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KinematicSampleBehavior Class Reference

#include <KinematicSampleBehavior.h>

Inheritance diagram for KinematicSampleBehavior:

Inheritance graph
[legend]
List of all members.

Detailed Description

Uses kinematics to mirror leg positions (note that it mirrors the paw position - not necessarily the joint angles used to get there!).

Definition at line 16 of file KinematicSampleBehavior.h.

Public Member Functions

 KinematicSampleBehavior ()
 constructor
virtual void DoStart ()
 By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.
virtual void DoStop ()
 By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).
virtual void processEvent (const EventBase &e)
 By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing.
virtual std::string getDescription () const
 Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

Static Public Member Functions

static std::string getClassDescription ()
 Gives a short description of what this class of behaviors does... you should override this (but don't have to).

Protected Member Functions

unsigned int getIndex (LegOrder_t leg)
 returns the index of the knee for the requested leg

Protected Attributes

LegOrder_t lastLeg
 the last leg to have its button pressed, i.e. the "source"
MotionManager::MC_ID poseID
 the PostureMC which does all the computation


Constructor & Destructor Documentation

KinematicSampleBehavior::KinematicSampleBehavior  )  [inline]
 

constructor

Definition at line 19 of file KinematicSampleBehavior.h.


Member Function Documentation

virtual void KinematicSampleBehavior::DoStart  )  [inline, virtual]
 

By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.

Reimplemented from BehaviorBase.

Definition at line 23 of file KinematicSampleBehavior.h.

virtual void KinematicSampleBehavior::DoStop  )  [inline, virtual]
 

By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).

Reimplemented from BehaviorBase.

Definition at line 30 of file KinematicSampleBehavior.h.

static std::string KinematicSampleBehavior::getClassDescription  )  [inline, static]
 

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 98 of file KinematicSampleBehavior.h.

Referenced by getDescription().

virtual std::string KinematicSampleBehavior::getDescription  )  const [inline, virtual]
 

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 99 of file KinematicSampleBehavior.h.

unsigned int KinematicSampleBehavior::getIndex LegOrder_t  leg  )  [inline, protected]
 

returns the index of the knee for the requested leg

Definition at line 103 of file KinematicSampleBehavior.h.

Referenced by processEvent().

virtual void KinematicSampleBehavior::processEvent const EventBase e  )  [inline, virtual]
 

By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing.

Reimplemented from BehaviorBase.

Definition at line 37 of file KinematicSampleBehavior.h.


Member Data Documentation

LegOrder_t KinematicSampleBehavior::lastLeg [protected]
 

the last leg to have its button pressed, i.e. the "source"

Definition at line 107 of file KinematicSampleBehavior.h.

Referenced by processEvent().

MotionManager::MC_ID KinematicSampleBehavior::poseID [protected]
 

the PostureMC which does all the computation

Definition at line 108 of file KinematicSampleBehavior.h.

Referenced by DoStart(), DoStop(), and processEvent().


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

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