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

#include <MOTION_Interface.hpp>

Collaboration diagram for guWhiteboard::MOTION_Status:

Detailed Description

Motion Status class, this class reports the status of the Motion engine via the Whiteboard.

This class tells you what 'Stance' the robot is in. This comes from two main variables, the expected_stance is the last 'Stance' that the robot was in and the verified_stance uses the Joint values to verify that the expected_stance is actually correct (within some error). The last option is that the motion engine is currently changing 'Stance' or performing an 'Action', in this case both 'Stance' estimates should be ignored.

Examples

Put examples of what to do with the class

MOTION_Status_t.get().isRunning() //Is there a motion currently running?
MOTION_Status_t.get().expectedStance() //What was the last 'Stance' that motion got to.
MOTION_Status_t.get().verifiedStance() //What is the actual 'Stance', based on the Joint values (NYI)

Definition at line 295 of file MOTION_Interface.hpp.

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

typeClassDefs/MOTION_Interface.hpp