Fawkes API Fawkes Development Version
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SetWalkParamsMessage Fawkes BlackBoard Interface Message. More...
#include <>>
Classes | |
struct | SetWalkParamsMessage_data_t |
Internal data storage, do NOT modify! | |
Public Member Functions | |
SetWalkParamsMessage (const float ini_max_step_length, const float ini_max_step_height, const float ini_max_step_side, const float ini_max_step_turn, const float ini_zmp_offset_forward, const float ini_zmp_offset_sideward, const float ini_l_hip_roll_compensation, const float ini_r_hip_roll_compensation, const float ini_hip_height, const float ini_torso_sideward_orientation) | |
Constructor with initial values. | |
SetWalkParamsMessage () | |
Constructor. | |
~SetWalkParamsMessage () | |
Destructor. | |
SetWalkParamsMessage (const SetWalkParamsMessage *m) | |
Copy constructor. | |
float | max_step_length () const |
Get max_step_length value. | |
void | set_max_step_length (const float new_max_step_length) |
Set max_step_length value. | |
size_t | maxlenof_max_step_length () const |
Get maximum length of max_step_length value. | |
float | max_step_height () const |
Get max_step_height value. | |
void | set_max_step_height (const float new_max_step_height) |
Set max_step_height value. | |
size_t | maxlenof_max_step_height () const |
Get maximum length of max_step_height value. | |
float | max_step_side () const |
Get max_step_side value. | |
void | set_max_step_side (const float new_max_step_side) |
Set max_step_side value. | |
size_t | maxlenof_max_step_side () const |
Get maximum length of max_step_side value. | |
float | max_step_turn () const |
Get max_step_turn value. | |
void | set_max_step_turn (const float new_max_step_turn) |
Set max_step_turn value. | |
size_t | maxlenof_max_step_turn () const |
Get maximum length of max_step_turn value. | |
float | zmp_offset_forward () const |
Get zmp_offset_forward value. | |
void | set_zmp_offset_forward (const float new_zmp_offset_forward) |
Set zmp_offset_forward value. | |
size_t | maxlenof_zmp_offset_forward () const |
Get maximum length of zmp_offset_forward value. | |
float | zmp_offset_sideward () const |
Get zmp_offset_sideward value. | |
void | set_zmp_offset_sideward (const float new_zmp_offset_sideward) |
Set zmp_offset_sideward value. | |
size_t | maxlenof_zmp_offset_sideward () const |
Get maximum length of zmp_offset_sideward value. | |
float | l_hip_roll_compensation () const |
Get l_hip_roll_compensation value. | |
void | set_l_hip_roll_compensation (const float new_l_hip_roll_compensation) |
Set l_hip_roll_compensation value. | |
size_t | maxlenof_l_hip_roll_compensation () const |
Get maximum length of l_hip_roll_compensation value. | |
float | r_hip_roll_compensation () const |
Get r_hip_roll_compensation value. | |
void | set_r_hip_roll_compensation (const float new_r_hip_roll_compensation) |
Set r_hip_roll_compensation value. | |
size_t | maxlenof_r_hip_roll_compensation () const |
Get maximum length of r_hip_roll_compensation value. | |
float | hip_height () const |
Get hip_height value. | |
void | set_hip_height (const float new_hip_height) |
Set hip_height value. | |
size_t | maxlenof_hip_height () const |
Get maximum length of hip_height value. | |
float | torso_sideward_orientation () const |
Get torso_sideward_orientation value. | |
void | set_torso_sideward_orientation (const float new_torso_sideward_orientation) |
Set torso_sideward_orientation value. | |
size_t | maxlenof_torso_sideward_orientation () const |
Get maximum length of torso_sideward_orientation value. | |
virtual Message * | clone () const |
Clone this message. |
SetWalkParamsMessage Fawkes BlackBoard Interface Message.
Definition at line 131 of file HumanoidMotionInterface.h.
fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage | ( | const float | ini_max_step_length, |
const float | ini_max_step_height, | ||
const float | ini_max_step_side, | ||
const float | ini_max_step_turn, | ||
const float | ini_zmp_offset_forward, | ||
const float | ini_zmp_offset_sideward, | ||
const float | ini_l_hip_roll_compensation, | ||
const float | ini_r_hip_roll_compensation, | ||
const float | ini_hip_height, | ||
const float | ini_torso_sideward_orientation | ||
) |
Constructor with initial values.
ini_max_step_length | initial value for max_step_length |
ini_max_step_height | initial value for max_step_height |
ini_max_step_side | initial value for max_step_side |
ini_max_step_turn | initial value for max_step_turn |
ini_zmp_offset_forward | initial value for zmp_offset_forward |
ini_zmp_offset_sideward | initial value for zmp_offset_sideward |
ini_l_hip_roll_compensation | initial value for l_hip_roll_compensation |
ini_r_hip_roll_compensation | initial value for r_hip_roll_compensation |
ini_hip_height | initial value for hip_height |
ini_torso_sideward_orientation | initial value for torso_sideward_orientation |
Definition at line 853 of file HumanoidMotionInterface.cpp.
References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, and fawkes::IFT_FLOAT.
fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage | ( | ) |
Constructor.
Definition at line 882 of file HumanoidMotionInterface.cpp.
References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, and fawkes::IFT_FLOAT.
fawkes::HumanoidMotionInterface::SetWalkParamsMessage::~SetWalkParamsMessage | ( | ) |
Destructor.
Definition at line 902 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_ptr.
fawkes::HumanoidMotionInterface::SetWalkParamsMessage::SetWalkParamsMessage | ( | const SetWalkParamsMessage * | m | ) |
Copy constructor.
m | message to copy from |
Definition at line 910 of file HumanoidMotionInterface.cpp.
References fawkes::Message::data_ptr, fawkes::Message::data_size, and fawkes::Message::data_ts.
Message * fawkes::HumanoidMotionInterface::SetWalkParamsMessage::clone | ( | ) | const [virtual] |
Clone this message.
Produces a message of the same type as this message and copies the data to the new message.
Reimplemented from fawkes::Message.
Definition at line 1274 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::hip_height | ( | ) | const |
Get hip_height value.
Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 1204 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::l_hip_roll_compensation | ( | ) | const |
Get l_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 1132 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_height | ( | ) | const |
Get max_step_height value.
Maxium height of a footstep cycloid in m.
Definition at line 961 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_length | ( | ) | const |
Get max_step_length value.
Maximum length of a footstep in m.
Definition at line 927 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_side | ( | ) | const |
Get max_step_side value.
Maximum length of side step in m.
Definition at line 995 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::max_step_turn | ( | ) | const |
Get max_step_turn value.
Maximum change around vertical axis on radians per footstep.
Definition at line 1029 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_hip_height | ( | ) | const |
Get maximum length of hip_height value.
Definition at line 1214 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_l_hip_roll_compensation | ( | ) | const |
Get maximum length of l_hip_roll_compensation value.
Definition at line 1142 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_max_step_height | ( | ) | const |
Get maximum length of max_step_height value.
Definition at line 971 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_max_step_length | ( | ) | const |
Get maximum length of max_step_length value.
Definition at line 937 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_max_step_side | ( | ) | const |
Get maximum length of max_step_side value.
Definition at line 1005 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_max_step_turn | ( | ) | const |
Get maximum length of max_step_turn value.
Definition at line 1039 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_r_hip_roll_compensation | ( | ) | const |
Get maximum length of r_hip_roll_compensation value.
Definition at line 1178 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_torso_sideward_orientation | ( | ) | const |
Get maximum length of torso_sideward_orientation value.
Definition at line 1250 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_zmp_offset_forward | ( | ) | const |
Get maximum length of zmp_offset_forward value.
Definition at line 1073 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::SetWalkParamsMessage::maxlenof_zmp_offset_sideward | ( | ) | const |
Get maximum length of zmp_offset_sideward value.
Definition at line 1107 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::r_hip_roll_compensation | ( | ) | const |
Get r_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 1168 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_hip_height | ( | const float | new_hip_height | ) |
Set hip_height value.
Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.
new_hip_height | new hip_height value |
Definition at line 1227 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_l_hip_roll_compensation | ( | const float | new_l_hip_roll_compensation | ) |
Set l_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
new_l_hip_roll_compensation | new l_hip_roll_compensation value |
Definition at line 1155 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_height | ( | const float | new_max_step_height | ) |
Set max_step_height value.
Maxium height of a footstep cycloid in m.
new_max_step_height | new max_step_height value |
Definition at line 983 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_length | ( | const float | new_max_step_length | ) |
Set max_step_length value.
Maximum length of a footstep in m.
new_max_step_length | new max_step_length value |
Definition at line 949 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_side | ( | const float | new_max_step_side | ) |
Set max_step_side value.
Maximum length of side step in m.
new_max_step_side | new max_step_side value |
Definition at line 1017 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_max_step_turn | ( | const float | new_max_step_turn | ) |
Set max_step_turn value.
Maximum change around vertical axis on radians per footstep.
new_max_step_turn | new max_step_turn value |
Definition at line 1051 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_r_hip_roll_compensation | ( | const float | new_r_hip_roll_compensation | ) |
Set r_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
new_r_hip_roll_compensation | new r_hip_roll_compensation value |
Definition at line 1191 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_torso_sideward_orientation | ( | const float | new_torso_sideward_orientation | ) |
Set torso_sideward_orientation value.
Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.
new_torso_sideward_orientation | new torso_sideward_orientation value |
Definition at line 1263 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_zmp_offset_forward | ( | const float | new_zmp_offset_forward | ) |
Set zmp_offset_forward value.
Zero moment point offset in forward direction in m.
new_zmp_offset_forward | new zmp_offset_forward value |
Definition at line 1085 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::SetWalkParamsMessage::set_zmp_offset_sideward | ( | const float | new_zmp_offset_sideward | ) |
Set zmp_offset_sideward value.
Zero moment point offset in sideward direction in m.
new_zmp_offset_sideward | new zmp_offset_sideward value |
Definition at line 1119 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::torso_sideward_orientation | ( | ) | const |
Get torso_sideward_orientation value.
Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 1240 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::zmp_offset_forward | ( | ) | const |
Get zmp_offset_forward value.
Zero moment point offset in forward direction in m.
Definition at line 1063 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::SetWalkParamsMessage::zmp_offset_sideward | ( | ) | const |
Get zmp_offset_sideward value.
Zero moment point offset in sideward direction in m.
Definition at line 1097 of file HumanoidMotionInterface.cpp.