UPennWalkMC Class Reference

Uses the UPennalizers' 2004 RoboCup code to compute walking gaits. More...

#include <UPennWalkMC.h>

Inheritance diagram for UPennWalkMC:

Detailed Description

Uses the UPennalizers' 2004 RoboCup code to compute walking gaits.

This class is ported from University of Pennsylvania's 2004 Robosoccer entry, and falls under their license: ========================================================================= 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 at line 20 of file UPennWalkMC.h.

List of all members.

Public Member Functions
	UPennWalkMC ()
	constructor
virtual int	updateOutputs ()
	is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
virtual int	isDirty ()
	not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
virtual int	isAlive ()
	used to prune "dead" motions from the MotionManager
void	setTargetVelocity (float x, float y, float a)
Protected Member Functions
void	SetLegJoints (double *x)
void	SetStanceParameters (double bodyTilt, double shoulderHeight, double foreX0, double foreY0, double hindX0, double hindY0)
void	SetWalkSpeeds (int quarterPeriod, double maxDistance, double foreLiftInitial, double foreLiftFinal, double hindLiftInitial, double hindLiftFinal)
void	SetWalkWorkspace (double foreXMin, double foreXMax, double foreYMin, double foreYMax, double hindXMin, double hindXMax, double hindYMin, double hindYMax)
void	LegPositionsToAngles (double *a)
	Calculate 12 leg joint angles from leg positions.
void	StandLegs (double x=0, double y=0, double z=0)
int	GetWalkPhase ()
void	SetWalkPhase (int phase)
void	WalkLegs (double xWalk=0.0, double yWalk=0.0, double aWalk=0.0)
Static Protected Member Functions
static double	clip (double x, double min=-1.0, double max=1.0)
Protected Attributes
float	xVel
float	yVel
float	aVel
double	body_tilt
double	shoulder_height
double	fore_x0
double	fore_y0
double	hind_x0
double	hind_y0
int	walk_phase
int	walk_phase_direction
int	walk_quarter_period
double	walk_max_distance
double	walk_fore_lift_initial
double	walk_fore_lift_final
double	walk_hind_lift_initial
double	walk_hind_lift_final
double	walk_current_x [NumLegs]
double	walk_current_y [NumLegs]
double	walk_fore_xmin
double	walk_fore_xmax
double	walk_fore_ymin
double	walk_fore_ymax
double	walk_hind_xmin
double	walk_hind_xmax
double	walk_hind_ymin
double	walk_hind_ymax

Constructor & Destructor Documentation

UPennWalkMC::UPennWalkMC ( )

constructor

Definition at line 138 of file UPennWalkMC.cc.

Member Function Documentation

static double UPennWalkMC::clip	(	double	x,
		double	min = `-1.0`,
		double	max = `1.0`
	)			`[static, protected]`

Definition at line 41 of file UPennWalkMC.h.

Referenced by LegPositionsToAngles(), and WalkLegs().

int UPennWalkMC::GetWalkPhase ( ) [protected]

Definition at line 378 of file UPennWalkMC.cc.

virtual int UPennWalkMC::isAlive ( ) [virtual]

used to prune "dead" motions from the MotionManager

note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)

Returns:: zero if the motion is still processing, non-zero otherwise

Implements MotionCommand.

Definition at line 34 of file UPennWalkMC.h.

virtual int UPennWalkMC::isDirty ( ) [virtual]

not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful

Returns:: zero if none of the commands have changed since last getJointCmd(), else non-zero

Implements MotionCommand.

Definition at line 33 of file UPennWalkMC.h.

void UPennWalkMC::LegPositionsToAngles ( double * a ) [protected]

Calculate 12 leg joint angles from leg positions.

Note positions are relative to stance parameters so all zero inputs -> stance angles

Definition at line 225 of file UPennWalkMC.cc.

Referenced by StandLegs(), and WalkLegs().

void UPennWalkMC::SetLegJoints ( double * x ) [protected]

Definition at line 161 of file UPennWalkMC.cc.

Referenced by StandLegs(), and WalkLegs().

void UPennWalkMC::SetStanceParameters	(	double	bodyTilt,
		double	shoulderHeight,
		double	foreX0,
		double	foreY0,
		double	hindX0,
		double	hindY0
	)			`[protected]`

Definition at line 182 of file UPennWalkMC.cc.

void UPennWalkMC::setTargetVelocity	(	float	x,
		float	y,
		float	a
	)

Definition at line 36 of file UPennWalkMC.h.

void UPennWalkMC::SetWalkPhase ( int phase ) [protected]

Definition at line 383 of file UPennWalkMC.cc.

void UPennWalkMC::SetWalkSpeeds	(	int	quarterPeriod,
		double	maxDistance,
		double	foreLiftInitial,
		double	foreLiftFinal,
		double	hindLiftInitial,
		double	hindLiftFinal
	)			`[protected]`

Definition at line 194 of file UPennWalkMC.cc.

void UPennWalkMC::SetWalkWorkspace	(	double	foreXMin,
		double	foreXMax,
		double	foreYMin,
		double	foreYMax,
		double	hindXMin,
		double	hindXMax,
		double	hindYMin,
		double	hindYMax
	)			`[protected]`