AiboLegMoves Class Reference

#include <aibolegmoves.h>

Inheritance diagram for AiboLegMoves:

[legend]Collaboration diagram for AiboLegMoves:

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Public Member Functions
	AiboLegMoves (AiboLeg *leg)
virtual	~AiboLegMoves ()
void	SetLeg (AiboLeg *leg)
MOVE_STATUS	MoveToSleeping (OSubject *subject)
MOVE_STATUS	MoveToBroadbase (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
int	NumJoints
double *	Delta
int	MoveCounter
AiboJoint *	Joints
Static Protected Attributes
static const int	BROADBASE_MAX_COUNTER = 48
static const int	SLEEPING_MAX_COUNTER = 48

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Detailed Description

Class for generation of leg moves for AIBO

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Constructor & Destructor Documentation

AiboLegMoves::AiboLegMoves (  AiboLeg *  leg  )

Default constructor. Parameters: leg  AiboLeg to move Here is the call graph for this function:

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

Default destructor

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Member Function Documentation

void AiboLegMoves::SetLeg (  AiboLeg *  leg  )

Method to set AiboLeg Parameters: leg  Pointer to AiboLeg var in YOUR Object Here is the call graph for this function:

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

Moves legs of AIBO to sleeping position Parameters: subject  Subject which sends the data to OVirtualRobotComm Implements AiboMoves. Here is the call graph for this function:

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

Moves legs of AIBO to boradbase position Parameters: subject  Subject which sends the data to OVirtualRobotComm Implements AiboMoves. Here is the call graph for this function:

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() Here is the call graph for this function:

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 Here is the call graph for this function:

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 Here is the call graph for this function:

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

Moves AIBO into handstand. WARNING: Method not ready yet. Parameters: subject  Subject which sends the data to OVirtualRobotComm

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Field Documentation

const int AiboLegMoves::BROADBASE_MAX_COUNTER = 48 [static, protected]

Number of steps which should be used to reach Bradbase position

const int AiboLegMoves::SLEEPING_MAX_COUNTER = 48 [static, protected]

Number of steps which should be used to reach Sleeping position

int AiboLegMoves::NumJoints [protected]

Numer of leg joints of AIBOI

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

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

• aibolegmoves.h
• aibolegmoves.cc

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Tim Baier AiboLib v0.2.4

Generated Thu Jan 19 11:55:55 2006 by 1.4.3