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PostureEngine Class Reference

#include <PostureEngine.h>

Inheritance diagram for PostureEngine:

List of all members.


Detailed Description

A class for storing a set of positions and weights for all the outputs.

File Format: ([..] indicates an optional parameter)

  • First line: '#POS'
  • Followed by a series of:
    • 'specialize [regex]' - only robots whose model name matches the regular expression will attempt to parse lines between this and the next 'specialize' command. An empty (absent) regex matches all robots (equivalent to 'specialize .*')
    • 'condensed model' - specifies model name for which condensed specifications will be interpreted
    • 'verbose' - switches the load/save format back to "verbose" style, where each output/sensor value is listed individually
    • '<section> ... </section>' - specifies a section for following "verbose" style lines (valid section values listed below)
    • 'section value1 value2 value3 ...' - specify all values for a section in one line, "condensed" style (valid section values listed below). Must have a value for every item in the section (no extra or missing values)
    • 'output-name value [weight]' - specifies an output value, with optional weighting value (if no weight specified, '1' is assumed)
  • Last line: '#END'

Note that '=' can be used to separate tokens as well as any whitespace character. All angle values should be specified in radians.

Valid section names are:

  • meta-info - only recognizes two fields: timestamp and framenumber
  • outputs - supports all output names (e.g. ERS7Info::outputNames)
  • buttons - supports all button names (e.g. ERS7Info::buttonNames)
  • sensors - supports all sensor names (e.g. ERS7Info::sensorNames)
  • pidduties - supports output names corresponding to PID joints (this is the "duty cycle" for the joint)

Additionally 'weights' can be used as a condensed section name (but not a verbose tag-style section, since weights are specified on each line). The 'weights' specification must follow the 'outputs' specification to be effective.

Data following '#' is ignored as comments. Be aware if you load the file and then save it again, these comments will be lost.

Example 1: Specifies only neck joints, looks forward and up a little
#POS 
NECK:tilt	0
NECK:pan	0
NECK:nod	0.2
#END
All other, unspecified, joints will be set to weight=0.

Example 2: Logged sensor data from an ERS-7 robot
#POS
condensed ERS-7
meta-info = 1439041 178803
outputs = -0.131722 0.148077 1.74592 -0.30276 0.341717 2.13361 -1.03935 0.091124 2.18958 -0.804097 0.034171 1.67458 -0.016362 -0.089143 0.125563 0.407243 -0.054399 -0.064704 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
buttons = 0 0 0 0 0 0 0 0 0 1
sensors = 500 860.139 425 -2.06456 -0.516139 -8.94642 0.99 30.63 2200 8.265 0
pidduties = -0.164062 0.0878906 0.0957031 0.246094 -0.0195312 -0.0546875 -0.164062 -0.0195312 0.164062 0.0273438 0 -0.0683594 -0.00585938 -0.00390625 0.0820312 -0.0390625 0.015625 0.00390625
#END
Condensed posture files can still be loaded on other models. For each entry, RobotInfo::Capabilities will be used to map from the model specified by the condensed command to the current host.

See also:
PostureMC

Tekkotsu's Kinematics page

David Touretzky's "Postures and Motion Sequences" Chapter

David Touretzky's "Forward Kinematics" Chapter

CMU's Cognitive Robotics posture slides

CMU's Cognitive Robotics kinematics slides

Definition at line 80 of file PostureEngine.h.


Public Member Functions

Constructors
 PostureEngine ()
 constructor
 PostureEngine (const std::string &filename)
 constructor, loads a position from a file
 PostureEngine (const WorldState *st)
 constructor, initializes joint positions to the current state of the outputs as defined by state
 PostureEngine (const PostureEngine &pe)
 copy constructor
PostureEngineoperator= (const PostureEngine &pe)
 assignment operator
virtual ~PostureEngine ()
 destructor
Output Value Access/Control
You should be able to call the non-virtual functions without checking out, just a MotionManager::peekMotion(). Theoretically.

virtual void takeSnapshot ()
 sets the values of cmds to the current state of the outputs (doesn't change the weights)
virtual void takeSnapshot (const WorldState &st)
 sets the values of cmds to the current state of the outputs as defined by state (doesn't change the weights)
virtual void setWeights (float w)
 set the weights of all cmds
virtual void setWeights (float w, unsigned int lowjoint, unsigned int highjoint)
 the the weights of a range of cmds
virtual void clear ()
 sets all joints to unused
PostureEnginesetOutputCmd (unsigned int i, const OutputCmd &c)
 sets output i to OutputCmd c, returns *this so you can chain them; also remember that OutputCmd support implicit conversion from floats (so you can just pass a float)
OutputCmdoperator() (unsigned int i)
 returns output i, returns a reference so you can also set through an assignment to this call, e.g. pose(MouthOffset)=.1; (remember that OutputCmd support implicit conversion from floats)
const OutputCmdoperator() (unsigned int i) const
 returns output i
OutputCmdgetOutputCmd (unsigned int i)
 returns output i, returns a reference so you can also set through an assignment
const OutputCmdgetOutputCmd (unsigned int i) const
 returns output i
LoadSave
Uses LoadSave interface so you can load/save to files, uses a human-readable storage format

virtual void setSaveFormat (bool condensed, WorldState *ws)
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual void setLoadedSensors (WorldState *ws)
 if ws is non-NULL, any sensor values in loaded postures will be stored there (otherwise they are ignored)
virtual WorldStategetLoadedSensors () const
 returns value previously stored by setLoadSensors()
virtual unsigned int getBinSize () const
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int loadBuffer (const char buf[], unsigned int len)
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int saveBuffer (char buf[], unsigned int len) const
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int loadFile (const char filename[])
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
virtual unsigned int saveFile (const char filename[]) const
 sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)
Kinematics
virtual bool solveLinkPosition (const NEWMAT::ColumnVector &Ptgt, unsigned int link, const NEWMAT::ColumnVector &Peff)
 Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.
virtual bool solveLinkPosition (float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z)
 Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates); if solution found, stores result in this posture and returns true.
virtual bool solveLinkVector (const NEWMAT::ColumnVector &Ptgt, unsigned int link, const NEWMAT::ColumnVector &Peff)
 Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.
virtual bool solveLinkVector (float Ptgt_x, float Ptgt_y, float Ptgt_z, unsigned int link, float Peff_x, float Peff_y, float Peff_z)
 Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates); if solution found, stores result in this posture and returns true.
Combining Postures
virtual PostureEnginesetOverlay (const PostureEngine &pe)
 sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this
virtual PostureEngine createOverlay (const PostureEngine &pe) const
 sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine
virtual PostureEnginesetUnderlay (const PostureEngine &pe)
 sets joints of this which are equal to unused to pe, (layers this over pe) stores into this
virtual PostureEngine createUnderlay (const PostureEngine &pe) const
 sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine
virtual PostureEnginesetAverage (const PostureEngine &pe, float w=0.5)
 computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
virtual PostureEngine createAverage (const PostureEngine &pe, float w=0.5) const
 computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)
virtual PostureEnginesetCombine (const PostureEngine &pe)
 computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
virtual PostureEngine createCombine (const PostureEngine &pe) const
 computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value
virtual float diff (const PostureEngine &pe) const
 returns the sum squared error between this and pe's output values, but only between outputs which are both not unused
virtual float avgdiff (const PostureEngine &pe) const
 returns the average sum squared error between this and pe's output values for outputs which are both not unused
virtual float maxdiff (const PostureEngine &pe) const
 returns the max error between this and pe's output values for outputs which are both not unused

Protected Types

enum  section_t {
  SECTION_METAINFO, SECTION_OUTPUTS, SECTION_BUTTONS, SECTION_SENSORS,
  SECTION_PIDDUTIES
}
 enumeration of the different section types that may be used as section tags in verbose mode More...

Protected Member Functions

virtual bool loadLine (unsigned int linenum, const std::map< std::string, section_t > &sectionMap, std::vector< std::string > &words, section_t &curSection, Capabilities *&caps, bool &filtered)
 helper function for loadBuffer, called for each individual line
void stripTildes (std::string &word)
 helper function for loadLine, strips trailing '~'s from output names to provide backward compatability (note pass by reference, operates 'in-place' on word)
virtual void update (unsigned int c, unsigned int l)
 Called at the beginning of each function which accesses ROBOOP computations - should make sure the ROBOOP structures are up to date with Tekkotsu structures.

Protected Attributes

OutputCmd cmds [NumOutputs]
 the table of outputs' values and weights, can be accessed through setOutputCmd() and getOutputCmd()
bool saveFormatCondensed
 requests a condensed file format, smaller but less readable
WorldStateloadSaveSensors
 If non-null, saves will include sensor readings from here, and loads will store any read sensors into here.

Member Enumeration Documentation

enum PostureEngine::section_t [protected]

enumeration of the different section types that may be used as section tags in verbose mode

Enumerator:
SECTION_METAINFO  includes timestamp and framenumber
SECTION_OUTPUTS  entries corresponding to NumOutputs
SECTION_BUTTONS  entries corresponding to NumButtons
SECTION_SENSORS  entries corresponding to NumSensors
SECTION_PIDDUTIES  entries corresponding to NumPIDJoints

Definition at line 256 of file PostureEngine.h.


Constructor & Destructor Documentation

PostureEngine::PostureEngine (  )  [inline]

constructor

Definition at line 86 of file PostureEngine.h.

PostureEngine::PostureEngine ( const std::string &  filename  )  [inline]

constructor, loads a position from a file

Todo:
might want to make a library stored in memory of common positions so they don't have to be loaded repeatedly from memstick

Definition at line 89 of file PostureEngine.h.

PostureEngine::PostureEngine ( const WorldState st  )  [inline]

constructor, initializes joint positions to the current state of the outputs as defined by state

Definition at line 91 of file PostureEngine.h.

PostureEngine::PostureEngine ( const PostureEngine pe  )  [inline]

copy constructor

Definition at line 94 of file PostureEngine.h.

PostureEngine::~PostureEngine (  )  [virtual]

destructor

Definition at line 13 of file PostureEngine.cc.


Member Function Documentation

PostureEngine& PostureEngine::operator= ( const PostureEngine pe  )  [inline]

assignment operator

Definition at line 102 of file PostureEngine.h.

void PostureEngine::takeSnapshot (  )  [virtual]

sets the values of cmds to the current state of the outputs (doesn't change the weights)

Reimplemented in PostureMC.

Definition at line 15 of file PostureEngine.cc.

Referenced by PostureEditor::activate(), PostureEngine(), PostureEditor::processEvent(), WorldStatePool::read(), CameraStreamBehavior::sendSensors(), SavePostureControl::takeInput(), and PostureMC::takeSnapshot().

void PostureEngine::takeSnapshot ( const WorldState st  )  [virtual]

sets the values of cmds to the current state of the outputs as defined by state (doesn't change the weights)

Reimplemented in PostureMC.

Definition at line 19 of file PostureEngine.cc.

virtual void PostureEngine::setWeights ( float  w  )  [inline, virtual]

void PostureEngine::setWeights ( float  w,
unsigned int  lowjoint,
unsigned int  highjoint 
) [virtual]

the the weights of a range of cmds

Reimplemented in PostureMC.

Definition at line 24 of file PostureEngine.cc.

void PostureEngine::clear (  )  [virtual]

sets all joints to unused

Reimplemented in PostureMC.

Definition at line 29 of file PostureEngine.cc.

Referenced by PostureMC::clear(), and loadBuffer().

PostureEngine& PostureEngine::setOutputCmd ( unsigned int  i,
const OutputCmd c 
) [inline]

sets output i to OutputCmd c, returns *this so you can chain them; also remember that OutputCmd support implicit conversion from floats (so you can just pass a float)

Reimplemented in PostureMC.

Definition at line 125 of file PostureEngine.h.

Referenced by PostureEditor::activate(), MotionSequenceEngine::getPose(), PostureMC::setOutputCmd(), and solveLinkPosition().

OutputCmd& PostureEngine::operator() ( unsigned int  i  )  [inline]

returns output i, returns a reference so you can also set through an assignment to this call, e.g. pose(MouthOffset)=.1; (remember that OutputCmd support implicit conversion from floats)

Definition at line 126 of file PostureEngine.h.

const OutputCmd& PostureEngine::operator() ( unsigned int  i  )  const [inline]

returns output i

Definition at line 127 of file PostureEngine.h.

OutputCmd& PostureEngine::getOutputCmd ( unsigned int  i  )  [inline]

returns output i, returns a reference so you can also set through an assignment

Definition at line 128 of file PostureEngine.h.

Referenced by WorldStatePool::read(), MotionSequenceEngine::setExplicitPose(), MotionSequenceEngine::setPose(), and update().

const OutputCmd& PostureEngine::getOutputCmd ( unsigned int  i  )  const [inline]

returns output i

Definition at line 129 of file PostureEngine.h.

void PostureEngine::setSaveFormat ( bool  condensed,
WorldState ws 
) [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 135 of file PostureEngine.cc.

Referenced by CameraStreamBehavior::sendSensors().

virtual void PostureEngine::setLoadedSensors ( WorldState ws  )  [inline, virtual]

if ws is non-NULL, any sensor values in loaded postures will be stored there (otherwise they are ignored)

Definition at line 137 of file PostureEngine.h.

Referenced by WorldStatePool::read().

virtual WorldState* PostureEngine::getLoadedSensors (  )  const [inline, virtual]

returns value previously stored by setLoadSensors()

Definition at line 138 of file PostureEngine.h.

Referenced by WorldState::read().

unsigned int PostureEngine::getBinSize (  )  const [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Definition at line 140 of file PostureEngine.cc.

Referenced by CameraStreamBehavior::sendSensors().

unsigned int PostureEngine::loadBuffer ( const char  buf[],
unsigned int  len 
) [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Reimplemented in PostureMC.

Definition at line 212 of file PostureEngine.cc.

Referenced by PostureMC::loadBuffer(), MotionSequenceEngine::loadBuffer(), and WorldStatePool::read().

unsigned int PostureEngine::saveBuffer ( char  buf[],
unsigned int  len 
) const [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Implements LoadSave.

Definition at line 564 of file PostureEngine.cc.

Referenced by CameraStreamBehavior::sendSensors().

unsigned int PostureEngine::loadFile ( const char  filename[]  )  [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 664 of file PostureEngine.cc.

Referenced by MotionSequenceEngine::loadBuffer(), PostureNode::loadFile(), PostureEngine(), PostureNode::PostureNode(), and PostureEditor::refresh().

unsigned int PostureEngine::saveFile ( const char  filename[]  )  const [virtual]

sets saveFormatCondensed and loadSaveSensors (pass state for ws if you want to use current sensor values)

Definition at line 667 of file PostureEngine.cc.

Referenced by PostureEditor::refresh(), and SavePostureControl::takeInput().

bool PostureEngine::solveLinkPosition ( const NEWMAT::ColumnVector Ptgt,
unsigned int  link,
const NEWMAT::ColumnVector Peff 
) [virtual]

Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.

Parameters:
Ptgt the target point, in base coordinates
link the output offset of the joint to move
Peff the point (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 704 of file PostureEngine.cc.

Referenced by PostureMC::solveLinkPosition(), solveLinkPosition(), and solveLinkVector().

virtual bool PostureEngine::solveLinkPosition ( float  Ptgt_x,
float  Ptgt_y,
float  Ptgt_z,
unsigned int  link,
float  Peff_x,
float  Peff_y,
float  Peff_z 
) [inline, virtual]

Performs inverse kinematics to solve for positioning Peff on link j as close as possible to Ptgt (base coordinates); if solution found, stores result in this posture and returns true.

Parameters:
Ptgt_x the target x position (relative to base frame)
Ptgt_y the target y position (relative to base frame)
Ptgt_z the target z position (relative to base frame)
link the output offset of the joint to move
Peff_x the x position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
Peff_y the y position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
Peff_z the z position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 178 of file PostureEngine.h.

bool PostureEngine::solveLinkVector ( const NEWMAT::ColumnVector Ptgt,
unsigned int  link,
const NEWMAT::ColumnVector Peff 
) [virtual]

Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates in homogenous form); if solution found, stores result in this posture and returns true.

Parameters:
Ptgt the target point, in base coordinates
link the output offset of the joint to move
Peff the point (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 718 of file PostureEngine.cc.

Referenced by PostureMC::solveLinkVector(), and solveLinkVector().

virtual bool PostureEngine::solveLinkVector ( float  Ptgt_x,
float  Ptgt_y,
float  Ptgt_z,
unsigned int  link,
float  Peff_x,
float  Peff_y,
float  Peff_z 
) [inline, virtual]

Performs inverse kinematics to solve for aligning the vector through Peff on link j and the link's origin to point at Ptgt (base coordinates); if solution found, stores result in this posture and returns true.

Parameters:
Ptgt_x the target x position (relative to base frame)
Ptgt_y the target y position (relative to base frame)
Ptgt_z the target z position (relative to base frame)
link the output offset of the joint to move
Peff_x the x position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
Peff_y the y position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
Peff_z the z position (relative to link) which you desire to have moved to Ptgt (it's the desired "effector")
Todo:
this method is an approximation, could be more precise, and perhaps faster, although this is pretty good.
The difference between solveLinkPosition() and solveLinkVector() is typically small, but critical when you're trying to look at something -- the solution obtained by simplying trying to solve for the position may not align the vector with the target -- solveLinkVector() tries to ensure the vector is aligned with the target, even if that isn't the closest solution position-wise.

Reimplemented in PostureMC.

Definition at line 211 of file PostureEngine.h.

PostureEngine & PostureEngine::setOverlay ( const PostureEngine pe  )  [virtual]

sets joints of this to all joints of pe which are not equal to unused (layers pe over this) stores into this

Reimplemented in PostureMC.

Definition at line 34 of file PostureEngine.cc.

Referenced by createOverlay(), and PostureMC::setOverlay().

PostureEngine PostureEngine::createOverlay ( const PostureEngine pe  )  const [virtual]

sets joints of this to all joints of pe which are not equal to unused (layers pe over this) returns new PostureEngine

Definition at line 40 of file PostureEngine.cc.

PostureEngine & PostureEngine::setUnderlay ( const PostureEngine pe  )  [virtual]

sets joints of this which are equal to unused to pe, (layers this over pe) stores into this

Reimplemented in PostureMC.

Definition at line 44 of file PostureEngine.cc.

Referenced by createUnderlay(), and PostureMC::setUnderlay().

PostureEngine PostureEngine::createUnderlay ( const PostureEngine pe  )  const [virtual]

sets joints of this which are equal to unused to pe, (layers this over pe) returns new PostureEngine

Definition at line 50 of file PostureEngine.cc.

PostureEngine & PostureEngine::setAverage ( const PostureEngine pe,
float  w = 0.5 
) [virtual]

computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)

joints being averaged with unused joints have their weights averaged, but not their values (so an output can crossfade properly)

Parameters:
pe the other PostureEngine
w amount to weight towards pe
  • if w < .001, nothing is done
  • if w > .999, a straight copy of pe occurs (sets joints to unused properly at end of fade)
  • .001 and .999 is used instead of 0 and 1 to allow for slight addition errors in a loop (if using repeated additions of a delta value instead of repeated divisions)
Returns:
*this, stores results into this

Reimplemented in PostureMC.

Definition at line 62 of file PostureEngine.cc.

Referenced by createAverage(), and PostureMC::setAverage().

PostureEngine PostureEngine::createAverage ( const PostureEngine pe,
float  w = 0.5 
) const [virtual]

computes a weighted average of this vs. pe, w being the weight towards pe (so w==1 just copies pe)

joints being averaged with weight<=0 have their weights averaged, but not their values (so an output can crossfade properly)

Parameters:
pe the other PostureEngine
w amount to weight towards pe
  • if w < .001, nothing is done
  • if w > .999, a straight copy of pe occurs (sets joints to unused properly at end of fade)
  • .001 and .999 is used instead of 0 and 1 to allow for slight addition errors in a loop (if using repeated additions of a delta value instead of repeated divisions)
Returns:
a new posture containing the results

Definition at line 86 of file PostureEngine.cc.

PostureEngine & PostureEngine::setCombine ( const PostureEngine pe  )  [virtual]

computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value

Reimplemented in PostureMC.

Definition at line 90 of file PostureEngine.cc.

Referenced by createCombine(), and PostureMC::setCombine().

PostureEngine PostureEngine::createCombine ( const PostureEngine pe  )  const [virtual]

computes a weighted average of this vs. pe, using the weight values of the joints, storing the total weight in the result's weight value

Definition at line 97 of file PostureEngine.cc.

float PostureEngine::diff ( const PostureEngine pe  )  const [virtual]

returns the sum squared error between this and pe's output values, but only between outputs which are both not unused

Todo:
create a version which does weighted summing? This treats weights as all or nothing

Definition at line 102 of file PostureEngine.cc.

float PostureEngine::avgdiff ( const PostureEngine pe  )  const [virtual]

returns the average sum squared error between this and pe's output values for outputs which are both not unused

Todo:
create a version which does weighted summing? This treats weights as all or nothing

Definition at line 112 of file PostureEngine.cc.

float PostureEngine::maxdiff ( const PostureEngine pe  )  const [virtual]

returns the max error between this and pe's output values for outputs which are both not unused

Todo:
create a version which does weighted summing? This treats weights as all or nothing

Definition at line 124 of file PostureEngine.cc.

bool PostureEngine::loadLine ( unsigned int  linenum,
const std::map< std::string, section_t > &  sectionMap,
std::vector< std::string > &  words,
section_t curSection,
Capabilities *&  caps,
bool &  filtered 
) [protected, virtual]

helper function for loadBuffer, called for each individual line

Definition at line 299 of file PostureEngine.cc.

Referenced by loadBuffer().

void PostureEngine::stripTildes ( std::string &  word  )  [inline, protected]

helper function for loadLine, strips trailing '~'s from output names to provide backward compatability (note pass by reference, operates 'in-place' on word)

(originally, all output names were uniform length and used '~'s as padding... ugh.)

Definition at line 267 of file PostureEngine.h.

Referenced by loadLine().

void PostureEngine::update ( unsigned int  c,
unsigned int  l 
) [protected, virtual]

Called at the beginning of each function which accesses ROBOOP computations - should make sure the ROBOOP structures are up to date with Tekkotsu structures.

This class will pull current values from WorldState, but it is expected that subclasses (i.e. PostureEngine) will want to provide their own joint values. Updates from link 1 through link l.

Parameters:
[in] c the chain to update
[in] l the last link to update (later links in the chain are left untouched)

Reimplemented from Kinematics.

Definition at line 745 of file PostureEngine.cc.

Referenced by solveLinkPosition().


Member Data Documentation

requests a condensed file format, smaller but less readable

Definition at line 277 of file PostureEngine.h.

Referenced by getBinSize(), loadBuffer(), loadLine(), operator=(), saveBuffer(), and setSaveFormat().

If non-null, saves will include sensor readings from here, and loads will store any read sensors into here.

Definition at line 278 of file PostureEngine.h.

Referenced by getBinSize(), getLoadedSensors(), loadLine(), operator=(), saveBuffer(), setLoadedSensors(), and setSaveFormat().


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

Tekkotsu v4.0
Generated Thu Nov 22 00:58:36 2007 by Doxygen 1.5.4