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#include <TailWagMC.h>
Inheritance diagram for TailWagMC:
Definition at line 12 of file TailWagMC.h.
Public Member Functions | |
TailWagMC () | |
constructor | |
virtual | ~TailWagMC () |
destructor | |
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 | setPeriod (unsigned int p) |
sets the period of time between swings, in milliseconds | |
unsigned int | getPeriod () |
gets the period of time between swings, in milliseconds | |
void | setMagnitude (double mag) |
sets the magnitude of swings, in radians | |
double | getMagnitude () |
gets the magnitude of swings, in radians | |
void | setTilt (double r) |
sets the tilt of the tail while wagging, in radians | |
void | unsetTilt () |
makes the tilt control unspecified, will let something else control tilt | |
double | getTilt () |
sets the tilt of the tail while wagging, in radians | |
void | setActive (bool a) |
turns the tail wagger on or off | |
bool | getActive () |
returns true if this is currently trying to wag the tail | |
Protected Attributes | |
unsigned int | period |
period of time between swings, in milliseconds | |
double | magnitude |
magnitude of swings, in radians | |
bool | active |
true if this is currently trying to wag the tail | |
OutputCmd | tilt |
holds current setting for the tilt joint | |
OutputCmd | pans [NumFrames] |
holds commands for planning ahead the wagging |
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constructor
Definition at line 15 of file TailWagMC.h. |
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destructor
Definition at line 17 of file TailWagMC.h. |
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returns true if this is currently trying to wag the tail
Definition at line 39 of file TailWagMC.h. References active. |
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gets the magnitude of swings, in radians
Definition at line 34 of file TailWagMC.h. References magnitude. |
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gets the period of time between swings, in milliseconds
Definition at line 32 of file TailWagMC.h. References period. |
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sets the tilt of the tail while wagging, in radians
Definition at line 37 of file TailWagMC.h. References tilt, and OutputCmd::value. |
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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. Definition at line 29 of file TailWagMC.h. |
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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 28 of file TailWagMC.h. References active. |
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turns the tail wagger on or off
Definition at line 38 of file TailWagMC.h. References active. |
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sets the magnitude of swings, in radians
Definition at line 33 of file TailWagMC.h. References magnitude. |
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sets the period of time between swings, in milliseconds
Definition at line 31 of file TailWagMC.h. References period. |
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sets the tilt of the tail while wagging, in radians
Definition at line 35 of file TailWagMC.h. References OutputCmd::set(), and tilt. |
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makes the tilt control unspecified, will let something else control tilt
Definition at line 36 of file TailWagMC.h. References tilt, and OutputCmd::unset(). |
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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. Definition at line 18 of file TailWagMC.h. References active, WorldState::ERS210Mask, ERS210Info::FrameTime, get_time(), magnitude, motman, ERS210Info::NumFrames, ERS210Info::PanOffset, pans, period, WorldState::robotDesign, OutputCmd::set(), MotionManager::setOutput(), state, tilt, and ERS210Info::TiltOffset. |
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true if this is currently trying to wag the tail
Definition at line 44 of file TailWagMC.h. |
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magnitude of swings, in radians
Definition at line 43 of file TailWagMC.h. |
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holds commands for planning ahead the wagging
Definition at line 46 of file TailWagMC.h. |
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period of time between swings, in milliseconds
Definition at line 42 of file TailWagMC.h. |
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holds current setting for the tilt joint
Definition at line 45 of file TailWagMC.h. |
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