MovingLegs7 Class Reference

#include <MovingLegs7.h>

List of all members.

Public Member Functions
	MovingLegs7 ()
virtual	~MovingLegs7 ()
virtual OStatus	DoInit (const OSystemEvent &event)
virtual OStatus	DoStart (const OSystemEvent &event)
virtual OStatus	DoStop (const OSystemEvent &event)
virtual OStatus	DoDestroy (const OSystemEvent &event)
void	Ready (const OReadyEvent &event)
Public Attributes
OSubject *	subject [numOfSubject]
OObserver *	observer [numOfObserver]
Private Member Functions
void	OpenPrimitives ()
void	NewCommandVectorData ()
void	SetJointGain ()
MovingResult	AdjustDiffJointValue ()
MovingResult	MoveToBroadBase ()
MovingResult	MoveToSleeping ()
RCRegion *	FindFreeRegion ()
void	SetJointValue (RCRegion *rgn, int idx, double start, double end)
Private Attributes
MovingLegs7State	movingLegsState
OPrimitiveID	jointID [NUM_JOINTS]
RCRegion *	region [NUM_COMMAND_VECTOR]
Static Private Attributes
const size_t	NUM_JOINTS = 12
const size_t	NUM_COMMAND_VECTOR = 2
const word	J1_PGAIN = 0x0010
const word	J1_IGAIN = 0x0004
const word	J1_DGAIN = 0x0001
const word	J2_PGAIN = 0x000a
const word	J2_IGAIN = 0x0004
const word	J2_DGAIN = 0x0001
const word	J3_PGAIN = 0x0010
const word	J3_IGAIN = 0x0004
const word	J3_DGAIN = 0x0001
const word	PSHIFT = 0x000e
const word	ISHIFT = 0x0002
const word	DSHIFT = 0x000f
const int	BROADBASE_MAX_COUNTER = 24
const int	SLEEPING_MAX_COUNTER = 24

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Constructor & Destructor Documentation

MovingLegs7::MovingLegs7 (   )

Definition at line 19 of file MovingLegs7.cc. References MLS_IDLE.

virtual MovingLegs7::~MovingLegs7 (   )  [inline, virtual]

Definition at line 90 of file MovingLegs7.h.

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Member Function Documentation

MovingResult MovingLegs7::AdjustDiffJointValue (   )  [private]

Definition at line 194 of file MovingLegs7.cc. References GetJointValue(), jointID, region, SetJointValue(), and subject. Referenced by DoStart(), and Ready().

OStatus MovingLegs7::DoDestroy (  const OSystemEvent &  event  )  [virtual]

Definition at line 75 of file MovingLegs7.cc.

OStatus MovingLegs7::DoInit (  const OSystemEvent &  event  )  [virtual]

Definition at line 24 of file MovingLegs7.cc. References NewCommandVectorData(), and OpenPrimitives().

OStatus MovingLegs7::DoStart (  const OSystemEvent &  event  )  [virtual]

Definition at line 44 of file MovingLegs7.cc. References AdjustDiffJointValue(), movingLegsState, and subject.

OStatus MovingLegs7::DoStop (  const OSystemEvent &  event  )  [virtual]

Definition at line 62 of file MovingLegs7.cc. References movingLegsState.

RCRegion * MovingLegs7::FindFreeRegion (   )  [private]

Definition at line 286 of file MovingLegs7.cc. References region. Referenced by MoveToBroadBase(), and MoveToSleeping().

MovingResult MovingLegs7::MoveToBroadBase (   )  [private]

Definition at line 213 of file MovingLegs7.cc. References BROADBASE_ANGLE, FindFreeRegion(), GetJointValue(), jointID, MOVING_FINISH, SetJointValue(), and subject. Referenced by Ready().

MovingResult MovingLegs7::MoveToSleeping (   )  [private]

Definition at line 255 of file MovingLegs7.cc. References BROADBASE_ANGLE, FindFreeRegion(), MOVING_FINISH, SetJointValue(), SLEEPING_ANGLE, and subject. Referenced by Ready().

void MovingLegs7::NewCommandVectorData (   )  [private]

Definition at line 136 of file MovingLegs7.cc. References jointID, NUM_JOINTS, and region. Referenced by DoInit().

void MovingLegs7::OpenPrimitives (   )  [private]

Definition at line 123 of file MovingLegs7.cc. References jointID. Referenced by DoInit().

void MovingLegs7::Ready (  const OReadyEvent &  event  )

Definition at line 82 of file MovingLegs7.cc. References AdjustDiffJointValue(), MoveToBroadBase(), MoveToSleeping(), movingLegsState, MovingResult, and SetJointGain().

void MovingLegs7::SetJointGain (   )  [private]

Definition at line 168 of file MovingLegs7.cc. References DSHIFT, ISHIFT, J1_DGAIN, J1_IGAIN, J1_PGAIN, J2_DGAIN, J2_IGAIN, J2_PGAIN, J3_DGAIN, J3_IGAIN, J3_PGAIN, jointID, and PSHIFT. Referenced by Ready().

void MovingLegs7::SetJointValue (  RCRegion *  rgn, int  idx, double  start, double  end )  [private]

Definition at line 296 of file MovingLegs7.cc. References jointID. Referenced by AdjustDiffJointValue(), MoveToBroadBase(), and MoveToSleeping().

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Member Data Documentation

const int MovingLegs7::BROADBASE_MAX_COUNTER = 24 [static, private]

Definition at line 132 of file MovingLegs7.h.

const word MovingLegs7::DSHIFT = 0x000f [static, private]

Definition at line 130 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::ISHIFT = 0x0002 [static, private]

Definition at line 129 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J1_DGAIN = 0x0001 [static, private]

Definition at line 118 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J1_IGAIN = 0x0004 [static, private]

Definition at line 117 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J1_PGAIN = 0x0010 [static, private]

Definition at line 116 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J2_DGAIN = 0x0001 [static, private]

Definition at line 122 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J2_IGAIN = 0x0004 [static, private]

Definition at line 121 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J2_PGAIN = 0x000a [static, private]

Definition at line 120 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J3_DGAIN = 0x0001 [static, private]

Definition at line 126 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J3_IGAIN = 0x0004 [static, private]

Definition at line 125 of file MovingLegs7.h. Referenced by SetJointGain().

const word MovingLegs7::J3_PGAIN = 0x0010 [static, private]

Definition at line 124 of file MovingLegs7.h. Referenced by SetJointGain().

OPrimitiveID MovingLegs7::jointID[NUM_JOINTS] [private]

Definition at line 136 of file MovingLegs7.h. Referenced by AdjustDiffJointValue(), MoveToBroadBase(), NewCommandVectorData(), OpenPrimitives(), SetJointGain(), and SetJointValue().

MovingLegs7State MovingLegs7::movingLegsState [private]

Definition at line 135 of file MovingLegs7.h. Referenced by DoStart(), DoStop(), and Ready().

const size_t MovingLegs7::NUM_COMMAND_VECTOR = 2 [static, private]

Definition at line 114 of file MovingLegs7.h.

const size_t MovingLegs7::NUM_JOINTS = 12 [static, private]

Definition at line 113 of file MovingLegs7.h. Referenced by NewCommandVectorData().

OObserver* MovingLegs7::observer[numOfObserver]

Definition at line 93 of file MovingLegs7.h.

const word MovingLegs7::PSHIFT = 0x000e [static, private]

Definition at line 128 of file MovingLegs7.h. Referenced by SetJointGain().

RCRegion* MovingLegs7::region[NUM_COMMAND_VECTOR] [private]

Definition at line 137 of file MovingLegs7.h. Referenced by AdjustDiffJointValue(), FindFreeRegion(), and NewCommandVectorData().

const int MovingLegs7::SLEEPING_MAX_COUNTER = 24 [static, private]

Definition at line 133 of file MovingLegs7.h.

OSubject* MovingLegs7::subject[numOfSubject]

Definition at line 92 of file MovingLegs7.h. Referenced by AdjustDiffJointValue(), DoStart(), MoveToBroadBase(), and MoveToSleeping().

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

• MovingLegs7.h
• MovingLegs7.cc

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