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LocomotionEvent Class Reference

#include <LocomotionEvent.h>

Inheritance diagram for LocomotionEvent:

Inheritance graph
[legend]
List of all members.

Detailed Description

Gives updates regarding the current movement of the robot through the world.

An activate event will be sent when a potential source of motion is created, and a deactivate when it is destroyed. Status events will be sent at any change of direction/speed.

The source ID field will hold the MotionManager::MC_ID of the sending MotionCommand

Definition at line 15 of file LocomotionEvent.h.

Public Member Functions

virtual unsigned int getClassTypeID () const
 All subclasses should override this and return a unique ID for their class.
LocomotionEventsetXYA (float X, float Y, float A)
 Allows you to set the new X, Y, and A components.
virtual std::string getDescription (bool showTypeSpecific=true, unsigned int verbosity=0) const
 generates a description of the event with variable verbosity
virtual unsigned int getBinSize () const
 values to pass to setSaveFormat()
virtual unsigned int LoadBinaryBuffer (const char buf[], unsigned int len)
 values to pass to setSaveFormat()
virtual unsigned int SaveBinaryBuffer (char buf[], unsigned int len) const
 values to pass to setSaveFormat()
virtual void LoadXML (xmlNode *node)
 values to pass to setSaveFormat()
virtual void SaveXML (xmlNode *node) const
 values to pass to setSaveFormat()
Constructors
 LocomotionEvent ()
 constructor
 LocomotionEvent (EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0)
 constructor
 LocomotionEvent (EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string &n, float mag)
 constructor
virtual EventBaseclone () const
 constructor

Public Attributes

float x
 the new x component (body relative)
float y
 the new y component (body relative)
float a
 the new angular component (body relative)


Constructor & Destructor Documentation

LocomotionEvent::LocomotionEvent  )  [inline]
 

constructor

Definition at line 21 of file LocomotionEvent.h.

Referenced by clone().

LocomotionEvent::LocomotionEvent EventGeneratorID_t  gid,
unsigned int  sid,
EventTypeID_t  tid,
unsigned int  dur = 0
[inline]
 

constructor

Definition at line 22 of file LocomotionEvent.h.

LocomotionEvent::LocomotionEvent EventGeneratorID_t  gid,
unsigned int  sid,
EventTypeID_t  tid,
unsigned int  dur,
const std::string &  n,
float  mag
[inline]
 

constructor

Definition at line 23 of file LocomotionEvent.h.


Member Function Documentation

virtual EventBase* LocomotionEvent::clone  )  const [inline, virtual]
 

constructor

Reimplemented from EventBase.

Definition at line 24 of file LocomotionEvent.h.

unsigned int LocomotionEvent::getBinSize  )  const [virtual]
 

values to pass to setSaveFormat()

Reimplemented from EventBase.

Definition at line 18 of file LocomotionEvent.cc.

virtual unsigned int LocomotionEvent::getClassTypeID  )  const [inline, virtual]
 

All subclasses should override this and return a unique ID for their class.

All IDs corresponding to all-capital letters are reserved for future framework expansion. (Thus, user subclasses should contain at least one lower-case letter.) This code can be used when serializing to allow quick identification of the class type by the receiver.

Reimplemented from EventBase.

Definition at line 27 of file LocomotionEvent.h.

std::string LocomotionEvent::getDescription bool  showTypeSpecific = true,
unsigned int  verbosity = 0
const [virtual]
 

generates a description of the event with variable verbosity

Parameters:
showTypeSpecific should be read by subclasses to add additional information
verbosity can be one of the following values:
  • 0 - Basic: event_name \t generator_id \t source_id \t type_id
  • 1 - Numerics: event_name \t generator_id \t source_id \t type_id
  • 2 - Timing: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp
  • 3 and above - Full: event_name \t generator_id \t source_id \t type_id \t duration \t timestamp \t magnitude if showTypeSpecific, additional fields will be added after the common fields listed above.

Reimplemented from EventBase.

Definition at line 9 of file LocomotionEvent.cc.

unsigned int LocomotionEvent::LoadBinaryBuffer const char  buf[],
unsigned int  len
[virtual]
 

values to pass to setSaveFormat()

Reimplemented from EventBase.

Definition at line 31 of file LocomotionEvent.cc.

void LocomotionEvent::LoadXML xmlNode node  )  [virtual]
 

values to pass to setSaveFormat()

Reimplemented from EventBase.

Definition at line 64 of file LocomotionEvent.cc.

unsigned int LocomotionEvent::SaveBinaryBuffer char  buf[],
unsigned int  len
const [virtual]
 

values to pass to setSaveFormat()

Reimplemented from EventBase.

Definition at line 48 of file LocomotionEvent.cc.

void LocomotionEvent::SaveXML xmlNode node  )  const [virtual]
 

values to pass to setSaveFormat()

Reimplemented from EventBase.

Definition at line 106 of file LocomotionEvent.cc.

LocomotionEvent& LocomotionEvent::setXYA float  X,
float  Y,
float  A
[inline]
 

Allows you to set the new X, Y, and A components.

Definition at line 30 of file LocomotionEvent.h.

Referenced by WalkMC::DoStart(), WorldStateVelDaemon::processEvent(), and WalkMC::updateOutputs().


Member Data Documentation

float LocomotionEvent::a
 

the new angular component (body relative)

Definition at line 47 of file LocomotionEvent.h.

Referenced by getBinSize(), getDescription(), LoadBinaryBuffer(), LoadXML(), WalkNode::processEvent(), SaveBinaryBuffer(), SaveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().

float LocomotionEvent::x
 

the new x component (body relative)

Definition at line 45 of file LocomotionEvent.h.

Referenced by getBinSize(), getDescription(), LoadBinaryBuffer(), LoadXML(), WalkNode::processEvent(), SaveBinaryBuffer(), SaveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().

float LocomotionEvent::y
 

the new y component (body relative)

Definition at line 46 of file LocomotionEvent.h.

Referenced by getBinSize(), getDescription(), LoadBinaryBuffer(), LoadXML(), WalkNode::processEvent(), SaveBinaryBuffer(), SaveXML(), setXYA(), and WorldStateVelDaemon::trapEvent().


The documentation for this class was generated from the following files:

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Generated Tue Aug 16 16:35:04 2005 by Doxygen 1.4.4