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UPennWalkControllerBehavior Class ReferenceListens to control commands coming in from the command port for remotely controlling the walk. More...
Inheritance diagram for UPennWalkControllerBehavior:
Detailed DescriptionListens to control commands coming in from the command port for remotely controlling the walk. Definition at line 17 of file UPennWalkControllerBehavior.h.
Constructor & Destructor Documentation
don't call
constructor Definition at line 68 of file UPennWalkControllerBehavior.h.
destructor Definition at line 76 of file UPennWalkControllerBehavior.h. Member Function Documentation
The only event we could possibly receive is the stop-if-no-heartbeat timer. Reimplemented from BehaviorBase. Definition at line 87 of file UPennWalkControllerBehavior.h.
Delegate function for subclasses to be notified when the behavior starts up. Should be overridden by subclasses to subscribe to events, install motion commands, etc. doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes. Reimplemented from BehaviorBase.
Delegate function for subclasses to be notified when the behavior starts up. May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup. Reimplemented from BehaviorBase.
Gives a short description of what this class of behaviors does... you should override this (but don't have to). If you do override this, also consider overriding getDescription() to return it Reimplemented from BehaviorBase. Definition at line 92 of file UPennWalkControllerBehavior.h. Referenced by getDescription().
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!) This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so. Reimplemented from BehaviorBase. Definition at line 97 of file UPennWalkControllerBehavior.h.
returns the current Walk's MotionCommand ID Definition at line 84 of file UPennWalkControllerBehavior.h. Referenced by doEvent().
returns the WalkMC which [will be|is being] used Definition at line 82 of file UPennWalkControllerBehavior.h.
called by wireless when there's new data
don't call
Executes a command. Called by mechacmd_callback. Member Data Documentation
handy symbol for matching incoming communication Definition at line 31 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 34 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 35 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 36 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 37 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 38 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 39 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 40 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 41 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 42 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 43 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 32 of file UPennWalkControllerBehavior.h.
handy symbol for matching incoming communication Definition at line 33 of file UPennWalkControllerBehavior.h.
The input command stream socket. Definition at line 58 of file UPennWalkControllerBehavior.h.
Motion parameter. Definition at line 48 of file UPennWalkControllerBehavior.h.
Motion parameter. Definition at line 46 of file UPennWalkControllerBehavior.h.
Motion parameter. Definition at line 47 of file UPennWalkControllerBehavior.h. the WalkMC to use Definition at line 27 of file UPennWalkControllerBehavior.h. Referenced by getWalkID(). The last WCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place. Definition at line 55 of file UPennWalkControllerBehavior.h. Referenced by ~UPennWalkControllerBehavior(). Points to the one UPennWalkControllerBehavior object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized. Definition at line 23 of file UPennWalkControllerBehavior.h. Referenced by ~UPennWalkControllerBehavior(). The documentation for this class was generated from the following file: |
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