ALWalk Class Reference

#include <alwalk.h>

List of all members.

Public Member Functions
	ALWalk ()
	~ALWalk ()
void	setStiffnessNotHead (float values[])
int	goToAnglesNotHead (float positions[], int time)
int	goToAnglesWithVelocityNotHead (float positions[], float velocity)
void	walkStraight (float distance)
void	walkArc (float angle, float radius)
void	walkSideways (float distance)
void	turn (float angle)
void	goForward ()
void	goBackward ()
void	goArc (float angle)
void	goLeft ()
void	goRight ()
void	goTurnLeft ()
void	goTurnRight ()
bool	gIsActive ()
bool	walkIsActive ()
void	waitUntilFinished ()
void	stop ()
void	innerTest ()
Public Attributes
float *	alWalkHardnesses

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Constructor & Destructor Documentation

ALWalk::ALWalk

(

)

ALWalk::~ALWalk

(

)

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Member Function Documentation

bool ALWalk::gIsActive

(

)

Returns true if there is an active g task. Returns false otherwise

Note. While the robot takes a stopping step, gWalk will not be 'active', however the robot will still be walking.

void ALWalk::goArc

(

float

angle

)

Walk along an arc in the specified direction until the another direction is called, or the walk is stopped (whether explicitly or implicitly)

void ALWalk::goBackward

(

)

Walk backward until another direction is called, or the walk is stopped (whether explicitly or implicitly)

void ALWalk::goForward

(

)

Walk forward until another direction is called, or the walk is stopped (whether explicitly or implicitly)

void ALWalk::goLeft

(

)

Walk left (sideways) until the another direction is called, or the walk is stopped (whether explicitly or implicitly)

void ALWalk::goRight

(

)

Walk right (sideways) until the another direction is called, or the walk is stopped (whether explicitly or implicitly)

int ALWalk::goToAnglesNotHead	(	float	positions[],
		int	time
	)

int ALWalk::goToAnglesWithVelocityNotHead	(	float	positions[],
		float	velocity
	)

Go to the new positions at the specified velocity (the almotion does the interpolation)

Parameters:

	positions[]	the new target positions (must be of length ALIAS_TARGETS_NOT_HEAD_LENGTH)
	velocity	the velocity in rad/s

Returns:

finishTime the dcmTime the motion will finish. I stress that this is the dcmTime; the dcmTime the motion will finish; the dcmTime.

void ALWalk::goTurnLeft

(

)

Turn left (rotate anticlockwise) on the spot until another direction is called, or the walk is stopped (whether explicitly or implicitly)

This turn is significantly slower (ie the turn velocity is smaller ;)) than other turns.

void ALWalk::goTurnRight

(

)

Turn right (rotate clockwise) on the spot until another direction is called, or the walk is stopped (whether explicitly or implicitly)

This turn is significantly slower (ie the turn velocity is smaller ;)) than other turns.

void ALWalk::innerTest

(

)

void ALWalk::setStiffnessNotHead

(

float

values[]

)

void ALWalk::stop

(

)

Safely stops the current walk as soon as possible (it will finish its current step, and then take a stopping step to bring the robot to rest)

This is not a blocking function, ie. when it returns the robot will still be walking

void ALWalk::turn

(

float

angle

)

Turn 'angle' radians on the spot

Parameters:

angle

the angle to turn in radians (left/anticlockwise is postive)

Note. Nothing happens if the robot is already walking

void ALWalk::waitUntilFinished

(

)

Blocks until along of the pending walk tasks have been completed. This could take some time if there are many steps in the queue

void ALWalk::walkArc	(	float	angle,
		float	radius
	)

Walk along a arc of radius (cm) for an angle (radians)

Parameters:

	angle	the angle of the arc (radians)
	radius	the radius of the circle the arc is on (cm)

Note. Nothing happens if the robot is already walking

bool ALWalk::walkIsActive

(

)

Returns true if there is an active alWalk task. Returns false otherwise

void ALWalk::walkSideways

(

float

distance

)

Walk sideways 'distance' in centimetres

Parameters:

distance

the distance to walk in cm (left is positive)

Note. Nothing happens if the robot is already walking

void ALWalk::walkStraight

(

float

distance

)

Walk straight (forwards or backwards) a distance in cm

Parameters:

distance

the distance to walk in cm (forwards is positive)

Note. Nothing happens if the robot is already walking

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Member Data Documentation

float* ALWalk::alWalkHardnesses

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

• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/alwalk.h
• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/alwalk.cpp