#include <cctype>
#include <cstdlib>
#include <string>
#include <sstream>
#include <vector>
#include <map>
#include <gu_util.h>

Include dependency graph for MOTION_Interface.hpp:

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Go to the source code of this file.

Classes
struct	guWhiteboard::Motions::Stance_Transition
	Internal struct for representing a transition from one from one 'Stance' to another. More...

struct	guWhiteboard::Motions::T
	Simple struct to store the hardcoded motion transitions from one 'Stance' to another. More...

struct	guWhiteboard::Motions::Action_Transition
	Internal struct for representing a motion 'Action' such as Kicking. More...

struct	guWhiteboard::Motions::A
	Simple struct to store the hardcoded motion 'Actions'. More...

class	guWhiteboard::Motions::Stance_Path
	Internal class for cost based graph search paths, in this case motion paths. More...

class	guWhiteboard::MOTION_Status
	Motion Status class, this class reports the status of the Motion engine via the Whiteboard. More...

class	guWhiteboard::MOTION_Commands
	Motion Command class, this class is used to send commands to a motion module via the Whiteboard. More...

Namespaces
namespace	guWhiteboard
	/file APM_Interface.h

namespace	guWhiteboard::Motions

Macros
#define	MOTION_Commands_DEFINED
	/file MOTION_Interface.h More...

#define	MOTION_Status_DEFINED

#define	MOTION_DIR "/data/motions/"

#define	MOTION_FILE_POSTFIX ".mot"

#define	JOINT_CHAIN_MAXSIZE 10

#define	CHAIN_IGNORED_MOTION_DURATION 100

#define	TRANSITION_NAME(s, e) TRANSITION_NAME_FROM_STRING(stance_strings[s], stance_strings[e])

#define	TRANSITION_NAME_FROM_STRING(s, e) ((((std::string("transition_") += s) += "_") += e) += MOTION_FILE_POSTFIX)

#define	ACTION_NAME(a, s) ((((std::string("action_") += stance_strings[s]) += "_") += action_strings[a]) += MOTION_FILE_POSTFIX)

#define	STANCE_NAME(s) STANCE_NAME_FROM_STRING(stance_strings[s])

#define	STANCE_NAME_FROM_STRING(s) std::string("stance_").append(std::string(s).append(MOTION_FILE_POSTFIX))

#define	MAP_ACTION_ENTRY(a, s, c) v[a] = Action_Transition(a, s, c);

#define	MY_CHECK_ENUM(s, p, v) if (strstr((s), #v)) p = v

Enumerations
enum	guWhiteboard::Motions::motion_file_layout { guWhiteboard::Motions::NAO_Version = 0 , guWhiteboard::Motions::Units , guWhiteboard::Motions::Stiffness , guWhiteboard::Motions::Joints , guWhiteboard::Motions::Motions }
	This is the file format of the .mot files. More...

enum	guWhiteboard::Motions::stance { guWhiteboard::Motions::Standby_stance = 0 , guWhiteboard::Motions::Kneeling_stance , guWhiteboard::Motions::Standing_stance , guWhiteboard::Motions::GoalieSaveLeft_stance , guWhiteboard::Motions::GoalieSaveRight_stance , guWhiteboard::Motions::FallenForward_stance , guWhiteboard::Motions::FallenBack_stance , guWhiteboard::Motions::NUM_OF_STANCES }
	enum values for all stances More...

enum	guWhiteboard::Motions::action { guWhiteboard::Motions::Kneeling_wave = 0 , guWhiteboard::Motions::Kneeling_quickwave , guWhiteboard::Motions::Kneeling_flagwave , guWhiteboard::Motions::Kneeling_raiseright , guWhiteboard::Motions::Kneeling_signal , guWhiteboard::Motions::Standing_leftkick , guWhiteboard::Motions::Standing_rightkick , guWhiteboard::Motions::Standing_leftpass , guWhiteboard::Motions::Standing_rightpass , guWhiteboard::Motions::Standing_wave , guWhiteboard::Motions::NUM_OF_ACTIONS }
	enum values for all actions that can be done More...

Macro Definition Documentation

◆ ACTION_NAME

#define ACTION_NAME	(	a,
		s
	)	((((std::string("action_") += stance_strings[s]) += "_") += action_strings[a]) += MOTION_FILE_POSTFIX)

Definition at line 35 of file MOTION_Interface.hpp.

◆ CHAIN_IGNORED_MOTION_DURATION

#define CHAIN_IGNORED_MOTION_DURATION 100

Definition at line 32 of file MOTION_Interface.hpp.

◆ JOINT_CHAIN_MAXSIZE

#define JOINT_CHAIN_MAXSIZE 10

Definition at line 31 of file MOTION_Interface.hpp.

◆ MAP_ACTION_ENTRY

#define MAP_ACTION_ENTRY	(	a,
		s,
		c
	)	v[a] = Action_Transition(a, s, c);

Definition at line 39 of file MOTION_Interface.hpp.

◆ MOTION_Commands_DEFINED

#define MOTION_Commands_DEFINED

/file MOTION_Interface.h

Created by Carl Lusty in 2013.
Copyright (c) 2013 Carl Lusty
All rights reserved.

Definition at line 12 of file MOTION_Interface.hpp.

◆ MOTION_DIR

#define MOTION_DIR "/data/motions/"

Definition at line 29 of file MOTION_Interface.hpp.

◆ MOTION_FILE_POSTFIX

#define MOTION_FILE_POSTFIX ".mot"

Definition at line 30 of file MOTION_Interface.hpp.

◆ MOTION_Status_DEFINED

#define MOTION_Status_DEFINED

Definition at line 13 of file MOTION_Interface.hpp.

◆ MY_CHECK_ENUM

#define MY_CHECK_ENUM	(	s,
		p,
		v
	)	if (strstr((s), #v)) p = v

Definition at line 41 of file MOTION_Interface.hpp.

◆ STANCE_NAME

#define STANCE_NAME ( s ) STANCE_NAME_FROM_STRING(stance_strings[s])

Definition at line 36 of file MOTION_Interface.hpp.

◆ STANCE_NAME_FROM_STRING

#define STANCE_NAME_FROM_STRING ( s ) std::string("stance_").append(std::string(s).append(MOTION_FILE_POSTFIX))

Definition at line 37 of file MOTION_Interface.hpp.

◆ TRANSITION_NAME

#define TRANSITION_NAME	(	s,
		e
	)	TRANSITION_NAME_FROM_STRING(stance_strings[s], stance_strings[e])

Definition at line 33 of file MOTION_Interface.hpp.

◆ TRANSITION_NAME_FROM_STRING

#define TRANSITION_NAME_FROM_STRING	(	s,
		e
	)	((((std::string("transition_") += s) += "_") += e) += MOTION_FILE_POSTFIX)

Definition at line 34 of file MOTION_Interface.hpp.

Classes

Namespaces

Macros

Enumerations