/Users/jason/Code/naowalkoptimiser/src/Locomotion/Walk/step.h File Reference

#include "jwalkincludes.h"
#include "actuators.h"

Go to the source code of this file.

Classes
class	Step
Defines
#define	STEP_VERBOSITY   0
#define	STEP_LOCATION   string("/home/root/jasondata/")
#define	STEP_MAX_LENGTH   255
#define	TYPE_NONE_NAME   string("NoStep")
#define	TYPE_FORWARD_NAME   string("WalkForward")
#define	TYPE_ARC_NAME   string("WalkArc")
#define	TYPE_DIAGONAL_NAME   string("WalkDiagonal")
#define	TYPE_SIDEWARD_NAME   string("WalkSideward")
#define	TYPE_TURN_NAME   string("WalkTurn")
#define	TYPE_BACKWARD_NAME   string("WalkBackward")
#define	CLASS_START_NAME   string("Start")
#define	CLASS_FOLLOW_NAME   string("Follow")
#define	CLASS_NORMAL_NAME   string("")
#define	CLASS_FSTOP_NAME   string("FStop")
#define	CLASS_NSTOP_NAME   string("NStop")
#define	LEFT_NAME   string("Left")
#define	RIGHT_NAME   string("Right")
#define	LEFT_INF   1000
#define	RIGHT_INF   -1000
Enumerations
enum	StepClassEnum {   CLASS_START, CLASS_FOLLOW, CLASS_NORMAL, CLASS_FSTOP,   CLASS_NSTOP, CLASS_NUM_CLASSES }
enum	StepTypeEnum {   TYPE_NONE, TYPE_FORWARD, TYPE_ARC, TYPE_SIDEWARD,   TYPE_TURN, TYPE_BACKWARD, TYPE_NUM_TYPES }
enum	StepSupportHardnessEnum {   SH_HIP_YAW, SH_HIP_ROLL, SH_HIP_PITCH, SH_KNEE_PITCH,   SH_ANKLE_PITCH, SH_ANKLE_ROLL, SH_NUM_JOINTS }
Variables
string	typeToTypeName []
string	classToClassName []

---

Define Documentation

#define CLASS_FOLLOW_NAME   string("Follow")

#define CLASS_FSTOP_NAME   string("FStop")

#define CLASS_NORMAL_NAME   string("")

#define CLASS_NSTOP_NAME   string("NStop")

#define CLASS_START_NAME   string("Start")

#define LEFT_INF   1000

#define LEFT_NAME   string("Left")

#define RIGHT_INF   -1000

#define RIGHT_NAME   string("Right")

#define STEP_LOCATION   string("/home/root/jasondata/")

#define STEP_MAX_LENGTH   255

#define STEP_VERBOSITY   0

A Step class

Author:

Jason Kulk

Version :

Id

step.h,v 1.2 2009/05/31 03:52:53 jason Exp

#define TYPE_ARC_NAME   string("WalkArc")

#define TYPE_BACKWARD_NAME   string("WalkBackward")

#define TYPE_DIAGONAL_NAME   string("WalkDiagonal")

#define TYPE_FORWARD_NAME   string("WalkForward")

#define TYPE_NONE_NAME   string("NoStep")

#define TYPE_SIDEWARD_NAME   string("WalkSideward")

#define TYPE_TURN_NAME   string("WalkTurn")

---

Enumeration Type Documentation

enum StepClassEnum

Enumerator:

CLASS_START
CLASS_FOLLOW
CLASS_NORMAL
CLASS_FSTOP
CLASS_NSTOP
CLASS_NUM_CLASSES

enum StepSupportHardnessEnum

Enumerator:

SH_HIP_YAW
SH_HIP_ROLL
SH_HIP_PITCH
SH_KNEE_PITCH
SH_ANKLE_PITCH
SH_ANKLE_ROLL
SH_NUM_JOINTS

enum StepTypeEnum

Enumerator:

TYPE_NONE
TYPE_FORWARD
TYPE_ARC
TYPE_SIDEWARD
TYPE_TURN
TYPE_BACKWARD
TYPE_NUM_TYPES

---

Variable Documentation

string classToClassName[]

string typeToTypeName[]

A Step class

Author:

Jason Kulk

Version :

Id

step.cpp,v 1.2 2009/05/31 03:54:58 jason Exp