Homepage Demos Overview Downloads Tutorials Reference
Credits
Main Page | Namespace List | Class Hierarchy | Alphabetical List | Compound List | File List | Namespace Members | Compound Members | File Members | Related Pages | Search

TailWagMC Class Reference

#include <TailWagMC.h>

Inheritance diagram for TailWagMC:

Inheritance graph
[legend]
List of all members.

Detailed Description

A simple motion command for wagging the tail - you can specify period, magnitude, and tilt.

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


Constructor & Destructor Documentation

TailWagMC::TailWagMC  )  [inline]
 

constructor

Definition at line 15 of file TailWagMC.h.

References active, magnitude, period, and tilt.

virtual TailWagMC::~TailWagMC  )  [inline, virtual]
 

destructor

Definition at line 17 of file TailWagMC.h.


Member Function Documentation

bool TailWagMC::getActive  )  [inline]
 

returns true if this is currently trying to wag the tail

Definition at line 39 of file TailWagMC.h.

References active.

double TailWagMC::getMagnitude  )  [inline]
 

gets the magnitude of swings, in radians

Definition at line 34 of file TailWagMC.h.

References magnitude.

unsigned int TailWagMC::getPeriod  )  [inline]
 

gets the period of time between swings, in milliseconds

Definition at line 32 of file TailWagMC.h.

References period.

double TailWagMC::getTilt  )  [inline]
 

sets the tilt of the tail while wagging, in radians

Definition at line 37 of file TailWagMC.h.

References tilt, and OutputCmd::value.

virtual int TailWagMC::isAlive  )  [inline, 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 29 of file TailWagMC.h.

virtual int TailWagMC::isDirty  )  [inline, 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 28 of file TailWagMC.h.

References active.

void TailWagMC::setActive bool  a  )  [inline]
 

turns the tail wagger on or off

Definition at line 38 of file TailWagMC.h.

References active.

void TailWagMC::setMagnitude double  mag  )  [inline]
 

sets the magnitude of swings, in radians

Definition at line 33 of file TailWagMC.h.

References magnitude.

void TailWagMC::setPeriod unsigned int  p  )  [inline]
 

sets the period of time between swings, in milliseconds

Definition at line 31 of file TailWagMC.h.

References period.

void TailWagMC::setTilt double  r  )  [inline]
 

sets the tilt of the tail while wagging, in radians

Definition at line 35 of file TailWagMC.h.

References OutputCmd::set(), and tilt.

void TailWagMC::unsetTilt  )  [inline]
 

makes the tilt control unspecified, will let something else control tilt

Definition at line 36 of file TailWagMC.h.

References tilt, and OutputCmd::unset().

virtual int TailWagMC::updateOutputs  )  [inline, virtual]
 

is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager

Returns:
zero if no changes were made, non-zero otherwise
See also:
RobotInfo::NumFrames

RobotInfo::FrameTime

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.


Member Data Documentation

bool TailWagMC::active [protected]
 

true if this is currently trying to wag the tail

Definition at line 44 of file TailWagMC.h.

double TailWagMC::magnitude [protected]
 

magnitude of swings, in radians

Definition at line 43 of file TailWagMC.h.

OutputCmd TailWagMC::pans[NumFrames] [protected]
 

holds commands for planning ahead the wagging

Definition at line 46 of file TailWagMC.h.

unsigned int TailWagMC::period [protected]
 

period of time between swings, in milliseconds

Definition at line 42 of file TailWagMC.h.

OutputCmd TailWagMC::tilt [protected]
 

holds current setting for the tilt joint

Definition at line 45 of file TailWagMC.h.


The documentation for this class was generated from the following file:
Tekkotsu v1.4
Generated Sat Jul 19 00:09:13 2003 by Doxygen 1.3.2