WalkPrimitive Class Reference

#include <walkprimitive.h>

List of all members.

Public Member Functions
	WalkPrimitive (StepTypeEnum steptype)
	~WalkPrimitive ()
void	getInitialPose (float **positions, float **hardnesses)
Step *	getStartStep (float direction)
Step *	getStartGStep (float direction)
Step *	getForwardStep (Step *previousstep, float direction, WalkPrimitive *forwardprimitives)
Step *	getTurnStep (Step *previousstep, float direction)
Step *	getSideStep (Step *previousstep, float direction)
Public Attributes
primitive_t *	Steps
unsigned char	StepsLength

---

Constructor & Destructor Documentation

WalkPrimitive::WalkPrimitive

(

StepTypeEnum

steptype

)

A Class that encapsulates a walk TYPE.

The central member of this class is Steps. He is an array of several/many primitive_t structures. Each primitive_t contains all of the Steps for a single TYPE + VALUE (ie start, follow, normal, fstop and nstop steps) Each Step contains the frames (both position and hardness) for that Step.

We access Steps using [0] for WalkForward and WalkBackward, because there is only a single primitive_t [0] or [1] for WalkSideward where '0' will be Left and '1' will be right [(int) StepLeftDirectionToIndex * direction + StepsLeftDirectionToIndexOffset] for WalkArc and WalkTurn

Parameters:

steptype,the

type of primitive (eg. TYPE_FORWARD, TYPE_TURN etc)

WalkPrimitive::~WalkPrimitive

(

)

---

Member Function Documentation

Step * WalkPrimitive::getForwardStep	(	Step *	previousstep,
		float	direction,
		WalkPrimitive *	forwardprimitives
	)

Returns a pointer to the forward step that should follow the previous step

Parameters:

	previousstep,a	pointer to the step that has just completed
	direction,for	WalkArc steps this is the desired arc radius in cm, for WalkForward steps this is ignored
	forwardprimitives,a	pointer to the WalkPrimitive containing the WalkForward primitive_t

void WalkPrimitive::getInitialPose	(	float **	positions,
		float **	hardnesses
	)

Updates positions and hardnesses to point to their 'default' values

Step * WalkPrimitive::getSideStep	(	Step *	previousstep,
		float	direction
	)

Step * WalkPrimitive::getStartGStep

(

float

direction

)

Returns a pointer to the start gstep of THIS primitive

Parameters:

direction,a

positive value will produce g in the left direction and a negative value will produce g in the right direction

Important: It is assumed that special gSteps are placed at the end of the Steps array. The second last one is left directed and the last one is right directed.

Step * WalkPrimitive::getStartStep

(

float

direction

)

Returns a pointer to the start step in the specified direction

Parameters:

direction,the

direction to take the start step.

For forwards and backwards the direction is ignored, because it has no meaning. For sideward steps only the sign of the direction is used. For a turn the direction is the desired turn angle in radians For an arc the direction is the desired arc radius in cm

Step * WalkPrimitive::getTurnStep	(	Step *	previousstep,
		float	direction
	)

Returns a pointer to the turn step that should follow the previous step

Parameters:

	previousstep,a	pointer to the step that has just completed
	direction,the	desired turn angle in radians

---

Member Data Documentation

primitive_t* WalkPrimitive::Steps

unsigned char WalkPrimitive::StepsLength

---

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

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