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XWalkMC Class ReferenceExtreme walk engine handles legged locomotion on hexapods and beyond. More...
Inheritance diagram for XWalkMC:
Detailed DescriptionExtreme walk engine handles legged locomotion on hexapods and beyond. Definition at line 17 of file XWalkMC.h.
Constructor & Destructor Documentation
constructor Definition at line 17 of file XWalkMC.cc. Member Function Documentation
computes body position based on settings in p, which should then be added to leg positions before projecting onto ground plane Definition at line 935 of file XWalkMC.cc. Referenced by setTargetVelocity(), updateOutputsInitial(), and updateOutputsWalking().
computes the leg position (in xy plane only) based on leg state Definition at line 914 of file XWalkMC.cc. Referenced by resetLegState(), setTargetVelocity(), and updateOutputsWalking().
computes current leg state based on globPhase Definition at line 899 of file XWalkMC.cc. Referenced by setTargetVelocity(), updateOutputsInitial(), and updateOutputsWalking().
updates globPhase based on specified stride time (relative to startTime) Definition at line 892 of file XWalkMC.cc. Referenced by resetPeriod(), setTargetVelocity(), start(), updateOutputsInitial(), and updateOutputsWalking().
Note the z position is irrelevant, all points should be projected to the same plane, normal to gravity vector. Definition at line 1027 of file XWalkMC.cc. Referenced by sendLoadPredictions().
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" ;)
Implements MotionCommand.
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
Implements MotionCommand. Definition at line 51 of file XWalkMC.h. Referenced by computePhase(), and updateOutputs().
recomputes LegState::downPos and LegState::liftPos based on specified state variables, such that the direction of stride rotates about the current position Definition at line 484 of file XWalkMC.cc. Referenced by start(), and updateOutputsInitial(). Definition at line 412 of file XWalkMC.cc. Referenced by setTargetVelocity().
Definition at line 808 of file XWalkMC.cc. Referenced by updateOutputs().
Reimplemented in WaypointWalkMC.
Specify the desired body displacement in x and y (millimeters) and angle (radians), optionally specify time (seconds). Corresponding velocity will be limited to max velocity, so setting time=0 implies max speed Definition at line 221 of file XWalkMC.cc. Specify the desired body velocity in x and y (millimeters per second) and angular velocity (radians per second), and amount of time (seconds) before stopping. Definition at line 208 of file XWalkMC.cc. Specify the desired body velocity in x and y (millimeters per second) and angular velocity (radians per second); does not stop automatically. Definition at line 35 of file XWalkMC.cc. Referenced by setTargetDisplacement(), setTargetVelocity(), updateOutputs(), XWalkMC(), and zeroVelocities().
solves inverse kinematics and send affected output values to motion manager Definition at line 951 of file XWalkMC.cc. Referenced by updateOutputsInitial(), and updateOutputsWalking().
recursively processes contents of src, creating a ParameterTransition for each entry to smoothly update corresponding entries in dst Definition at line 1111 of file XWalkMC.cc.
recursively processes contents of src, creating a ParameterTransition for each entry to smoothly update corresponding entries in dst Definition at line 1097 of file XWalkMC.cc. Referenced by spiderSettings(), and XWalkMC().
called after this is added to MotionManager; don't override this, use doStart instead Reimplemented from MotionCommand. Definition at line 305 of file XWalkMC.cc.
called after this is removed from MotionManager; don't override this, use doStop instead Reimplemented from MotionCommand. Definition at line 328 of file XWalkMC.cc.
recomputes each leg's LegState::neutralPos based on current values in p Definition at line 388 of file XWalkMC.cc. Referenced by updateOutputs(), and XWalkMC().
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
Implements MotionCommand. Reimplemented in WaypointWalkMC. Definition at line 240 of file XWalkMC.cc.
Definition at line 515 of file XWalkMC.cc. Referenced by updateOutputs().
Definition at line 657 of file XWalkMC.cc. Referenced by updateOutputs().
Posts a LocomotionEvent and sets velocities to zero. Also forces an output frame setting wheel velocities to zero; needed because if we remove a motion command there may be nothing left to zero the velocities. Definition at line 350 of file XWalkMC.cc. Member Data Documentation
collection of those listeners which are actively transitioning their corresponding parameters in p Definition at line 151 of file XWalkMC.h. Referenced by isDirty(), spiderSettings(), updateNeutralPos(), and updateOutputs().
Definition at line 178 of file XWalkMC.h. Referenced by sendLoadPredictions(), setTargetVelocity(), solveIK(), start(), stop(), updateNeutralPos(), updateOutputsInitial(), updateOutputsWalking(), and XWalkMC().
list of current contact points, for better Mirage simulation Definition at line 156 of file XWalkMC.h. Referenced by stop(), updateOutputsInitial(), and updateOutputsWalking().
true if update required Definition at line 140 of file XWalkMC.h. Referenced by isDirty(), and setDirty().
time in msecs since setTargetDisplacement called Definition at line 146 of file XWalkMC.h. Referenced by setTargetDisplacement(), setTargetVelocity(), updateOutputs(), updateOutputsInitial(), and zeroVelocities().
the current phase within the walk, in turn controls phase of individual legs via updateLegPhase() Definition at line 154 of file XWalkMC.h. Referenced by computeCurrentBodyOffset(), computeLegPhase(), computePhase(), resetPeriod(), updateOutputsInitial(), and updateOutputsWalking().
set to true when legs are in an unknown configuration (e.g. following start()) Definition at line 148 of file XWalkMC.h. Referenced by resetPeriod(), setTargetVelocity(), start(), updateOutputs(), and updateOutputsInitial().
Definition at line 177 of file XWalkMC.h. Referenced by start(), updateOutputs(), updateOutputsInitial(), and XWalkMC().
storage of cached stride information for each leg Definition at line 175 of file XWalkMC.h. Referenced by computeCurrentPosition(), computeLegPhase(), isDirty(), resetLegState(), resetPeriod(), sendLoadPredictions(), setTargetVelocity(), start(), updateNeutralPos(), updateOutputsInitial(), and updateOutputsWalking().
current parameter values, subject to smoothed transition from those as members of the superclass (see ParameterTransition) Definition at line 149 of file XWalkMC.h. Referenced by computeCurrentBodyOffset(), computeLegPhase(), setTargetVelocity(), updateNeutralPos(), updateOutputsInitial(), updateOutputsWalking(), and XWalkMC().
the time between leg lifts (milliseconds), calculated value to yield target speed (targetVel) Definition at line 153 of file XWalkMC.h. Referenced by computeCurrentPosition(), computeLegPhase(), computePhase(), resetPeriod(), setTargetVelocity(), start(), updateOutputsInitial(), and updateOutputsWalking().
True if we've finished a displacement and are waiting for all legs to come to ground before posting a status event. Definition at line 147 of file XWalkMC.h. Referenced by setTargetDisplacement(), setTargetVelocity(), and updateOutputs().
if the target angular velocity (targetAngVel) is producing a reasonable curvature vs. targetVel, this is the point about which the body is arcing Definition at line 155 of file XWalkMC.h. Referenced by computeCurrentPosition(), resetPeriod(), and setTargetVelocity().
must be float (not unsigned int) because value can go negative: phase offset of "walk time" from system get_time() (milliseconds) Definition at line 152 of file XWalkMC.h. Referenced by resetPeriod(), setTargetVelocity(), start(), updateOutputs(), updateOutputsInitial(), and XWalkMC().
the requested angular displacement of the body in radians Definition at line 144 of file XWalkMC.h. Referenced by setTargetDisplacement(), setTargetVelocity(), and updateOutputs().
the requested angular velocity of the body, radians per second Definition at line 142 of file XWalkMC.h. Referenced by computeCurrentPosition(), getTargetAngVelocity(), getTargetVelocity(), isDirty(), resetPeriod(), setTargetVelocity(), updateOutputs(), updateOutputsInitial(), updateOutputsWalking(), and XWalkMC().
the requesed xy displacement of the body, in millimeters Definition at line 143 of file XWalkMC.h. Referenced by setTargetDisplacement(), setTargetVelocity(), and updateOutputs().
the requested xy velocity of the body (ignoring parameterized body motion, like sway or surge), millimeters per second Definition at line 141 of file XWalkMC.h. Referenced by computeCurrentBodyOffset(), computeCurrentPosition(), getTargetVelocity(), isDirty(), resetPeriod(), setTargetVelocity(), updateOutputs(), updateOutputsInitial(), and XWalkMC().
full collection of parameter listeners Definition at line 150 of file XWalkMC.h. Referenced by spiderSettings().
True if we just want to maintain a velocity; false if we're trying to achieve a displacement. Definition at line 145 of file XWalkMC.h. Referenced by setTargetDisplacement(), setTargetVelocity(), and updateOutputs(). The documentation for this class was generated from the following files: |
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