Tekkotsu Homepage | Demos | Overview | Downloads | Dev. Resources | Reference | Credits |
WalkControllerBehavior Class Reference#include <WalkControllerBehavior.h>
Inheritance diagram for WalkControllerBehavior:
![]() Detailed DescriptionListens to control commands coming in from the command port for remotely controlling the walk.The communication protocol is a very simple binary format, shared with HeadPointControllerBehavior. Each command is sent as a 5-byte group. The first byte is a command selector, and the following 4 bytes are a floating point argument:
The valid values for command indicator are given by CMD_fwd, CMD_roto, or CMD_side ('f', 'r', or 's' respectively). Others are listed below, but are not currently used. Definition at line 29 of file WalkControllerBehavior.h.
Constructor & Destructor Documentation
don't call
Member Function Documentation
called by wireless when there's new data
Definition at line 128 of file WalkControllerBehavior.cc. Referenced by DoStart().
Executes a command. Called by mechacmd_callback.
Definition at line 9 of file WalkControllerBehavior.cc. Referenced by mechacmd_callback().
don't call
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 94 of file WalkControllerBehavior.cc.
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
Reimplemented from BehaviorBase. Definition at line 112 of file WalkControllerBehavior.cc.
returns the WalkMC which [will be|is being] used
Definition at line 94 of file WalkControllerBehavior.h.
returns the current Walk's MotionCommand ID
Definition at line 96 of file WalkControllerBehavior.h. Referenced by DoStop(), processEvent(), and runCommand().
The only event we could possibly receive is the stop-if-no-heartbeat timer.
Reimplemented from BehaviorBase. Definition at line 99 of file WalkControllerBehavior.h.
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 104 of file WalkControllerBehavior.h. Referenced by getDescription().
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 109 of file WalkControllerBehavior.h.
Member Data Documentation
Points to the one WalkControllerBehavior object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized. Definition at line 35 of file WalkControllerBehavior.h. Referenced by DoStart(), DoStop(), and ~WalkControllerBehavior().
the WalkMC to use
Definition at line 39 of file WalkControllerBehavior.h. Referenced by DoStart(), and getWalkID().
handy symbol for matching incoming communication
Definition at line 43 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 44 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 45 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 46 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 47 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 48 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 49 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 50 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 51 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 52 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 53 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 54 of file WalkControllerBehavior.h. Referenced by runCommand().
handy symbol for matching incoming communication
Definition at line 55 of file WalkControllerBehavior.h. Referenced by runCommand().
Motion parameter.
Definition at line 58 of file WalkControllerBehavior.h. Referenced by runCommand().
Motion parameter.
Definition at line 59 of file WalkControllerBehavior.h. Referenced by runCommand().
Motion parameter.
Definition at line 60 of file WalkControllerBehavior.h. Referenced by runCommand(). The last WCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place. Definition at line 67 of file WalkControllerBehavior.h. Referenced by DoStart(), DoStop(), and ~WalkControllerBehavior().
The documentation for this class was generated from the following files: |
Tekkotsu v4.0 |
Generated Thu Nov 22 00:58:47 2007 by Doxygen 1.5.4 |