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TailWagMC Class Reference#include <TailWagMC.h>
Inheritance diagram for TailWagMC:
![]() Detailed DescriptionA simple motion command for wagging the tail - you can specify period, magnitude, and tilt.Definition at line 14 of file TailWagMC.h.
Constructor & Destructor Documentation
Member Function Documentation
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
Implements MotionCommand. Definition at line 30 of file TailWagMC.h.
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
Implements MotionCommand. Definition at line 75 of file TailWagMC.h.
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" ;)
Implements MotionCommand. Definition at line 77 of file TailWagMC.h.
sets the period of time between swings, in milliseconds a bit complicated in order to avoid jerking around when the period changes Definition at line 81 of file TailWagMC.h.
makes the tilt control unspecified, will let something else control tilt
Definition at line 91 of file TailWagMC.h.
returns the most recent pan value of the tail while wagging, in radians
Definition at line 93 of file TailWagMC.h.
Member Data Documentation
period of time between swings, in milliseconds
Definition at line 105 of file TailWagMC.h. Referenced by getPeriod(), setPeriod(), and updateOutputs().
magnitude of swings, in radians
Definition at line 106 of file TailWagMC.h. Referenced by getMagnitude(), setMagnitude(), and updateOutputs().
offset in the period, only used if period is changed to avoid twitching
Definition at line 107 of file TailWagMC.h. Referenced by setPeriod(), and updateOutputs().
true if this is currently trying to wag the tail
Definition at line 108 of file TailWagMC.h. Referenced by getActive(), isDirty(), setActive(), and updateOutputs().
last tail position
Definition at line 109 of file TailWagMC.h. Referenced by getPan(), and updateOutputs().
sign of tail movement direction
Definition at line 110 of file TailWagMC.h. Referenced by setActive(), and updateOutputs().
holds current setting for the tilt joint
Definition at line 111 of file TailWagMC.h. Referenced by getTilt(), setTilt(), unsetTilt(), and updateOutputs().
holds commands for planning ahead the wagging
Definition at line 112 of file TailWagMC.h. Referenced by updateOutputs().
The documentation for this class was generated from the following file: |
Tekkotsu v4.0 |
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