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AiboHeadMoves Class Reference

#include <aiboheadmoves.h>

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Public Member Functions

 AiboHeadMoves (AiboHead *head)
virtual ~AiboHeadMoves ()
void SetHead (AiboHead *head)
MOVE_STATUS MoveToSleeping (OSubject *subject)
MOVE_STATUS MoveToBroadbase (OSubject *subject)
MOVE_STATUS MoveToZero (OSubject *subject)
void SetJoints (AiboJoint *joints)
void OpenJointPrimitives ()
void InitJoints (OSubject *subject)
int GetMoveCount ()
void ResetMoveCounter ()
MOVE_STATUS Movement (OSubject *subject, const double *angles, int numMoves)
void MakeHandstand (OSubject *subject)

Protected Attributes

MOVE_STATE_HEAD State
int NumJoints
double * Delta
int MoveCounter
AiboJoint * Joints

Static Protected Attributes

static const int ZERO_POS_MAX_COUNTER = 16

Detailed Description

Class for generation of head moves for AIBO

Constructor & Destructor Documentation

AiboHeadMoves::AiboHeadMoves (  AiboHead *  head  ) 
 

Default constructor.

Parameters:
head AiboHead to move

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virtual AiboHeadMoves::~AiboHeadMoves (   )  [inline, virtual]
 

Default destructor

Member Function Documentation

void AiboHeadMoves::SetHead (  AiboHead *  head  ) 
 

Method to set head

Parameters:
head Pointer to AiboHead var in YOUR Object

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MOVE_STATUS AiboHeadMoves::MoveToSleeping (  OSubject *  subject  )  [virtual]
 

Moves head of AIBO to sleeping position

Parameters:
subject Subject which sends the data to OVirtualRobotComm
Returns:
Status of movement

Implements AiboMoves.

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MOVE_STATUS AiboHeadMoves::MoveToBroadbase (  OSubject *  subject  )  [virtual]
 

Moves head of AIBO to boradbase position

Parameters:
subject Subject which sends the data to OVirtualRobotComm
Returns:
Status of movement

Implements AiboMoves.

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MOVE_STATUS AiboHeadMoves::MoveToZero (  OSubject *  subject  ) 
 

Moves head of AIBO to zero position (HT = 0, HP = 0, HR = 0)

Parameters:
subject Subject which sends the data to OVirtualRobotComm
Returns:
Status of movement

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void AiboMoves::SetJoints (  AiboJoint *  joints  )  [inherited]
 

Method to set head

Parameters:
joints Pointer to AiboJoint var in YOUR Object

void AiboMoves::OpenJointPrimitives (   )  [inline, inherited]
 

Method to open joint primitives. I.e. executes AiboJoint->OpenPrimitives()

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void AiboMoves::InitJoints (  OSubject *  subject  )  [inline, inherited]
 

Method which initialises the joint values. I.e. executes AIboJoint->RefreshCommandVectors()

Parameters:
subject Subject for communication with OVirtualRobotComm

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int AiboMoves::GetMoveCount (   )  [inline, inherited]
 

Method to get the move count of thhe actual movement

Returns:
MoveCount

void AiboMoves::ResetMoveCounter (   )  [inline, inherited]
 

Resets the MoveCounter

MOVE_STATUS AiboMoves::Movement (  OSubject *  subject,
const double *  angles,
int  numMoves
)  [inherited]
 

Method executes a move to the given Angels in NumMove frames

Parameters:
subject Subject for communication with OVirtualRobotComm
angles Angles to reach
numMoves Number of frames to reach the angles

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void AiboMoves::MakeHandstand (  OSubject *  subject  )  [inherited]
 

Moves AIBO into handstand. WARNING: Method not ready yet.

Parameters:
subject Subject which sends the data to OVirtualRobotComm

Field Documentation

const int AiboHeadMoves::ZERO_POS_MAX_COUNTER = 16 [static, protected]
 

Number of steps which should be used to reach Zero position

MOVE_STATE_HEAD AiboHeadMoves::State [protected]
 

Sate of the head Movement

int AiboHeadMoves::NumJoints [protected]
 

Number of head joints. The values is used very often...

double* AiboMoves::Delta [protected, inherited]
 

Variable to store the delta angleas for movements

int AiboMoves::MoveCounter [protected, inherited]
 

Counter for counting move steps

AiboJoint* AiboMoves::Joints [protected, inherited]
 

Head var for joint access

The documentation for this class was generated from the following files:
tams Tim Baier AiboLib v0.2.4
 		Generated Thu Jan 19 11:55:27 2006 by doxygen 1.4.3