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Tekkotsu Class List

Here are the classes, structs, unions and interfaces with brief descriptions:
Aibo3DControllerBehaviorListens to aibo3d control commands coming in from the command port
AlanBehaviorJust a little demo behavior which lifts a leg higher as more pressure is put on a head button
ASCIIVisionBehaviorStreams low-resolution ASCII-art of the camera image to sout
AutoGetupBehaviorLittle background behavior to keep the robot on its feet
BallDetectionGeneratorUses segmented color region information to detect round objects
BallDetectionGenerator::VObjectHigh level vision ouput structure for detected objects
BanditMachinePlays K-armed bandit
BanditMachine::DecideNodeUses one of the algorithms in karmedbandit.h to decide which paw to press next
BanditMachine::PressNodeThis node is used to move a paw down using a MotionSequenceMC
BanditMachine::WaitNodeWaits to see if a reward is received, lights up LEDs to let the user know
BatteryCheckControlWhen activated, this will print a battery report to stdout and light up LEDs to specify power level
BatteryMonitorBehaviorA background behavior which will monitor the power level and flip the ears when appropriate on a 210, or blink the headlight if a 220
BehaviorActivatorControlUpon activation, will start, stop, or toggle a behavior
BehaviorBaseThe basis from which all other Behaviors should inherit
BehaviorSwitchActivatorControlUpon activation, will tell the specified BehaviorSwitchControl to start or stop the behavior
BehaviorSwitchControl< B, Al >Allows proper switching between major behaviors, calling DoStart and DoStop
BehaviorSwitchControlBaseHolds some utility classes and functions for BehaviorSwitchControl which shouldn't be stored in a templated class
BehaviorSwitchControlBase::BehaviorGroupA simple utility class to allow the BehaviorSwitchControl's to be able to deactivate the current behavior when a new one becomes active
ButtonEventRedefines getName and getDescription to use the button names instead of numerical source IDs (doesn't define any new data members - magnitude is used for pressure sensitive buttons)
CameraBehaviorWill take images and write to log file
CDTGeneratorGenerates SegmentedColorFilterBankEvents with images provided from the system
ChaseBallBehaviorA simple behavior to chase after any objects seen by the vision system
CompareTrans< T >Causes a transition if a value (through a pointer) goes above a given value
CompletionTransCauses a transition when at least n sources have signalled completion; n = 0 means "all" (default)
ConfigGlobal access to system configuration information
Config::behaviors_configPlaceholder
Config::controller_configController information
Config::main_configCore functionality information
Config::motion_configMotion information
Config::sound_configSound information
Config::vision_configVision information
Config::wireless_configWirless information
ControlBaseBase class for all items in the Controller hierarchy
ControllerHandles the menu/command system... when it detects the EmergencyStopMC is activated, it'll kick into high priority
CrashTestBehaviorDemonstrates (lack of) blocking using serr to (not) pinpoint a crash
DataEvent< T >For passing around data (or pointers to data)
DriveMeBehaviorA very simple behavior that asks the user for WalkMC walking parameters and a walk duration
DummySocketTekkotsu wireless DummySocket class
DumpFileControlUpon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
DynamicMotionSequenceUses STL's vector for dynamic memory allocation - don't use this as a motion command, pointers in shared memory regions can be invalid in other processes
EmergencyStopMCOverrides all joints with high priority freeze, blinks tail pink/red/blue cycle
EStopControllerBehaviorListens to control commands coming in from the command port for remotely controlling the head
EventBaseThe basis of events passed around the high level system
EventGeneratorBaseA simple convenience class for event generators
EventListenerAn interface to allow a standard method of passing events
EventLoggerAllows logging of events to the console or a file
EventRouterThis class will handle distribution of events as well as management of timers
EventRouter::EventMapperDoes the actual storage of the mapping between EventBase's and the EventListeners/EventTrappers who should receive them
EventRouter::TimerEntryContains all the information needed to maintain a timer by the EventRouter
EventRouter::TimerEntryPtrCmpUsed by STL to sort the timer list in order of activation time
EventTransCauses a transition when the specified event is received
EventTranslatorEventTranslator receives events from EventRouters in non-Main processes and adds them into a SharedQueue for Main to pick up
EventTrapperAn interface to allow a standard method of trapping events
ExploreMachineA state machine for exploring an environment (or searching for an object)
Factory< B >A lightweight class to override for constructing new objects (if you need to pass constructors parameters, etc.)
Factory1Arg< B, A1, a1 >Uses template to specify a constant parameter to the constructor
Factory2Arg< B, A1, a1, A2, a2 >Uses template to specify constant parameters to the constructor
Factory3Arg< B, A1, a1, A2, a2, A3, a3 >Uses template to specify constant parameters to the constructor
Factory4Arg< B, A1, a1, A2, a2, A3, a3, A4, a4 >Uses template to specify constant parameters to the constructor
FileBrowserControlDisplays the contents of a directory in a control menu, probably useful as a baseclass for other controls
FileInputControlUpon activation, allows user to browse files and select one; stores path in a string
FilterBankEventThis event gives access to a set of image channels at different resolutions, see FilterBankGenerator
FilterBankGeneratorAbstract base class for generators of FilterBankEvent's
FollowHeadBehaviorWill walk where the head is pointing
FreeMemReportControlGives reports on free memory size at variable rates, can also warn if free memory drops too low
FreezeTestBehaviorDemonstrates an infinite loop condition in the Main process
GroundPlaneBehaviorReports the location of the center of the camera image on the ground plane
GroupNodeAllows a group of StateNodes to be activated together
HeadLevelBehaviorTests the head leveling code of OldHeadPointerMC
HeadPointControllerBehaviorListens to control commands coming in from the command port for remotely controlling the head
HeadPointerMCThis class gives some quick and easy functions to point the head at things
HeadPointerNodeA simple StateNode that executes a LedMC motion command and throws a status event upon completion
HelloWorldBehaviorDemonstrates serr, sout, and cout
HelpControlRecurses through the menu system and outputs the name and description of each item
InterleavedYUVGeneratorGenerates FilterBankEvents containing raw camera images with interleaved pixels (YVUYVUYVU... instead of YYY...UUU...VVV...)
JPEGGeneratorGenerates FilterBankEvents containing JPEG compressed images
karmedbanditExp3Makes decisions regarding an adversarial k-armed bandit
karmedbanditExp3_1Makes decisions regarding an adversarial k-armed bandit
KinematicsProvides access to the mathematical functionality of the ROBOOP package using Tekkotsu data structures
Kinematics::hashstringAllows us to use the STL hash_map with strings
Kinematics::InterestPointHolds the position and attached link of a given interest point
Kinematics::JointMapAllows mapping from tekkotsu output index to chain and link indicies
KinematicSampleBehaviorUses kinematics to mirror leg positions (note that it mirrors the paw position - not necessarily the joint angles used to get there!)
KinematicSampleBehavior2Uses kinematics to make the back toe (Toe{LR}BkPaw) touch the lower thigh (Lower{LeftBackL,RightBackR}FrThigh)
LedEngineProvides basic LED effects to anything that inherits from (recommended method for MotionCommands) or instantiates it (just in case you have reason to)
LedEngine::LEDInfoHolds all the information needed by each of the LEDs
LedMCThis is just a simple wrapper - you probably want to be looking at LedEngine.h
ListMemBuf< T_t, MAX, idx_t >Provides some degree of dynamic allocation of a templated type from a buffer of set size
ListMemBuf< T_t, MAX, idx_t >::entry_tHolds data about an entry in the free/used lists
LoadCalibrationWill load calibration parameters from a text file into a forward and backward matrix
LoadPostureControlUpon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
LoadSaveIntended as an interface to allow easy and uniform file operations
LoadWalkControlWhen activated, loads a set of walk parameters from a file specified by user
LockScope< num_doors >Locks a MutexLock until the LockScope goes out of scope
LocomotionEventGives updates regarding the current movement of the robot through the world
LookForSoundBehaviorTurns head to sound source, estimated by average volume difference between left and right ears
MCRepeaterSends a given MotionCommand to MotionManager, waits until it autoprunes, and then sends it again
MCValueEditControl< T >Allows you to modify a value in memory, much like ValueEditControl, but will check out a MotionCommand first to maintain proper mutual exclusion
MMAccessor< MC_t >This class allows convenient ways of accessing a motion command
MMComboContains code for both MainObj and MotoObj processes
MotionCommandThe abstract base class for motions, provides common interface. All motions should inherit from this
MotionManagerThe purpose of this class is to provide mutually exclusive access to the MotionCommands and simplify their sharing between memory spaces
MotionManager::CommandEntryAll the information we need to maintain about a MotionCommand
MotionManager::OutputStateHolds the full requested value of an output
MotionManager::PIDUpdateUsed to request pids for a given joint
MotionManagerMsgA small header that preceeds data sent by MotionManager between processes
MotionSequenceA handy little (or not so little) class for switching between a sequence of postures
MotionSequence::MoveThis struct holds all the information needed about a frame for a particular output
MotionSequenceMC< MAXMOVE >Instantiates MotionSequences - when you want to make a new MotionSequence, make one of these
MotionStressTestBehaviorUses a separate MotionCommand for each of several joints to test for region leaks
MutexLock< num_doors >A software only mutual exclusion lock
MutexLock< num_doors >::door_tHolds per process shared info, one of these per process
NullControlWhen activated, this will return immediately (handy for fake items in a menu)
NullTransTransition that occurs (via a 0 msec Timer event) as soon as the source node finishes starting up
OldHeadPointerMCThis class gives some quick and easy functions to point the head at things
OObject
OutputCmdThis object holds all the information needed to control a single output
OutputNodeA very simple StateNode that outputs its name to a given ostream upon activation, handy for debugging
OutputPIDThis object holds all the information needed to control a single output
PaceTargetsMachineA StateMachine for walking back and forth between two (or more) pink balls
PIDMCA nice little MotionCommand for manually manipulating the PID values
PlayMotionSequenceNode< SIZE >A StateNode for playing a MotionSequence (and looping it if desired)
PlaySoundControlUpon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
PostureEditorAllows logging of events to the console or a file
PostureEngineA class for storing a set of positions and weights for all the outputs
PostureMCMotionCommand shell for PostureEngine
ProcessIDThis is a class instead of a namespace so i can limit write access of the ID value to the OObjects
ProfilerManagers a hierarchy of timers for profiling time spent in code, gives microsecond resolution
Profiler::SectionInfoHolds all the information needed for book keeping for each timer
Profiler::TimerMeasures the time that this class exists, reports result to a profiler
ProfilerCheckControlCauses the WorldState::mainProfile and WorldState::motionProfile to display reports to sout
ProfilerOfSize< MaxSections >Templated subclass allows compile-time flexibility of how much memory to use
RawCamBehaviorForwards images from camera over wireless
RawCameraGeneratorGenerates FilterBankEvents containing raw camera images directly from the system (doesn't make a copy)
RebootControlWhen activated, this will cause the aibo to reboot
ReferenceCounterPerforms simple reference counting, will delete the object when removing the last reference
RegionGeneratorConnects regions of CMVision format runs in RLEGenerator
RelaxBehaviorA behavior that sets all the pids to zero for the tail and legs servos
RemoteControllerMCThis class is used for setting all PIDJoints to a certain set of values (not the gains, just the joint positions)
RemoteProcessSample RemoteProcessingOPENR process
RLEGeneratorGenerates RLE compressed FilterBankEvents (generally from indexed color images from, say, SegmentedColorGenerator)
RunSequenceControl< SequenceSize >Upon activation, loads a position from a file name read from cin (stored in ms/data/motion...)
SavePostureControlUpon activation, saves the current position to a file name read from user (default is /ms/data/motion...)
SaveWalkControlWhen activated, saves walk parameters to a file specified from cin
SegCamBehaviorForwards segmented images from camera over wireless
SegmentedColorFilterBankEventThis event provides some additional color information over its superclass for image banks made up of indexed colors
SegmentedColorGeneratorGenerates FilterBankEvents indexed color images based on a color threshold file
SensorObserverControlAllows logging of sensor information to the console or file
SharedObject< MC >This templated class allows convenient creation of any type of class wrapped in a shared memory region
SharedObjectBaseIt's nice to have a parent class of SharedObject (which is what you probably want to be reading) so that you can pass around the data structure without worrying about what type is inside the shared memory region
SharedQueue< maxsize, maxentries >SharedQueue is a shared memory message buffer for interprocess communication
SharedQueue< maxsize, maxentries >::entry_tEntry information
ShutdownControlWhen activated, this will cause the aibo to shut down
SimpleChaseBallBehaviorA simple behavior to chase after any objects seen by the vision system
SmoothCompareTrans< T >A subclass of CompareTrans, which provides monitoring of exponentially weighted averages to a threshold
SocketTekkotsu wireless Socket class
SoundManagerProvides sound effects and caching services, as well as mixing buffers for the SoundPlay process
SoundManager::PlayStateHolds data about sounds currently being played
SoundManager::SoundDataHolds data about the loaded sounds
SoundManagerMsgA small header that preceeds data sent by SoundManager between processes
SoundNodeA simple StateNode that plays a sound upon startup and throws a status event on completion
SoundPlayThe process (a.k.a. OObject), which is responsible for sending sound buffers to the system to play
SoundTestBehaviorAllows you to experiment with playing sounds different ways
StareAtBallBehaviorA simple behavior to chase after any objects seen by the vision system
StareAtPawBehaviorUses kinematics to track the paw which last received a button press with the camera
StareAtPawBehavior2Uses kinematics to track the paw which last received a button press with the camera
StateNodeRecursive data structure - both a state machine controller as well as a node within a state machine itself
StringInputControlUpon activation, prompts the user for a string and stores it
TailWagMCA simple motion command for wagging the tail - you can specify period, magnitude, and tilt
TextMsgEventExtends EventBase to also include actual message text
TimeETNice class for handling time values with high precision
TimeOutTransCauses a transition after a specified amount of time has passed
timevalWould be defined by system - we redefine the same structure in case we're compiling for Aperios
timezoneWould be defined by system - we redefine the same structure in case we're compiling for Aperios
ToggleControlSimple control for turning things on and off
ToggleControl::RadioGroupLittle class for managing the currently active ToggleControl to allow radio buttons
ToggleHeadLightBehaviorOpens or closes the head light on an ERS-220
TransitionRepresents a transition between StateNodes
ValueEditControl< T >Allows real-time modification of a value through a pointer
ValueSetControl< T >Upon activation, this control will set the target pointer to the specified value
ViewWMVarsBehaviorSimply launches the Watchable Memory GUI, which should connect to the already-running WMMonitorBehavior
VisionObjectEventExtends EventBase to also include location in the visual field and distance (though distance is not implimented yet)
VisualTargetCloseTransCauses a transition when a visual object is "close"
VisualTargetTransCauses a transition when a visual object is "close"
WalkCalibrationAllows interactive calibration of a walk engine
WalkControllerBehaviorListens to control commands coming in from the command port for remotely controlling the walk
WalkMCA nice walking class from Carnegie Mellon University's 2001 Robosoccer team, modified to fit this framework, see their license
WalkMC::CalibrationParamHolds information to correct for slippage, non-idealities
WalkMC::LegParamHolds parameters about how to move each leg
WalkMC::LegWalkStateHolds state about each leg's path
WalkMC::WalkParamHolds more general parameters about the walk
WalkNodeA StateNode for walking in a direction
WalkToTargetMachineState machine for walking towards a visual target
WaypointEngine< MAX_WAY >Provides computation and management of a desired path through a series of waypoints
WaypointEngine< MAX_WAY >::WaypointHolds information about each waypoint, see WaypointEngine for overview
WaypointWalk< MAX_WAY >Combines a WaypointEngine with a WalkMC so you can walk between a set of waypoints
WaypointWalkControlAllows interactive control and execution of a set of waypoints
WaypointWalkControl::WaypointEditControlHandles editing of individual waypoints
WirelessTekkotsu wireless class
WMentryA WMentry is an entry in a WMregistry
WMitem< T >WMitem<T> is a reference to the variable of type T described by the associated WMentry
WMitem_baseWMitem_base is the base class from which all WMitem<T> subclasses are derived
WMMonitorBehaviorListens to wmmonitor control commands coming in from the command port
WMregistryA WMregistry is a namespace; it holds a collection of WMEntry instances describing the variables that live in this registry
WorldStateThe state of the robot and its environment
WorldStateSerializerBehaviorCopies WorldState into a buffer for transmission over the network
WorldStateVelDaemonListens for LocomotionEvents and updates the velocity fields of WorldState

Tekkotsu v2.2
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