MTNAgent Class Reference

#include <MTNAgent.h>

Inheritance diagram for MTNAgent:

MoNetAgent List of all members.

Public Member Functions

 MTNAgent ()
virtual ~MTNAgent ()
virtual bool AreYou (MoNetAgentID agent)
virtual void Init (ODA *oda)
virtual void NotifyCommand (const MoNetAgentCommand &command, MoNetAgentResult *result)
virtual void ReadyEffector (const MoNetAgentCommand &command, MoNetAgentResult *result)
virtual void SetJointGain ()

Private Member Functions

MoNetStatus SetPrimitiveID (OCommandVectorData *cmdVec, char *robotDesign)
MoNetStatus Move (OVRSyncKey syncKey)

Private Attributes

ODAmotionODA
MTN mtn

Static Private Attributes

const word TILT_PGAIN = 0x000a
const word TILT_IGAIN = 0x0008
const word TILT_DGAIN = 0x000c
const word PAN_PGAIN = 0x000d
const word PAN_IGAIN = 0x0008
const word PAN_DGAIN = 0x000b
const word ROLL_PGAIN = 0x000a
const word ROLL_IGAIN = 0x0008
const word ROLL_DGAIN = 0x000c
const word J1_PGAIN = 0x0016
const word J1_IGAIN = 0x0004
const word J1_DGAIN = 0x0008
const word J2_PGAIN = 0x0014
const word J2_IGAIN = 0x0004
const word J2_DGAIN = 0x0006
const word J3_PGAIN = 0x0023
const word J3_IGAIN = 0x0004
const word J3_DGAIN = 0x0005
const word PSHIFT = 0x000e
const word ISHIFT = 0x0002
const word DSHIFT = 0x000f

Constructor & Destructor Documentation

MTNAgent::MTNAgent  ) 
 

Definition at line 33 of file MTNAgent.cc.

virtual MTNAgent::~MTNAgent  )  [inline, virtual]
 

Definition at line 23 of file MTNAgent.h.


Member Function Documentation

bool MTNAgent::AreYou MoNetAgentID  agent  )  [virtual]
 

Reimplemented from MoNetAgent.

Definition at line 44 of file MTNAgent.cc.

void MTNAgent::Init ODA oda  )  [virtual]
 

Reimplemented from MoNetAgent.

Definition at line 38 of file MTNAgent.cc.

References motionODA.

MoNetStatus MTNAgent::Move OVRSyncKey  syncKey  )  [private]
 

Definition at line 104 of file MTNAgent.cc.

References MoNetAgentManager::Effector(), MoNetAgentManager::FindFreeCommandRegion(), MTN::GetName(), MTN::GetRobotDesign(), MTN::InterpolateCommandVectorData(), MoNetStatus, monetSUCCESS, MTN::More(), mtn, MTN::Next(), NUM_FRAMES, and SetPrimitiveID().

Referenced by NotifyCommand(), and ReadyEffector().

void MTNAgent::NotifyCommand const MoNetAgentCommand command,
MoNetAgentResult result
[virtual]
 

Reimplemented from MoNetAgent.

Definition at line 51 of file MTNAgent.cc.

References MoNetAgentResult::agent, MoNetAgentCommand::agent, MoNetAgentResult::endPosture, MoNetAgentCommand::endPosture, ODA::GetData(), MoNetAgentResult::index, MoNetAgentCommand::index, MoNetStatus, motionODA, Move(), mtn, MTN::Set(), MoNetAgentCommand::startPosture, MoNetAgentResult::status, and MoNetAgentCommand::syncKey.

void MTNAgent::ReadyEffector const MoNetAgentCommand command,
MoNetAgentResult result
[virtual]
 

Reimplemented from MoNetAgent.

Definition at line 88 of file MTNAgent.cc.

References MoNetAgentCommand::agent, MoNetAgentResult::agent, MoNetAgentCommand::endPosture, MoNetAgentResult::endPosture, MoNetAgentCommand::index, MoNetAgentResult::index, MoNetStatus, Move(), and MoNetAgentResult::status.

void MTNAgent::SetJointGain  )  [virtual]
 

Reimplemented from MoNetAgent.

Definition at line 159 of file MTNAgent.cc.

References DSHIFT, HEAD_PAN, HEAD_ROLL, HEAD_TILT, ISHIFT, J1_DGAIN, J1_IGAIN, J1_PGAIN, J2_DGAIN, J2_IGAIN, J2_PGAIN, J3_DGAIN, J3_IGAIN, J3_PGAIN, PAN_DGAIN, PAN_IGAIN, PAN_PGAIN, MoNetAgentManager::PrimitiveID(), PSHIFT, ROLL_DGAIN, ROLL_IGAIN, ROLL_PGAIN, TILT_DGAIN, TILT_IGAIN, and TILT_PGAIN.

MoNetStatus MTNAgent::SetPrimitiveID OCommandVectorData *  cmdVec,
char *  robotDesign
[private]
 

Definition at line 135 of file MTNAgent.cc.

References DRX900_INDEX, and MoNetAgentManager::PrimitiveID().

Referenced by Move().


Member Data Documentation

const word MTNAgent::DSHIFT = 0x000f [static, private]
 

Definition at line 60 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::ISHIFT = 0x0002 [static, private]
 

Definition at line 59 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J1_DGAIN = 0x0008 [static, private]
 

Definition at line 48 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J1_IGAIN = 0x0004 [static, private]
 

Definition at line 47 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J1_PGAIN = 0x0016 [static, private]
 

Definition at line 46 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J2_DGAIN = 0x0006 [static, private]
 

Definition at line 52 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J2_IGAIN = 0x0004 [static, private]
 

Definition at line 51 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J2_PGAIN = 0x0014 [static, private]
 

Definition at line 50 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J3_DGAIN = 0x0005 [static, private]
 

Definition at line 56 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J3_IGAIN = 0x0004 [static, private]
 

Definition at line 55 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::J3_PGAIN = 0x0023 [static, private]
 

Definition at line 54 of file MTNAgent.h.

Referenced by SetJointGain().

ODA* MTNAgent::motionODA [private]
 

Definition at line 65 of file MTNAgent.h.

Referenced by Init(), and NotifyCommand().

MTN MTNAgent::mtn [private]
 

Definition at line 66 of file MTNAgent.h.

Referenced by Move(), and NotifyCommand().

const word MTNAgent::PAN_DGAIN = 0x000b [static, private]
 

Definition at line 40 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::PAN_IGAIN = 0x0008 [static, private]
 

Definition at line 39 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::PAN_PGAIN = 0x000d [static, private]
 

Definition at line 38 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::PSHIFT = 0x000e [static, private]
 

Definition at line 58 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::ROLL_DGAIN = 0x000c [static, private]
 

Definition at line 44 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::ROLL_IGAIN = 0x0008 [static, private]
 

Definition at line 43 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::ROLL_PGAIN = 0x000a [static, private]
 

Definition at line 42 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::TILT_DGAIN = 0x000c [static, private]
 

Definition at line 36 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::TILT_IGAIN = 0x0008 [static, private]
 

Definition at line 35 of file MTNAgent.h.

Referenced by SetJointGain().

const word MTNAgent::TILT_PGAIN = 0x000a [static, private]
 

Definition at line 34 of file MTNAgent.h.

Referenced by SetJointGain().


The documentation for this class was generated from the following files:
Generated on Sun Dec 2 23:04:34 2007 for openSDK by  doxygen 1.3.9.1