Kodu::MotionCommand Class Reference

#include <KoduActionMotion.h>

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Detailed Description

Definition at line 21 of file KoduActionMotion.h.

List of all members.

Public Member Functions
	MotionCommand ()
	Constructor #1.
	MotionCommand (const ShapeRoot &kTarget, float fwdSpeed, float trnSpeed)
	Constructor #2.
	MotionCommand (float fwdDist, float trnAngle, float fwdSpeed, float trnSpeed)
	Constructor #3.
	MotionCommand (const ShapeRoot &kTarget, float fwdDist, float trnAngle, float fwdSpeed, float trnSpeed)
	Constructor #4.
	MotionCommand (float fwdDist, float trnAngle, float fwdSpeed, float trnSpeed, bool driven)
	Constructor #5.
	MotionCommand (const MotionCommand &)
	Copy Constructor.
	~MotionCommand ()
	Destructor.
MotionCommand &	operator= (const MotionCommand &)
	Assignment operator.
bool	operator== (const MotionCommand &)
	Equals operator.
bool	operator!= (const MotionCommand &)
	Not equals operator.
float	getForwardSpeed () const
	Returns the forward speed.
float	getTurnSpeed () const
	Returns the turning speed.
float	getDistanceToTravel () const
	Returns the distance to travel in the x-direction.
float	getTurningAngle () const
	Returns the angle to turn (in degrees).
bool	isValid () const
	True if this is a feasible motion command.
bool	targetObjectIsValid () const
	Returns if the shape reference is valid or not.
bool	isDriven () const
const ShapeRoot &	getTargetObject () const
	Returns the target object (if available).
Private Attributes
ShapeRoot	targetObject
float	dx
	How far the robot should move forward (units: mm).
float	da
	How much the robot should turn (units: rads).
float	forwardSpeed
	How fast the robot should move forward (units: mm/s).
float	turnSpeed
	How fast the robot should turn (units: rads/s).
bool	cmdDriven
Friends
class	KoduActionMotion
std::ostream &	operator<< (std::ostream &os, const MotionCommand &cmd)

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Constructor & Destructor Documentation

MotionCommand::MotionCommand

(

)

Constructor #1.

================================= Motion Command ================================= ///

Definition at line 15 of file KoduActionMotion.cc.

MotionCommand::MotionCommand	(	const ShapeRoot &	kTarget,
		float	fwdSpeed,
		float	trnSpeed
	)

Constructor #2.

Definition at line 24 of file KoduActionMotion.cc.

MotionCommand::MotionCommand	(	float	fwdDist,
		float	trnAngle,
		float	fwdSpeed,
		float	trnSpeed
	)

Constructor #3.

Definition at line 33 of file KoduActionMotion.cc.

Kodu::MotionCommand::MotionCommand	(	const ShapeRoot &	kTarget,
		float	fwdDist,
		float	trnAngle,
		float	fwdSpeed,
		float	trnSpeed
	)

Constructor #4.

MotionCommand::MotionCommand	(	float	fwdDist,
		float	trnAngle,
		float	fwdSpeed,
		float	trnSpeed,
		bool	driven
	)

Constructor #5.

Definition at line 62 of file KoduActionMotion.cc.

MotionCommand::MotionCommand

(

const MotionCommand &

kCommand

)

Copy Constructor.

Definition at line 53 of file KoduActionMotion.cc.

MotionCommand::~MotionCommand

(

)

Destructor.

Definition at line 72 of file KoduActionMotion.cc.

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Member Function Documentation

float MotionCommand::getDistanceToTravel

(

)

const

Returns the distance to travel in the x-direction.

Definition at line 98 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::ExecuteSimpleWalk::doStart().

float MotionCommand::getForwardSpeed

(

)

const

Returns the forward speed.

Definition at line 94 of file KoduActionMotion.cc.

const ShapeRoot & MotionCommand::getTargetObject

(

)

const

Returns the target object (if available).

Definition at line 110 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::FindMotionTarget::doStart().

float MotionCommand::getTurningAngle

(

)

const

Returns the angle to turn (in degrees).

Definition at line 100 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::ExecuteSimpleTurn::doStart().

float MotionCommand::getTurnSpeed

(

)

const

Returns the turning speed.

Definition at line 96 of file KoduActionMotion.cc.

bool MotionCommand::isDriven

(

)

const

Definition at line 108 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::KoduConditionEvaluator::doStart().

bool MotionCommand::isValid

(

)

const

True if this is a feasible motion command.

Definition at line 102 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::KoduConditionEvaluator::doStart().

bool MotionCommand::operator!=

(

const MotionCommand &

kCommand

)

Not equals operator.

Definition at line 92 of file KoduActionMotion.cc.

MotionCommand & MotionCommand::operator=

(

const MotionCommand &

kCommand

)

Assignment operator.

Definition at line 74 of file KoduActionMotion.cc.

bool MotionCommand::operator==

(

const MotionCommand &

kCommand

)

Equals operator.

Definition at line 86 of file KoduActionMotion.cc.

bool MotionCommand::targetObjectIsValid

(

)

const

Returns if the shape reference is valid or not.

Definition at line 106 of file KoduActionMotion.cc.

Referenced by KoduInterpreter::MotionActionRunner::ExecuteMotionAction::ExecuteSimpleMotion::CheckForValidTarget::doStart().

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Friends And Related Function Documentation

friend class KoduActionMotion [friend]

Definition at line 76 of file KoduActionMotion.h.

std::ostream& operator<<	(	std::ostream &	os,
		const MotionCommand &	cmd
	)			[friend]

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Member Data Documentation

bool Kodu::MotionCommand::cmdDriven [private]

Definition at line 85 of file KoduActionMotion.h.

Referenced by Kodu::KoduActionMotion::getMotionCommand(), isDriven(), isValid(), operator=(), and operator==().

float Kodu::MotionCommand::da [private]

How much the robot should turn (units: rads).

Definition at line 82 of file KoduActionMotion.h.

Referenced by Kodu::KoduActionMotion::getMotionCommand(), getTurningAngle(), isValid(), operator=(), and operator==().

float Kodu::MotionCommand::dx [private]

How far the robot should move forward (units: mm).

Definition at line 81 of file KoduActionMotion.h.

Referenced by getDistanceToTravel(), Kodu::KoduActionMotion::getMotionCommand(), isValid(), operator=(), and operator==().

float Kodu::MotionCommand::forwardSpeed [private]

How fast the robot should move forward (units: mm/s).

Definition at line 83 of file KoduActionMotion.h.

Referenced by getForwardSpeed(), and operator=().

ShapeRoot Kodu::MotionCommand::targetObject [private]

Definition at line 80 of file KoduActionMotion.h.

Referenced by Kodu::KoduActionMotion::getMotionCommand(), getTargetObject(), isValid(), operator=(), operator==(), and targetObjectIsValid().

float Kodu::MotionCommand::turnSpeed [private]

How fast the robot should turn (units: rads/s).

Definition at line 84 of file KoduActionMotion.h.

Referenced by getTurnSpeed(), and operator=().

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

• KoduActionMotion.h
• KoduActionMotion.cc