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WalkMC.h File Reference


Detailed Description

Describes WalkMC, a MotionCommand for walking around.

Author:
CMU RoboSoccer 2001-2002 (Creator)

ejt (ported)

PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications)

  =========================================================================
    CMPack'02 Source Code Release for OPEN-R SDK v1.0
    Copyright (C) 2002 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
  -------------------------------------------------------------------------
    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  -------------------------------------------------------------------------
    Additionally licensed to Sony Corporation under the following terms:

    This software is provided by the copyright holders AS IS and any
    express or implied warranties, including, but not limited to, the
    implied warranties of merchantability and fitness for a particular
    purpose are disclaimed.  In no event shall authors be liable for
    any direct, indirect, incidental, special, exemplary, or consequential
    damages (including, but not limited to, procurement of substitute
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    interruption) however caused and on any theory of liability, whether
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  =========================================================================

Author
ejt
Name
tekkotsu-2_2
Revision
1.27
State
Exp
Date
2004/08/05 20:29:04

Definition in file WalkMC.h.

#include "MotionCommand.h"
#include "Geometry.h"
#include "OldKinematics.h"
#include "Path.h"
#include "Shared/get_time.h"
#include "OutputCmd.h"
#include "Shared/LoadSave.h"

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Classes

class  WalkMC
 A nice walking class from Carnegie Mellon University's 2001 Robosoccer team, modified to fit this framework, see their license. More...
struct  WalkMC::LegWalkState
 holds state about each leg's path More...
struct  WalkMC::LegParam
 holds parameters about how to move each leg More...
struct  WalkMC::WalkParam
 holds more general parameters about the walk More...
struct  WalkMC::CalibrationParam
 holds information to correct for slippage, non-idealities More...


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