Provides a C++ wrapper around wb_nao_sonar_protected_walk_command. More...

#include <NaoSonarProtectedWalkCommand.hpp>

Inheritance diagram for guWhiteboard::NaoSonarProtectedWalkCommand:

Collaboration diagram for guWhiteboard::NaoSonarProtectedWalkCommand:

Public Member Functions
	NaoSonarProtectedWalkCommand (bool t_walkEngineOn=false, int16_t t_forward=0, int16_t t_left=0, int8_t t_turn=0, int8_t t_priority=1, bool t_exactStepsRequested=false, uint8_t t_speed=100, bool t_isFast=false, bool t_kickWithLeftFoot=true, bool t_useShuffle=true, bool t_leftArmLimp=false, bool t_rightArmLimp=false, uint8_t t_power=0, uint8_t t_odometryResetCounter=0, uint8_t t_bend=0)
	Create a new `NaoSonarProtectedWalkCommand`. More...

	NaoSonarProtectedWalkCommand (const NaoSonarProtectedWalkCommand &t_other)
	Copy Constructor. More...

	NaoSonarProtectedWalkCommand (const struct wb_nao_sonar_protected_walk_command &t_other)
	Copy Constructor. More...

NaoSonarProtectedWalkCommand &	operator= (const NaoSonarProtectedWalkCommand &t_other)
	Copy Assignment Operator. More...

NaoSonarProtectedWalkCommand &	operator= (const struct wb_nao_sonar_protected_walk_command &t_other)
	Copy Assignment Operator. More...

bool	operator== (const NaoSonarProtectedWalkCommand &t_other) const

bool	operator!= (const NaoSonarProtectedWalkCommand &t_other) const

bool	operator== (const wb_nao_sonar_protected_walk_command &t_other) const

bool	operator!= (const wb_nao_sonar_protected_walk_command &t_other) const

bool &	walkEngineOn ()

const bool &	walkEngineOn () const

void	set_walkEngineOn (const bool &t_newValue)

int16_t &	forward ()

const int16_t &	forward () const

void	set_forward (const int16_t &t_newValue)

int16_t &	left ()

const int16_t &	left () const

void	set_left (const int16_t &t_newValue)

int8_t &	turn ()

const int8_t &	turn () const

void	set_turn (const int8_t &t_newValue)

int8_t &	priority ()

const int8_t &	priority () const

void	set_priority (const int8_t &t_newValue)

bool &	exactStepsRequested ()

const bool &	exactStepsRequested () const

void	set_exactStepsRequested (const bool &t_newValue)

uint8_t &	speed ()

const uint8_t &	speed () const

void	set_speed (const uint8_t &t_newValue)

bool &	isFast ()

const bool &	isFast () const

void	set_isFast (const bool &t_newValue)

bool &	kickWithLeftFoot ()

const bool &	kickWithLeftFoot () const

void	set_kickWithLeftFoot (const bool &t_newValue)

bool &	useShuffle ()

const bool &	useShuffle () const

void	set_useShuffle (const bool &t_newValue)

bool &	leftArmLimp ()

const bool &	leftArmLimp () const

void	set_leftArmLimp (const bool &t_newValue)

bool &	rightArmLimp ()

const bool &	rightArmLimp () const

void	set_rightArmLimp (const bool &t_newValue)

uint8_t &	power ()

const uint8_t &	power () const

void	set_power (const uint8_t &t_newValue)

uint8_t &	odometryResetCounter ()

const uint8_t &	odometryResetCounter () const

void	set_odometryResetCounter (const uint8_t &t_newValue)

uint8_t &	bend ()

const uint8_t &	bend () const

void	set_bend (const uint8_t &t_newValue)

	NaoSonarProtectedWalkCommand (const std::string &t_str)
	String Constructor. More...

std::string	description ()

std::string	to_string ()

void	from_string (const std::string &t_str)

Static Public Member Functions
static NaoSonarProtectedWalkCommand	walkProtected (int8_t t_priority, int16_t t_forward, int16_t t_left, int8_t t_turn)
	WHITEBOARD_POSTER_STRING_CONVERSION. More...

static NaoSonarProtectedWalkCommand	walkProtectedPrecisely (int8_t t_priority, int16_t t_forward, int16_t t_left, int8_t t_turn)
	Convenience function to make the nao walk, with precise step distances. More...

static NaoSonarProtectedWalkCommand	stop ()
	Convenience function to make the nao stop walking. More...

static NaoSonarProtectedWalkCommand	standWithStiffness ()
	Convenience function to make the nao stand in the 'walk' position (slightly crouched), ready to immediately start walking again. More...

static NaoSonarProtectedWalkCommand	standWithMinimalStiffness ()
	Convenience function to make the nao stand in the 'STANDING' position, upright with minimal stiffness. More...

static NaoSonarProtectedWalkCommand	disconnectWalk ()
	Convenience function to disconnect the walk engine from the DCM. More...

Additional Inherited Members
Public Attributes inherited from wb_nao_sonar_protected_walk_command
bool	walkEngineOn
	connects the dcm callbacks. More...

int16_t	forward
	[-300 - 300] step-size(mm) per second, limited to +/- 300mm/step More...

int16_t	left
	[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step More...

int8_t	turn
	[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step More...

int8_t	priority
	subsumption priority 1: unprotected walk, command unmodified. More...

bool	exactStepsRequested
	No ratcheting, no speed 'buildup', just full step sizes. More...

uint8_t	speed
	[0 - 100] modifier for forward etc. More...

bool	isFast
	for kicks. More...

bool	kickWithLeftFoot
	which foot to use for kicking More...

bool	useShuffle
	limits the step height so the robot 'shuffles' instead of taking larger steps. More...

bool	leftArmLimp
	lower stiffness in the arms when walking, allows the arm to move a little more. More...

bool	rightArmLimp
	lower stiffness in the arms when walking, allows the arm to move a little more. More...

uint8_t	power
	[0 - 100] stiffness, auto set to minimum needed values. More...

uint8_t	odometryResetCounter
	Odometry will reset any time this is changed or incremented. More...

uint8_t	bend
	[0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness, 1 == stay in READY, crouched and ready to walk immediately. More...

Detailed Description

Provides a C++ wrapper around wb_nao_sonar_protected_walk_command.

Definition at line 85 of file NaoSonarProtectedWalkCommand.hpp.

Constructor & Destructor Documentation

◆ NaoSonarProtectedWalkCommand() [1/4]

guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand	(	bool	t_walkEngineOn = `false`,
		int16_t	t_forward = `0`,
		int16_t	t_left = `0`,
		int8_t	t_turn = `0`,
		int8_t	t_priority = `1`,
		bool	t_exactStepsRequested = `false`,
		uint8_t	t_speed = `100`,
		bool	t_isFast = `false`,
		bool	t_kickWithLeftFoot = `true`,
		bool	t_useShuffle = `true`,
		bool	t_leftArmLimp = `false`,
		bool	t_rightArmLimp = `false`,
		uint8_t	t_power = `0`,
		uint8_t	t_odometryResetCounter = `0`,
		uint8_t	t_bend = `0`
	)

inline

Create a new NaoSonarProtectedWalkCommand.

Definition at line 115 of file NaoSonarProtectedWalkCommand.hpp.

Referenced by disconnectWalk(), operator==(), stop(), and walkProtected().

◆ NaoSonarProtectedWalkCommand() [2/4]

guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand ( const NaoSonarProtectedWalkCommand & t_other )

inline

Copy Constructor.

Definition at line 122 of file NaoSonarProtectedWalkCommand.hpp.

References bend(), exactStepsRequested(), forward(), isFast(), kickWithLeftFoot(), left(), leftArmLimp(), odometryResetCounter(), power(), priority(), rightArmLimp(), speed(), turn(), useShuffle(), and walkEngineOn().

◆ NaoSonarProtectedWalkCommand() [3/4]

guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand ( const struct wb_nao_sonar_protected_walk_command & t_other )

inline

Copy Constructor.

Definition at line 129 of file NaoSonarProtectedWalkCommand.hpp.

◆ NaoSonarProtectedWalkCommand() [4/4]

guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand ( const std::string & t_str )

inline

String Constructor.

Definition at line 412 of file NaoSonarProtectedWalkCommand.hpp.

References from_string().

Member Function Documentation

◆ bend() [1/2]

uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::bend ( )

inline

Definition at line 393 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::bend.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ bend() [2/2]

const uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::bend ( ) const

inline

Definition at line 398 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::bend.

◆ description()

std::string guWhiteboard::NaoSonarProtectedWalkCommand::description ( )

inline

USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION

Definition at line 417 of file NaoSonarProtectedWalkCommand.hpp.

References bend(), exactStepsRequested(), forward(), isFast(), kickWithLeftFoot(), left(), leftArmLimp(), NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE, odometryResetCounter(), power(), priority(), rightArmLimp(), speed(), turn(), useShuffle(), walkEngineOn(), and wb_nao_sonar_protected_walk_command_description().

◆ disconnectWalk()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::disconnectWalk ( )

inlinestatic

Convenience function to disconnect the walk engine from the DCM.

This must be done in order to give control of the joints to another module, like the Motion Player. You should return to the CROUCH position via 'standWithStiffness' or 'stop' before doing this, to ensure a smooth motion control transition.

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 771 of file NaoSonarProtectedWalkCommand.hpp.

References NaoSonarProtectedWalkCommand(), set_priority(), and set_walkEngineOn().

◆ exactStepsRequested() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::exactStepsRequested ( )

inline

Definition at line 258 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::exactStepsRequested.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ exactStepsRequested() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::exactStepsRequested ( ) const

inline

Definition at line 263 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::exactStepsRequested.

◆ forward() [1/2]

int16_t & guWhiteboard::NaoSonarProtectedWalkCommand::forward ( )

inline

Definition at line 198 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::forward.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ forward() [2/2]

const int16_t & guWhiteboard::NaoSonarProtectedWalkCommand::forward ( ) const

inline

Definition at line 203 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::forward.

◆ from_string()

void guWhiteboard::NaoSonarProtectedWalkCommand::from_string ( const std::string & t_str )

inline

USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION

Definition at line 503 of file NaoSonarProtectedWalkCommand.hpp.

References NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE, set_bend(), set_exactStepsRequested(), set_forward(), set_isFast(), set_kickWithLeftFoot(), set_left(), set_leftArmLimp(), set_odometryResetCounter(), set_power(), set_priority(), set_rightArmLimp(), set_speed(), set_turn(), set_useShuffle(), and set_walkEngineOn().

Referenced by NaoSonarProtectedWalkCommand().

◆ isFast() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::isFast ( )

inline

Definition at line 288 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::isFast.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ isFast() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::isFast ( ) const

inline

Definition at line 293 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::isFast.

◆ kickWithLeftFoot() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::kickWithLeftFoot ( )

inline

Definition at line 303 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::kickWithLeftFoot.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ kickWithLeftFoot() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::kickWithLeftFoot ( ) const

inline

Definition at line 308 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::kickWithLeftFoot.

◆ left() [1/2]

int16_t & guWhiteboard::NaoSonarProtectedWalkCommand::left ( )

inline

Definition at line 213 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::left.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ left() [2/2]

const int16_t & guWhiteboard::NaoSonarProtectedWalkCommand::left ( ) const

inline

Definition at line 218 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::left.

◆ leftArmLimp() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::leftArmLimp ( )

inline

Definition at line 333 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::leftArmLimp.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ leftArmLimp() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::leftArmLimp ( ) const

inline

Definition at line 338 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::leftArmLimp.

◆ odometryResetCounter() [1/2]

uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::odometryResetCounter ( )

inline

Definition at line 378 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::odometryResetCounter.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ odometryResetCounter() [2/2]

const uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::odometryResetCounter ( ) const

inline

Definition at line 383 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::odometryResetCounter.

◆ operator!=() [1/2]

bool guWhiteboard::NaoSonarProtectedWalkCommand::operator!= ( const NaoSonarProtectedWalkCommand & t_other ) const

inline

Definition at line 168 of file NaoSonarProtectedWalkCommand.hpp.

◆ operator!=() [2/2]

bool guWhiteboard::NaoSonarProtectedWalkCommand::operator!= ( const wb_nao_sonar_protected_walk_command & t_other ) const

inline

Definition at line 178 of file NaoSonarProtectedWalkCommand.hpp.

◆ operator=() [1/2]

NaoSonarProtectedWalkCommand & guWhiteboard::NaoSonarProtectedWalkCommand::operator= ( const NaoSonarProtectedWalkCommand & t_other )

inline

Copy Assignment Operator.

Definition at line 136 of file NaoSonarProtectedWalkCommand.hpp.

References bend(), exactStepsRequested(), forward(), isFast(), kickWithLeftFoot(), left(), leftArmLimp(), odometryResetCounter(), power(), priority(), rightArmLimp(), speed(), turn(), useShuffle(), and walkEngineOn().

◆ operator=() [2/2]

NaoSonarProtectedWalkCommand & guWhiteboard::NaoSonarProtectedWalkCommand::operator= ( const struct wb_nao_sonar_protected_walk_command & t_other )

inline

Copy Assignment Operator.

Definition at line 144 of file NaoSonarProtectedWalkCommand.hpp.

◆ operator==() [1/2]

bool guWhiteboard::NaoSonarProtectedWalkCommand::operator== ( const NaoSonarProtectedWalkCommand & t_other ) const

inline

Definition at line 149 of file NaoSonarProtectedWalkCommand.hpp.

References bend(), exactStepsRequested(), forward(), isFast(), kickWithLeftFoot(), left(), leftArmLimp(), odometryResetCounter(), power(), priority(), rightArmLimp(), speed(), turn(), useShuffle(), and walkEngineOn().

◆ operator==() [2/2]

bool guWhiteboard::NaoSonarProtectedWalkCommand::operator== ( const wb_nao_sonar_protected_walk_command & t_other ) const

inline

Definition at line 173 of file NaoSonarProtectedWalkCommand.hpp.

References NaoSonarProtectedWalkCommand().

◆ power() [1/2]

uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::power ( )

inline

Definition at line 363 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::power.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ power() [2/2]

const uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::power ( ) const

inline

Definition at line 368 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::power.

◆ priority() [1/2]

int8_t & guWhiteboard::NaoSonarProtectedWalkCommand::priority ( )

inline

Definition at line 243 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::priority.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ priority() [2/2]

const int8_t & guWhiteboard::NaoSonarProtectedWalkCommand::priority ( ) const

inline

Definition at line 248 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::priority.

◆ rightArmLimp() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::rightArmLimp ( )

inline

Definition at line 348 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::rightArmLimp.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ rightArmLimp() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::rightArmLimp ( ) const

inline

Definition at line 353 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::rightArmLimp.

◆ set_bend()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_bend ( const uint8_t & t_newValue )

inline

Definition at line 403 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::bend.

Referenced by from_string(), standWithMinimalStiffness(), standWithStiffness(), stop(), and walkProtected().

◆ set_exactStepsRequested()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_exactStepsRequested ( const bool & t_newValue )

inline

Definition at line 268 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::exactStepsRequested.

Referenced by from_string(), and walkProtectedPrecisely().

◆ set_forward()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_forward ( const int16_t & t_newValue )

inline

Definition at line 208 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::forward.

Referenced by from_string(), stop(), and walkProtected().

◆ set_isFast()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_isFast ( const bool & t_newValue )

inline

Definition at line 298 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::isFast.

Referenced by from_string().

◆ set_kickWithLeftFoot()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_kickWithLeftFoot ( const bool & t_newValue )

inline

Definition at line 313 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::kickWithLeftFoot.

Referenced by from_string().

◆ set_left()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_left ( const int16_t & t_newValue )

inline

Definition at line 223 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::left.

Referenced by from_string(), stop(), and walkProtected().

◆ set_leftArmLimp()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_leftArmLimp ( const bool & t_newValue )

inline

Definition at line 343 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::leftArmLimp.

Referenced by from_string().

◆ set_odometryResetCounter()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_odometryResetCounter ( const uint8_t & t_newValue )

inline

Definition at line 388 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::odometryResetCounter.

Referenced by from_string().

◆ set_power()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_power ( const uint8_t & t_newValue )

inline

Definition at line 373 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::power.

Referenced by from_string().

◆ set_priority()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_priority ( const int8_t & t_newValue )

inline

Definition at line 253 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::priority.

Referenced by disconnectWalk(), from_string(), standWithMinimalStiffness(), standWithStiffness(), stop(), and walkProtected().

◆ set_rightArmLimp()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_rightArmLimp ( const bool & t_newValue )

inline

Definition at line 358 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::rightArmLimp.

Referenced by from_string().

◆ set_speed()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_speed ( const uint8_t & t_newValue )

inline

Definition at line 283 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::speed.

Referenced by from_string().

◆ set_turn()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_turn ( const int8_t & t_newValue )

inline

Definition at line 238 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::turn.

Referenced by from_string(), stop(), and walkProtected().

◆ set_useShuffle()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_useShuffle ( const bool & t_newValue )

inline

Definition at line 328 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::useShuffle.

Referenced by from_string().

◆ set_walkEngineOn()

void guWhiteboard::NaoSonarProtectedWalkCommand::set_walkEngineOn ( const bool & t_newValue )

inline

Definition at line 193 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::walkEngineOn.

Referenced by disconnectWalk(), from_string(), standWithMinimalStiffness(), standWithStiffness(), stop(), and walkProtected().

◆ speed() [1/2]

uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::speed ( )

inline

Definition at line 273 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::speed.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ speed() [2/2]

const uint8_t & guWhiteboard::NaoSonarProtectedWalkCommand::speed ( ) const

inline

Definition at line 278 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::speed.

◆ standWithMinimalStiffness()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::standWithMinimalStiffness ( )

inlinestatic

Convenience function to make the nao stand in the 'STANDING' position, upright with minimal stiffness.

Good for longer pauses in movement, to save on battery and motor wear. You should always return to the CROUCH position before giving up control of the DCM with a 'disconnectWalk'. If you don't return to that position, other motion activities like the MotionPlayer may 'jerk' when activated. You do not need to return to the CROUCH position when you issue walk commands, it will be done automatically.

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 759 of file NaoSonarProtectedWalkCommand.hpp.

References set_bend(), set_priority(), set_walkEngineOn(), and stop().

◆ standWithStiffness()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::standWithStiffness ( )

inlinestatic

Convenience function to make the nao stand in the 'walk' position (slightly crouched), ready to immediately start walking again.

This is handy for returning from the STANDING position, reached via 'standWithMinimalStiffness'.

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 745 of file NaoSonarProtectedWalkCommand.hpp.

References set_bend(), set_priority(), set_walkEngineOn(), and stop().

◆ stop()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::stop ( )

inlinestatic

Convenience function to make the nao stop walking.

The robot will slow down and stop, remaining in the 'walking' position (slightly crouched).

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 730 of file NaoSonarProtectedWalkCommand.hpp.

References NaoSonarProtectedWalkCommand(), set_bend(), set_forward(), set_left(), set_priority(), set_turn(), and set_walkEngineOn().

Referenced by standWithMinimalStiffness(), and standWithStiffness().

◆ to_string()

std::string guWhiteboard::NaoSonarProtectedWalkCommand::to_string ( )

inline

USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION

Definition at line 458 of file NaoSonarProtectedWalkCommand.hpp.

References bend(), exactStepsRequested(), forward(), isFast(), kickWithLeftFoot(), left(), leftArmLimp(), NAO_SONAR_PROTECTED_WALK_COMMAND_TO_STRING_BUFFER_SIZE, odometryResetCounter(), power(), priority(), rightArmLimp(), speed(), turn(), useShuffle(), walkEngineOn(), and wb_nao_sonar_protected_walk_command_to_string().

◆ turn() [1/2]

int8_t & guWhiteboard::NaoSonarProtectedWalkCommand::turn ( )

inline

Definition at line 228 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::turn.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ turn() [2/2]

const int8_t & guWhiteboard::NaoSonarProtectedWalkCommand::turn ( ) const

inline

Definition at line 233 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::turn.

◆ useShuffle() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::useShuffle ( )

inline

Definition at line 318 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::useShuffle.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ useShuffle() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::useShuffle ( ) const

inline

Definition at line 323 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::useShuffle.

◆ walkEngineOn() [1/2]

bool & guWhiteboard::NaoSonarProtectedWalkCommand::walkEngineOn ( )

inline

Definition at line 183 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::walkEngineOn.

Referenced by NaoSonarProtectedWalkCommand(), description(), operator=(), operator==(), and to_string().

◆ walkEngineOn() [2/2]

const bool & guWhiteboard::NaoSonarProtectedWalkCommand::walkEngineOn ( ) const

inline

Definition at line 188 of file NaoSonarProtectedWalkCommand.hpp.

References wb_nao_sonar_protected_walk_command::walkEngineOn.

◆ walkProtected()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::walkProtected	(	int8_t	t_priority,
		int16_t	t_forward,
		int16_t	t_left,
		int8_t	t_turn
	)

inlinestatic

WHITEBOARD_POSTER_STRING_CONVERSION.

Convenience function to make the nao walk.

Parameters

t_forward	see struct documentation.
t_left	see struct documentation.
t_turn	see struct documentation.

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 702 of file NaoSonarProtectedWalkCommand.hpp.

References NaoSonarProtectedWalkCommand(), set_bend(), set_forward(), set_left(), set_priority(), set_turn(), and set_walkEngineOn().

Referenced by walkProtectedPrecisely().

◆ walkProtectedPrecisely()

static NaoSonarProtectedWalkCommand guWhiteboard::NaoSonarProtectedWalkCommand::walkProtectedPrecisely	(	int8_t	t_priority,
		int16_t	t_forward,
		int16_t	t_left,
		int8_t	t_turn
	)

inlinestatic

Convenience function to make the nao walk, with precise step distances.

There is no speed buildup with this method, it uses a consistent step size and speed. This is good for small accurate movements, like lining up a kick.

Parameters

t_forward	see struct documentation.
t_left	see struct documentation.
t_turn	see struct documentation.

Returns: A NaoSonarProtectedWalkCommand instance

Definition at line 720 of file NaoSonarProtectedWalkCommand.hpp.

References set_exactStepsRequested(), and walkProtected().

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

typeClassDefs/NaoSonarProtectedWalkCommand.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NaoSonarProtectedWalkCommand() [1/4]

◆ NaoSonarProtectedWalkCommand() [2/4]

◆ NaoSonarProtectedWalkCommand() [3/4]

◆ NaoSonarProtectedWalkCommand() [4/4]

Member Function Documentation

◆ bend() [1/2]

◆ bend() [2/2]

◆ description()

◆ disconnectWalk()

◆ exactStepsRequested() [1/2]

◆ exactStepsRequested() [2/2]

◆ forward() [1/2]

◆ forward() [2/2]

◆ from_string()

◆ isFast() [1/2]

◆ isFast() [2/2]

◆ kickWithLeftFoot() [1/2]

◆ kickWithLeftFoot() [2/2]

◆ left() [1/2]

◆ left() [2/2]

◆ leftArmLimp() [1/2]

◆ leftArmLimp() [2/2]

◆ odometryResetCounter() [1/2]

◆ odometryResetCounter() [2/2]

◆ operator!=() [1/2]

◆ operator!=() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ power() [1/2]

◆ power() [2/2]

◆ priority() [1/2]

◆ priority() [2/2]

◆ rightArmLimp() [1/2]

◆ rightArmLimp() [2/2]

◆ set_bend()

◆ set_exactStepsRequested()

◆ set_forward()

◆ set_isFast()

◆ set_kickWithLeftFoot()

◆ set_left()

◆ set_leftArmLimp()

◆ set_odometryResetCounter()

◆ set_power()

◆ set_priority()

◆ set_rightArmLimp()

◆ set_speed()

◆ set_turn()

◆ set_useShuffle()

◆ set_walkEngineOn()

◆ speed() [1/2]

◆ speed() [2/2]

◆ standWithMinimalStiffness()

◆ standWithStiffness()

◆ stop()

◆ to_string()

◆ turn() [1/2]

◆ turn() [2/2]

◆ useShuffle() [1/2]

◆ useShuffle() [2/2]

◆ walkEngineOn() [1/2]

◆ walkEngineOn() [2/2]

◆ walkProtected()

◆ walkProtectedPrecisely()