_HIND

Definition at line 131 of file UPennWalkMC.cc.

---

Variable Documentation

const double BODY_LENGTH = 130.0

Definition at line 36 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles(), and UPennWalkMC::WalkLegs().

const double BODY_TILT = -13*PI/180

Definition at line 33 of file UPennWalkMC.cc.

const double BODY_WIDTH = 134.4

Definition at line 35 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::WalkLegs().

const double FIELD_VIEW_H = 56.9*(PI/180)

Definition at line 27 of file UPennWalkMC.cc.

const double FIELD_VIEW_V = 45.2*(PI/180)

Definition at line 28 of file UPennWalkMC.cc.

const double FOCAL_LENGTH = 192.0

Definition at line 29 of file UPennWalkMC.cc.

const unsigned int IMAGE_HEIGHT = 160

Definition at line 31 of file UPennWalkMC.cc.

const unsigned int IMAGE_WIDTH = 208

Definition at line 30 of file UPennWalkMC.cc.

const size_t LAYERM_HEIGHT = 80

Definition at line 25 of file UPennWalkMC.cc.

const size_t LAYERM_WIDTH = 104

Definition at line 24 of file UPennWalkMC.cc.

const double LEG_FORE_LOWER_Y = -9.0

Definition at line 45 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_FORE_LOWER_Z = 76.4

Definition at line 44 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_FORE_UPPER_Y = 9.0

Definition at line 43 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_FORE_UPPER_Z = 69.5

Definition at line 42 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_HIND_LOWER_Y = -9.0

Definition at line 50 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_HIND_LOWER_Z = 78.9

Definition at line 49 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_HIND_UPPER_Y = 9.0

Definition at line 48 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const double LEG_HIND_UPPER_Z = 69.5

Definition at line 47 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::LegPositionsToAngles().

const size_t MAX_HEIGHT = 160

Definition at line 23 of file UPennWalkMC.cc.

const size_t MAX_WIDTH = 208

Definition at line 22 of file UPennWalkMC.cc.

const double MIN_SHOULDER_HEIGHT = 50.0

Definition at line 60 of file UPennWalkMC.cc.

const double NECK_TILT2_TO_CAMERA_Y = 81.0

Definition at line 54 of file UPennWalkMC.cc.

const double NECK_TILT2_TO_CAMERA_Z = -14.6

Definition at line 55 of file UPennWalkMC.cc.

const double NECK_TILT_TO_TILT2 = 80.0

Definition at line 56 of file UPennWalkMC.cc.

const size_t NUM_LEG = 4

Definition at line 38 of file UPennWalkMC.cc.

const size_t NUM_LEG_JOINT = 3*NUM_LEG

Definition at line 39 of file UPennWalkMC.cc.

Referenced by UPennWalkMC::StandLegs(), and UPennWalkMC::WalkLegs().

const double SHOULDER_TO_NECK_TILT_Y = 2.5

Definition at line 57 of file UPennWalkMC.cc.

const double SHOULDER_TO_NECK_TILT_Z = 19.5

Definition at line 58 of file UPennWalkMC.cc.

const double STANCE_BODY_TILT = 0*PI/180

Definition at line 71 of file UPennWalkMC.cc.

const double STANCE_FORE_X0 = 7.

Definition at line 74 of file UPennWalkMC.cc.

const double STANCE_FORE_Y0 = 60.

Definition at line 76 of file UPennWalkMC.cc.

const double STANCE_HIND_X0 = 2.

Definition at line 77 of file UPennWalkMC.cc.

const double STANCE_HIND_Y0 = -45.

Definition at line 78 of file UPennWalkMC.cc.

const double STANCE_SHOULDER_HEIGHT = 105.

Definition at line 72 of file UPennWalkMC.cc.

const double TURN_OFFSET = 75.0

Definition at line 62 of file UPennWalkMC.cc.

const double WALK_FORE_LIFT_FINAL = 45

Definition at line 84 of file UPennWalkMC.cc.

const double WALK_FORE_LIFT_INITIAL = 25

Definition at line 83 of file UPennWalkMC.cc.

const double WALK_FORE_XMAX = 30

Definition at line 90 of file UPennWalkMC.cc.

const double WALK_FORE_XMIN = -10

Definition at line 89 of file UPennWalkMC.cc.

const double WALK_FORE_YMAX = 90

Definition at line 93 of file UPennWalkMC.cc.

const double WALK_FORE_YMIN = 25

Definition at line 91 of file UPennWalkMC.cc.

const double WALK_HIND_LIFT_FINAL = 25

Definition at line 87 of file UPennWalkMC.cc.

const double WALK_HIND_LIFT_INITIAL = 25

Definition at line 86 of file UPennWalkMC.cc.

const double WALK_HIND_XMAX = 35

Definition at line 96 of file UPennWalkMC.cc.

const double WALK_HIND_XMIN = -15

Definition at line 95 of file UPennWalkMC.cc.

const double WALK_HIND_YMAX = -15

Definition at line 98 of file UPennWalkMC.cc.

const double WALK_HIND_YMIN = -70

Definition at line 97 of file UPennWalkMC.cc.

const double WALK_MAX_DISTANCE = 13.

Definition at line 81 of file UPennWalkMC.cc.

const int WALK_QUARTER_PERIOD = 3

Definition at line 80 of file UPennWalkMC.cc.