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154 | /**
* @file MotionSymbols.h
*
* @author <a href="mailto:mellmann@informatik.hu-berlin.de">Heinrich Mellmann</a>
* Definition of class MotionSymbols
*/
#ifndef _MotionSymbols_H_
#define _MotionSymbols_H_
#include <ModuleFramework/Module.h>
#include <XabslEngine/XabslEngine.h>
#include "Tools/Math/Common.h"
// representations
#include "Representations/Motion/Request/HeadMotionRequest.h"
#include "Representations/Motion/Request/MotionRequest.h"
#include "Representations/Motion/MotionStatus.h"
#include <Representations/Infrastructure/JointData.h>
#include <Representations/Infrastructure/FrameInfo.h>
#include "Representations/Modeling/BallModel.h"
#include <Representations/Motion/CollisionPercept.h>
BEGIN_DECLARE_MODULE(MotionSymbols)
REQUIRE(MotionStatus)
REQUIRE(FrameInfo)
REQUIRE(SensorJointData)
REQUIRE(BallModel)
REQUIRE(CollisionPercept)
PROVIDE(HeadMotionRequest)
PROVIDE(MotionRequest)
END_DECLARE_MODULE(MotionSymbols)
class MotionSymbols: public MotionSymbolsBase
{
public:
MotionSymbols()
:
walkStyle(normal),
stepControlFoot(none),
stepControlRequestTime(0),
stepControlRequestSpeedDirection(0),
stepControlScale(1.0),
actionPerformed(-1)
{
theInstance = this;
}
virtual ~MotionSymbols(){}
/** registers the symbols at an engine */
void registerSymbols(xabsl::Engine& engine);
virtual void execute();
void updateOutputSymbols();
enum WalkStyle
{
stable,
normal,
fast,
num_of_styles
};
static std::string getWalkStyleName(WalkStyle i);
private:
static MotionSymbols* theInstance;
// setter and getter
static void setHeadMotionRequest(int value);
static int getHeadMotionRequestId();
static int getHeadMotionStatus();
static void setCameraId(int value);
static int getCameraId();
static void setArmRequestId(int value);
static int getArmRequestId();
static void setMotionRequestId(int value);
static int getMotionRequestId();
static int getMotionStatusId();
static double getMotionStatusTime();
static bool getMotionStatusLeftMovable();
static bool getMotionStatusRightMovable();
static void setWalkOffsetRot(double rot);
static void setWalkSpeedRot(double rot);
static void setWalkSpeedY(double x);<--- Function 'setWalkSpeedY' argument 1 names different: declaration 'x' definition 'y'.
static void setWalkSpeedX(double y);<--- Function 'setWalkSpeedX' argument 1 names different: declaration 'y' definition 'x'.
static void setKickDirection(double alpha);
static double getWalkOffsetRot();
static double getWalkSpeedRot();
static double getWalkSpeedX();
static double getWalkSpeedY();
static double getKickDirection();
static double getPlannedHipRot();
static double getHeadPitchAngle();
static double getHeadYawAngle();
static double getlastComputedCollisionRight();
static double getlastComputedCollisionLeft();
static void setHeadPositionX(double rot);
static double getHeadPositionX();
static void setHeadPositionY(double rot);
static double getHeadPositionY();
// some local members
struct HeadMotion
{
double headYaw;
double headPitch;
double time;
HeadMotion()
:
headYaw(0.0),
headPitch(0.0),
time(0.0)
{}
};
WalkStyle walkStyle;
enum StepControlFoot
{
left,
right,
none
};
static std::string getStepControlFootName(StepControlFoot i);
static bool dribbleG();
static void dribble(bool v);
StepControlFoot stepControlFoot;
double stepControlRequestTime;
Pose2D stepControlRequestTarget;
double stepControlRequestSpeedDirection;
double stepControlScale;
int actionPerformed;
};//end class MotionSymbols
#endif // _MotionSymbols_H_
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