JWalk Class Reference

#include <jwalk.h>

Public Member Functions
	JWalk (AL::ALPtr< AL::ALBroker > pBroker, const string &pName)
virtual	~JWalk ()
void	initWalk ()
bool	canUseHead ()
bool	usingDCM ()
bool	modeUsesDCM (JWalkModeEnum mode)
int	setHeadYaw (float angle, int time)
int	setHeadPitch (float angle, int time)
void	setHeadStiffness (float values[])
bool	walkIsActive ()
void	waitUntilFinished ()
void	stop ()
void	emergencyStop ()
void	braceForImpact ()
void	getUp ()
int	doScript (script scripttorun, bool scripturgent)
void	enableFallingControl ()
void	disableFallingControl ()
void	checkAndRepair ()
int	checkHealth ()
void	nuWalkOnBearing (float bearing, unsigned char speed, bool dodge=false)
void	nuWalkToPoint (float distance, float bearing, bool dodge=false)
void	nuWalkToPointWithOrientation (float distance, float bearing, float finalorientation, bool dodge=false)
void	nuWalkToPointWithMaintainOrientation (float distance, float bearing, float desiredorientation, bool dodge=false)
bool	nuWalkIsActive ()
void	nuWalkStop ()
void	gForward ()
void	gBackward ()
void	gArc (float direction)
void	gLeft ()
void	gRight ()
void	gTurnLeft ()
void	gTurnRight ()
bool	gIsActive ()
void	gStop ()
void	alWalkStraight (float distance)
void	alWalkArc (float angle, float radius)
void	alWalkSideways (float distance)
void	alWalkTurn (float angle)
bool	alWalkIsActive ()
void	alWalkWaitUntilFinished ()
void	alWalkStop ()
int	getInCommonPose ()
bool	inCommonPose ()
bool	inBackwardBracePose ()
void	doPreviousWalkCall ()
string	version ()
bool	innerTest ()
Public Attributes
Sensors *volatile	JWalkSensors
Actuators *volatile	JWalkActuators
NUWalk *volatile	nuWalk
ALWalk *volatile	alWalk
JWalkModeEnum	JWalkPreviousMode
JWalkModeEnum	JWalkMode
JWalkModeEnum	JWalkNextMode
bool	JWalkWaitingForFinish
JWalkFunctionIDEnum	JWalkFunctionID
float	JWalkParam1
float	JWalkParam2
float	JWalkParam3
float *	JWalkCommonPositions
float *	JWalkCommonHardnesses

Constructor & Destructor Documentation

JWalk::JWalk	(	AL::ALPtr< AL::ALBroker >	pBroker,
		const string &	pName
	)

JWalk::~JWalk ( ) [virtual]

Member Function Documentation

void JWalk::alWalkArc	(	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 JWalk::alWalkIsActive ( )

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

Note. false does not mean the robot is stationary; it may be jwalking And there is a delay between the issuing of a walk task, and 'walk being active'

void JWalk::alWalkSideways ( 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 JWalk::alWalkStop ( )

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 JWalk::alWalkStraight ( 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

void JWalk::alWalkTurn ( 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 JWalk::alWalkWaitUntilFinished ( )

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

The implementation of this function isn't pretty; it will poll walkIsActive 20 times a second until it is false :(

void JWalk::braceForImpact ( )

bool JWalk::canUseHead ( )

Returns true if you are allowed to move the head, bad things happen if you move the head when this function returns false!

void JWalk::checkAndRepair ( )

int JWalk::checkHealth ( )

void JWalk::disableFallingControl ( )

void JWalk::doPreviousWalkCall ( )

int JWalk::doScript	(	script	scripttorun,
		bool	scripturgent
	)

void JWalk::emergencyStop ( )

void JWalk::enableFallingControl ( )

void JWalk::gArc ( float direction )

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

void JWalk::gBackward ( )

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

int JWalk::getInCommonPose ( )

void JWalk::getUp ( )

void JWalk::gForward ( )

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

bool JWalk::gIsActive ( )

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

void JWalk::gLeft ( )

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

void JWalk::gRight ( )

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

void JWalk::gStop ( )

Stops the gWalk

void JWalk::gTurnLeft ( )

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 JWalk::gTurnRight ( )

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.

bool JWalk::inBackwardBracePose ( )

bool JWalk::inCommonPose ( )

void JWalk::initWalk ( )

bool JWalk::innerTest ( )

Returns the true if the test succeeds, false if it fails This method is inherited from ALModule, and must be implemented

bool JWalk::modeUsesDCM ( JWalkModeEnum mode )

Returns true if the JWalkMode will use the DCM, returns false if is will use alMotion

bool JWalk::nuWalkIsActive ( )

void JWalk::nuWalkOnBearing	(	float	bearing,
		unsigned char	speed,
		bool	dodge = `false`
	)

void JWalk::nuWalkStop ( )

void JWalk::nuWalkToPoint	(	float	distance,
		float	bearing,
		bool	dodge = `false`
	)

void JWalk::nuWalkToPointWithMaintainOrientation	(	float	distance,
		float	bearing,
		float	desiredorientation,
		bool	dodge = `false`
	)

void JWalk::nuWalkToPointWithOrientation	(	float	distance,
		float	bearing,
		float	finalorientation,
		bool	dodge = `false`
	)

int JWalk::setHeadPitch	(	float	angle,
		int	time
	)

void JWalk::setHeadStiffness ( float values[] )

int JWalk::setHeadYaw	(	float	angle,
		int	time
	)

void JWalk::stop ( )

Brings the robot to rest as quickly as possible (regardless of which 'mode' of walk is active)

It's a non-blocking function so you will need to keep track (using walkIsActive()) of when the robot is actually stopped

bool JWalk::usingDCM ( )

Returns true if jwalk is using the alDCM, returns false if jwalk is using alMotion

string JWalk::version ( )

Returns the module's version This method is inherited from ALModule, and must be implemented

void JWalk::waitUntilFinished ( )

Blocks until the robot has stopped walking

The implementation of this function IS pretty; its event based so it won't use any CPU while waiting :). However, it will effectively put your thread to sleep for a some time

bool JWalk::walkIsActive ( )

Returns true if the robot is walking. Returns false otherwise.