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WorldModel2Behavior::WalkNode Struct Reference

Inheritance diagram for WorldModel2Behavior::WalkNode:

Inheritance graph
[legend]
List of all members.

Detailed Description

This one does a random walk.

Definition at line 38 of file WorldModel2Behavior.h.

Public Types

enum  { TURN, AHEAD }

Public Member Functions

 WalkNode (const char *title, StateNode *poppa, MotionManager::MC_ID su)
 Constructor.

virtual ~WalkNode ()
 Destructor.

virtual void processEvent (const EventBase &)
 IR obstacle avoidance.

virtual void DoStart ()
 Behavior startup.

virtual void DoStop ()
 Behavior stop.


Public Attributes

MotionManager::MC_ID walker_id
 A motion command ID for WalkMC.

MotionManager::MC_ID head_id
 A motion command ID for the head.

MotionManager::MC_ID stand_id
 A motion command ID for standing up.

enum WorldModel2Behavior::WalkNode:: { ... }  walkstate
 are we walking forward or turning?


Static Public Attributes

const double THR_TURN = 300
 obstacle threshold for turning away

const double THR_AHEAD = 600
 obstacle threshild for stopping turn


Member Enumeration Documentation

anonymous enum
 

Enumeration values:
TURN 
AHEAD 

Definition at line 51 of file WorldModel2Behavior.h.


Constructor & Destructor Documentation

WorldModel2Behavior::WalkNode::WalkNode const char *  title,
StateNode poppa,
MotionManager::MC_ID  su
 

Constructor.

Definition at line 128 of file WorldModel2Behavior.cc.

References MotionManager::addMotion(), head_id, motman, and walker_id.

WorldModel2Behavior::WalkNode::~WalkNode  )  [virtual]
 

Destructor.

Definition at line 141 of file WorldModel2Behavior.cc.

References head_id, motman, MotionManager::removeMotion(), and walker_id.


Member Function Documentation

void WorldModel2Behavior::WalkNode::DoStart  )  [virtual]
 

Behavior startup.

Reimplemented from StateNode.

Definition at line 176 of file WorldModel2Behavior.cc.

References EventRouter::addListener(), AHEAD, MotionManager::checkinMotion(), MotionManager::checkoutMotion(), StateNode::DoStart(), erouter, get_time(), head_id, motman, EventBase::sensorEGID, HeadPointerMC::setJoints(), WalkMC::setTargetVelocity(), walker_id, and walkstate.

void WorldModel2Behavior::WalkNode::DoStop  )  [virtual]
 

Behavior stop.

Reimplemented from StateNode.

Definition at line 196 of file WorldModel2Behavior.cc.

References MotionManager::checkinMotion(), MotionManager::checkoutMotion(), StateNode::DoStop(), erouter, get_time(), motman, EventRouter::removeListener(), EventBase::sensorEGID, WalkMC::setTargetVelocity(), and walker_id.

void WorldModel2Behavior::WalkNode::processEvent const EventBase  )  [virtual]
 

IR obstacle avoidance.

Reimplemented from StateNode.

Definition at line 150 of file WorldModel2Behavior.cc.

References AHEAD, MotionManager::checkinMotion(), MotionManager::checkoutMotion(), ERS210Info::IRDistOffset, motman, WorldState::sensors, WalkMC::setTargetVelocity(), state, THR_AHEAD, THR_TURN, TURN, walker_id, and walkstate.


Member Data Documentation

MotionManager::MC_ID WorldModel2Behavior::WalkNode::head_id
 

A motion command ID for the head.

Definition at line 49 of file WorldModel2Behavior.h.

MotionManager::MC_ID WorldModel2Behavior::WalkNode::stand_id
 

A motion command ID for standing up.

Definition at line 50 of file WorldModel2Behavior.h.

const double WorldModel2Behavior::WalkNode::THR_AHEAD = 600 [static]
 

obstacle threshild for stopping turn

Definition at line 54 of file WorldModel2Behavior.h.

const double WorldModel2Behavior::WalkNode::THR_TURN = 300 [static]
 

obstacle threshold for turning away

Definition at line 53 of file WorldModel2Behavior.h.

MotionManager::MC_ID WorldModel2Behavior::WalkNode::walker_id
 

A motion command ID for WalkMC.

Definition at line 48 of file WorldModel2Behavior.h.

enum { ... } WorldModel2Behavior::WalkNode::walkstate
 

are we walking forward or turning?


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