guWhiteboard::Motions::Stance_Path Class Reference

Internal class for cost based graph search paths, in this case motion paths. More...

#include <MOTION_Interface.hpp>

Collaboration diagram for guWhiteboard::Motions::Stance_Path:

Public Member Functions
	Stance_Path ()
	Constructor. More...
int	offset ()
	offset getter More...
bool	valid ()
	is this a valid motion transition More...
void	invalidate ()
	set this path in invalid More...
void	reached ()
	did this path get to the desired stance More...
int	cost ()
	getter for the path cost (aka time) More...
void	add_stance (stance s, int cost)
	Add the first stance to this path. More...
void	add_stance (stance s, int cost, int transition)
	Add the first stance to this path. More...
void	pretty_print ()
	pretty print of the stance path (mainly for debugging) More...
bool	contains (stance s)
	Check if the current stance path includes the passed in stance. More...

Public Attributes
u_int8_t	_stances [10]
	the path taken More...

Detailed Description

Internal class for cost based graph search paths, in this case motion paths.

This is used to find a valid motion path from one stance to another based on the 'cost' aka the duration of time the motions will take.

Definition at line 215 of file MOTION_Interface.hpp.

Constructor & Destructor Documentation

Stance_Path()

guWhiteboard::Motions::Stance_Path::Stance_Path ( )

inline

Constructor.

Definition at line 227 of file MOTION_Interface.hpp.

Member Function Documentation

add_stance() [1/2]

void guWhiteboard::Motions::Stance_Path::add_stance ( stance  s, int  cost  )

inline

Add the first stance to this path.

Parameters

s	the stance
cost	the transition cost from the current stance to the new stance 's'

Definition at line 239 of file MOTION_Interface.hpp.

References _stances, cost(), invalidate(), JOINT_CHAIN_MAXSIZE, and u_int8_t.

Referenced by guWhiteboard::MOTION_Commands::DoAction(), and guWhiteboard::MOTION_Commands::GoToStance().

add_stance() [2/2]

void guWhiteboard::Motions::Stance_Path::add_stance ( stance  s, int  cost, int  transition  )

inline

Add the first stance to this path.

Parameters

s	the stance
cost	the transition cost from the current stance to the new stance 's'
transition	the index of the transition in the _transitions vector

Definition at line 246 of file MOTION_Interface.hpp.

References _stances, cost(), invalidate(), JOINT_CHAIN_MAXSIZE, guWhiteboard::Motions::NUM_OF_ACTIONS, guWhiteboard::Motions::NUM_OF_STANCES, and u_int8_t.

contains()

bool guWhiteboard::Motions::Stance_Path::contains ( stance  s )

inline

Check if the current stance path includes the passed in stance.

Parameters

s	the stance to check for

Returns

true, if the path contained the stance

Definition at line 268 of file MOTION_Interface.hpp.

References _stances.

cost()

int guWhiteboard::Motions::Stance_Path::cost ( )

inline

getter for the path cost (aka time)

Definition at line 232 of file MOTION_Interface.hpp.

Referenced by add_stance(), guWhiteboard::MOTION_Commands::DoAction(), and guWhiteboard::MOTION_Commands::GoToStance().

invalidate()

void guWhiteboard::Motions::Stance_Path::invalidate ( )

inline

set this path in invalid

Definition at line 230 of file MOTION_Interface.hpp.

Referenced by add_stance().

offset()

int guWhiteboard::Motions::Stance_Path::offset ( )

inline

offset getter

Definition at line 228 of file MOTION_Interface.hpp.

Referenced by guWhiteboard::MOTION_Commands::DoAction(), and guWhiteboard::MOTION_Commands::GoToStance().

pretty_print()

void guWhiteboard::Motions::Stance_Path::pretty_print ( )

inline

pretty print of the stance path (mainly for debugging)

Definition at line 250 of file MOTION_Interface.hpp.

References _stances, and guWhiteboard::Motions::NUM_OF_STANCES.

Referenced by guWhiteboard::MOTION_Commands::GoToStance().

reached()

void guWhiteboard::Motions::Stance_Path::reached ( )

inline

did this path get to the desired stance

Definition at line 231 of file MOTION_Interface.hpp.

valid()

bool guWhiteboard::Motions::Stance_Path::valid ( )

inline

is this a valid motion transition

Definition at line 229 of file MOTION_Interface.hpp.

Member Data Documentation

_stances

u_int8_t guWhiteboard::Motions::Stance_Path::_stances[10]

the path taken

Definition at line 222 of file MOTION_Interface.hpp.

Referenced by add_stance(), contains(), guWhiteboard::MOTION_Commands::DoAction(), guWhiteboard::MOTION_Commands::GoToStance(), and pretty_print().

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

• typeClassDefs/MOTION_Interface.hpp