Homepage | Demos | Overview | Downloads | Tutorials | Reference | Credits |
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 |
|
Definition at line 51 of file WorldModel2Behavior.h. |
|
Constructor.
Definition at line 128 of file WorldModel2Behavior.cc. References MotionManager::addMotion(), head_id, motman, and walker_id. |
|
Destructor.
Definition at line 141 of file WorldModel2Behavior.cc. References head_id, motman, MotionManager::removeMotion(), and walker_id. |
|
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. |
|
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. |
|
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. |
|
A motion command ID for the head.
Definition at line 49 of file WorldModel2Behavior.h. |
|
A motion command ID for standing up.
Definition at line 50 of file WorldModel2Behavior.h. |
|
obstacle threshild for stopping turn
Definition at line 54 of file WorldModel2Behavior.h. |
|
obstacle threshold for turning away
Definition at line 53 of file WorldModel2Behavior.h. |
|
A motion command ID for WalkMC.
Definition at line 48 of file WorldModel2Behavior.h. |
|
are we walking forward or turning?
|
Tekkotsu v1.4 |
Generated Sat Jul 19 00:09:17 2003 by Doxygen 1.3.2 |