DynamicRobotState Class Reference

This class provides a dynamic storage and serialization of robot state, such as output positions, buttons, and sensors. More...

#include <DynamicRobotState.h>

Inheritance diagram for DynamicRobotState:

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Detailed Description

This class provides a dynamic storage and serialization of robot state, such as output positions, buttons, and sensors.

WorldState provides static storage for sensors, combined with PostureEngine for output values. In addition SensorState (from the hardware abstraction layer's DataSource) also serves this role. However all of these are based on the RobotInfo's declaration of offsets and array lengths, whereas this class relies on named entries which may or may not map to the current model

Definition at line 13 of file DynamicRobotState.h.

List of all members.

Public Member Functions
	DynamicRobotState ()
	constructor
	DynamicRobotState (const DynamicRobotState &drs)
	constructor
Public Attributes
plist::DictionaryOf < plist::Primitive< float > >	outputs
	values for robot effectors, e.g. joint angles
plist::DictionaryOf < plist::Primitive< float > >	buttons
	values for buttons and generally sensors which should generate an event when a threshold is crossed
plist::DictionaryOf < plist::Primitive< float > >	sensors
	values for other sensors
plist::DictionaryOf < plist::Primitive< float > >	torques
	force information corresponding to outputs
plist::DictionaryOf< plist::Point >	framePositions
	reference frame locations
plist::DictionaryOf< plist::Point >	frameOrientations
	reference frame orientations (as axis component of quaternion, use fmat::Quaternion::fromAxis(x) to "rehydrate")
Protected Member Functions
void	init ()
	adds members as plist entries for serialization

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Constructor & Destructor Documentation

DynamicRobotState::DynamicRobotState

(

)

constructor

Definition at line 16 of file DynamicRobotState.h.

DynamicRobotState::DynamicRobotState

(

const DynamicRobotState &

drs

)

constructor

Definition at line 18 of file DynamicRobotState.h.

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Member Function Documentation

void DynamicRobotState::init

(

)

[protected]

adds members as plist entries for serialization

Definition at line 30 of file DynamicRobotState.h.

Referenced by DynamicRobotState().

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Member Data Documentation

plist::DictionaryOf<plist::Primitive<float> > DynamicRobotState::buttons

values for buttons and generally sensors which should generate an event when a threshold is crossed

Definition at line 21 of file DynamicRobotState.h.

Referenced by SensorContact::declareValues(), init(), and SensorContact::reclaimValues().

plist::DictionaryOf<plist::Point> DynamicRobotState::frameOrientations

reference frame orientations (as axis component of quaternion, use fmat::Quaternion::fromAxis(x) to "rehydrate")

Definition at line 26 of file DynamicRobotState.h.

Referenced by init().

plist::DictionaryOf<plist::Point> DynamicRobotState::framePositions

reference frame locations

Definition at line 25 of file DynamicRobotState.h.

Referenced by init().

plist::DictionaryOf<plist::Primitive<float> > DynamicRobotState::outputs

values for robot effectors, e.g. joint angles

Definition at line 20 of file DynamicRobotState.h.

Referenced by SensorFeedback::declareValues(), init(), and SensorFeedback::reclaimValues().

plist::DictionaryOf<plist::Primitive<float> > DynamicRobotState::sensors

values for other sensors

Definition at line 22 of file DynamicRobotState.h.

Referenced by OdometrySensor::declareValues(), GPSSensor::declareValues(), SensorRangeFinder::declareValues(), init(), OdometrySensor::reclaimValues(), GPSSensor::reclaimValues(), and SensorRangeFinder::reclaimValues().

plist::DictionaryOf<plist::Primitive<float> > DynamicRobotState::torques

force information corresponding to outputs

Definition at line 23 of file DynamicRobotState.h.

Referenced by init().

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

• DynamicRobotState.h