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AiboMoves Class Reference

#include <aibomoves.h>

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Public Member Functions

 AiboMoves (AiboJoint *joints)
virtual ~AiboMoves ()
void SetJoints (AiboJoint *joints)
void OpenJointPrimitives ()
void InitJoints (OSubject *subject)
int GetMoveCount ()
void ResetMoveCounter ()
MOVE_STATUS Movement (OSubject *subject, const double *angles, int numMoves)
virtual MOVE_STATUS MoveToSleeping (OSubject *subject)=0
virtual MOVE_STATUS MoveToBroadbase (OSubject *subject)=0
void MakeHandstand (OSubject *subject)

Protected Attributes

double * Delta
int MoveCounter
AiboJoint * Joints

Detailed Description

Class for Genertaion AIBO moves

Constructor & Destructor Documentation

AiboMoves::AiboMoves (  AiboJoint *  joints  ) 
 

Constructor

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

Destructor

Member Function Documentation

void AiboMoves::SetJoints (  AiboJoint *  joints  ) 
 

Method to set head

Parameters:
joints Pointer to AiboJoint var in YOUR Object

void AiboMoves::OpenJointPrimitives (   )  [inline]
 

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

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

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]
 

Method to get the move count of thhe actual movement

Returns:
MoveCount

void AiboMoves::ResetMoveCounter (   )  [inline]
 

Resets the MoveCounter

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

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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virtual MOVE_STATUS AiboMoves::MoveToSleeping (  OSubject *  subject  )  [pure virtual]
 

Moves joints of AIBO to sleeping position

Parameters:
subject Subject which sends the data to OVirtualRobotComm

Implemented in AiboHeadMoves, and AiboLegMoves.

virtual MOVE_STATUS AiboMoves::MoveToBroadbase (  OSubject *  subject  )  [pure virtual]
 

Moves joints of AIBO to broadbase position

Parameters:
subject Subject which sends the data to OVirtualRobotComm

Implemented in AiboHeadMoves, and AiboLegMoves.

void AiboMoves::MakeHandstand (  OSubject *  subject  ) 
 

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

Parameters:
subject Subject which sends the data to OVirtualRobotComm

Field Documentation

double* AiboMoves::Delta [protected]
 

Variable to store the delta angleas for movements

int AiboMoves::MoveCounter [protected]
 

Counter for counting move steps

AiboJoint* AiboMoves::Joints [protected]
 

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 11:55:57 2006 by doxygen 1.4.3