TailWagMC Class Reference#include <TailWagMC.h>
Inheritance diagram for TailWagMC:
[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] |
|
virtual TailWagMC::~TailWagMC |
( |
|
) |
[inline, virtual] |
|
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. |
double TailWagMC::getMagnitude |
( |
|
) |
[inline] |
|
|
gets the magnitude of swings, in radians
Definition at line 34 of file TailWagMC.h. |
unsigned int TailWagMC::getPeriod |
( |
|
) |
[inline] |
|
|
gets the period of time between swings, in milliseconds
Definition at line 32 of file TailWagMC.h. |
double TailWagMC::getTilt |
( |
|
) |
[inline] |
|
|
sets the tilt of the tail while wagging, in radians
Definition at line 37 of file TailWagMC.h. |
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. |
void TailWagMC::setActive |
( |
bool |
a |
) |
[inline] |
|
|
turns the tail wagger on or off
Definition at line 38 of file TailWagMC.h. |
void TailWagMC::setMagnitude |
( |
double |
mag |
) |
[inline] |
|
|
sets the magnitude of swings, in radians
Definition at line 33 of file TailWagMC.h. |
void TailWagMC::setPeriod |
( |
unsigned int |
p |
) |
[inline] |
|
|
sets the period of time between swings, in milliseconds
Definition at line 31 of file TailWagMC.h. |
void TailWagMC::setTilt |
( |
double |
r |
) |
[inline] |
|
|
sets the tilt of the tail while wagging, in radians
Definition at line 35 of file TailWagMC.h. |
void TailWagMC::unsetTilt |
( |
|
) |
[inline] |
|
|
makes the tilt control unspecified, will let something else control tilt
Definition at line 36 of file TailWagMC.h. |
virtual int TailWagMC::updateOutputs |
( |
|
) |
[inline, virtual] |
|
Member Data Documentation
The documentation for this class was generated from the following file:
|