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

#include <NaoWalkCommand.hpp>

Inheritance diagram for guWhiteboard::NaoWalkCommand:

Collaboration diagram for guWhiteboard::NaoWalkCommand:

Public Member Functions
	NaoWalkCommand (bool t_walkEngineOn=false, int16_t t_forward=0, int16_t t_left=0, int8_t t_turn=0, bool t_exactStepsRequested=false, uint8_t t_speed=100, uint8_t t_odometryResetCounter=0, 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_bend=0)
	Create a new `NaoWalkCommand`. More...

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

	NaoWalkCommand (const struct wb_nao_walk_command &t_other)
	Copy Constructor. More...

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

NaoWalkCommand &	operator= (const struct wb_nao_walk_command &t_other)
	Copy Assignment Operator. More...

bool	operator== (const NaoWalkCommand &t_other) const

bool	operator!= (const NaoWalkCommand &t_other) const

bool	operator== (const wb_nao_walk_command &t_other) const

bool	operator!= (const wb_nao_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)

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)

uint8_t &	odometryResetCounter ()

const uint8_t &	odometryResetCounter () const

void	set_odometryResetCounter (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 &	bend ()

const uint8_t &	bend () const

void	set_bend (const uint8_t &t_newValue)

	NaoWalkCommand (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 NaoWalkCommand	walk (int16_t t_forward, int16_t t_left, int8_t t_turn)
	WHITEBOARD_POSTER_STRING_CONVERSION. More...

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

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

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

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

Additional Inherited Members
Public Attributes inherited from wb_nao_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...

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

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

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

Definition at line 83 of file NaoWalkCommand.hpp.

Constructor & Destructor Documentation

◆ NaoWalkCommand() [1/4]

guWhiteboard::NaoWalkCommand::NaoWalkCommand	(	bool	t_walkEngineOn = `false`,
		int16_t	t_forward = `0`,
		int16_t	t_left = `0`,
		int8_t	t_turn = `0`,
		bool	t_exactStepsRequested = `false`,
		uint8_t	t_speed = `100`,
		uint8_t	t_odometryResetCounter = `0`,
		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_bend = `0`
	)

inline

Create a new NaoWalkCommand.

Definition at line 112 of file NaoWalkCommand.hpp.

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

◆ NaoWalkCommand() [2/4]

guWhiteboard::NaoWalkCommand::NaoWalkCommand ( const NaoWalkCommand & t_other )

inline

Copy Constructor.

Definition at line 119 of file NaoWalkCommand.hpp.

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

◆ NaoWalkCommand() [3/4]

guWhiteboard::NaoWalkCommand::NaoWalkCommand ( const struct wb_nao_walk_command & t_other )

inline

Copy Constructor.

Definition at line 126 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::bend, wb_nao_walk_command::exactStepsRequested, wb_nao_walk_command::forward, wb_nao_walk_command::isFast, wb_nao_walk_command::kickWithLeftFoot, wb_nao_walk_command::left, wb_nao_walk_command::leftArmLimp, wb_nao_walk_command::odometryResetCounter, wb_nao_walk_command::power, wb_nao_walk_command::rightArmLimp, wb_nao_walk_command::speed, wb_nao_walk_command::turn, wb_nao_walk_command::useShuffle, and wb_nao_walk_command::walkEngineOn.

◆ NaoWalkCommand() [4/4]

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

inline

String Constructor.

Definition at line 393 of file NaoWalkCommand.hpp.

References from_string().

Member Function Documentation

◆ bend() [1/2]

uint8_t & guWhiteboard::NaoWalkCommand::bend ( )

inline

Definition at line 374 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::bend.

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

◆ bend() [2/2]

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

inline

Definition at line 379 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::bend.

◆ description()

std::string guWhiteboard::NaoWalkCommand::description ( )

inline

USE_WB_NAO_WALK_COMMAND_C_CONVERSION

Definition at line 398 of file NaoWalkCommand.hpp.

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

◆ disconnectWalk()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::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 NaoWalkCommand instance

Definition at line 735 of file NaoWalkCommand.hpp.

References NaoWalkCommand(), and set_walkEngineOn().

◆ exactStepsRequested() [1/2]

bool & guWhiteboard::NaoWalkCommand::exactStepsRequested ( )

inline

Definition at line 239 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::exactStepsRequested.

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

◆ exactStepsRequested() [2/2]

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

inline

Definition at line 244 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::exactStepsRequested.

◆ forward() [1/2]

int16_t & guWhiteboard::NaoWalkCommand::forward ( )

inline

Definition at line 194 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::forward.

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

◆ forward() [2/2]

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

inline

Definition at line 199 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::forward.

◆ from_string()

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

inline

USE_WB_NAO_WALK_COMMAND_C_CONVERSION

Definition at line 480 of file NaoWalkCommand.hpp.

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

Referenced by NaoWalkCommand().

◆ isFast() [1/2]

bool & guWhiteboard::NaoWalkCommand::isFast ( )

inline

Definition at line 284 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::isFast.

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

◆ isFast() [2/2]

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

inline

Definition at line 289 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::isFast.

◆ kickWithLeftFoot() [1/2]

bool & guWhiteboard::NaoWalkCommand::kickWithLeftFoot ( )

inline

Definition at line 299 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::kickWithLeftFoot.

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

◆ kickWithLeftFoot() [2/2]

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

inline

Definition at line 304 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::kickWithLeftFoot.

◆ left() [1/2]

int16_t & guWhiteboard::NaoWalkCommand::left ( )

inline

Definition at line 209 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::left.

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

◆ left() [2/2]

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

inline

Definition at line 214 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::left.

◆ leftArmLimp() [1/2]

bool & guWhiteboard::NaoWalkCommand::leftArmLimp ( )

inline

Definition at line 329 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::leftArmLimp.

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

◆ leftArmLimp() [2/2]

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

inline

Definition at line 334 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::leftArmLimp.

◆ odometryResetCounter() [1/2]

uint8_t & guWhiteboard::NaoWalkCommand::odometryResetCounter ( )

inline

Definition at line 269 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::odometryResetCounter.

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

◆ odometryResetCounter() [2/2]

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

inline

Definition at line 274 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::odometryResetCounter.

◆ operator!=() [1/2]

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

inline

Definition at line 164 of file NaoWalkCommand.hpp.

◆ operator!=() [2/2]

bool guWhiteboard::NaoWalkCommand::operator!= ( const wb_nao_walk_command & t_other ) const

inline

Definition at line 174 of file NaoWalkCommand.hpp.

◆ operator=() [1/2]

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

inline

Copy Assignment Operator.

Definition at line 133 of file NaoWalkCommand.hpp.

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

◆ operator=() [2/2]

NaoWalkCommand & guWhiteboard::NaoWalkCommand::operator= ( const struct wb_nao_walk_command & t_other )

inline

Copy Assignment Operator.

Definition at line 141 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::bend, wb_nao_walk_command::exactStepsRequested, wb_nao_walk_command::forward, wb_nao_walk_command::isFast, wb_nao_walk_command::kickWithLeftFoot, wb_nao_walk_command::left, wb_nao_walk_command::leftArmLimp, wb_nao_walk_command::odometryResetCounter, wb_nao_walk_command::power, wb_nao_walk_command::rightArmLimp, wb_nao_walk_command::speed, wb_nao_walk_command::turn, wb_nao_walk_command::useShuffle, and wb_nao_walk_command::walkEngineOn.

◆ operator==() [1/2]

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

inline

Definition at line 146 of file NaoWalkCommand.hpp.

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

◆ operator==() [2/2]

bool guWhiteboard::NaoWalkCommand::operator== ( const wb_nao_walk_command & t_other ) const

inline

Definition at line 169 of file NaoWalkCommand.hpp.

References NaoWalkCommand().

◆ power() [1/2]

uint8_t & guWhiteboard::NaoWalkCommand::power ( )

inline

Definition at line 359 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::power.

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

◆ power() [2/2]

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

inline

Definition at line 364 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::power.

◆ rightArmLimp() [1/2]

bool & guWhiteboard::NaoWalkCommand::rightArmLimp ( )

inline

Definition at line 344 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::rightArmLimp.

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

◆ rightArmLimp() [2/2]

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

inline

Definition at line 349 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::rightArmLimp.

◆ set_bend()

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

inline

Definition at line 384 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::bend.

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

◆ set_exactStepsRequested()

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

inline

Definition at line 249 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::exactStepsRequested.

Referenced by from_string(), and walkPrecisely().

◆ set_forward()

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

inline

Definition at line 204 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::forward.

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

◆ set_isFast()

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

inline

Definition at line 294 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::isFast.

Referenced by from_string().

◆ set_kickWithLeftFoot()

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

inline

Definition at line 309 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::kickWithLeftFoot.

Referenced by from_string().

◆ set_left()

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

inline

Definition at line 219 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::left.

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

◆ set_leftArmLimp()

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

inline

Definition at line 339 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::leftArmLimp.

Referenced by from_string().

◆ set_odometryResetCounter()

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

inline

Definition at line 279 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::odometryResetCounter.

Referenced by from_string().

◆ set_power()

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

inline

Definition at line 369 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::power.

Referenced by from_string().

◆ set_rightArmLimp()

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

inline

Definition at line 354 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::rightArmLimp.

Referenced by from_string().

◆ set_speed()

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

inline

Definition at line 264 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::speed.

Referenced by from_string().

◆ set_turn()

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

inline

Definition at line 234 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::turn.

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

◆ set_useShuffle()

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

inline

Definition at line 324 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::useShuffle.

Referenced by from_string().

◆ set_walkEngineOn()

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

inline

Definition at line 189 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::walkEngineOn.

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

◆ speed() [1/2]

uint8_t & guWhiteboard::NaoWalkCommand::speed ( )

inline

Definition at line 254 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::speed.

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

◆ speed() [2/2]

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

inline

Definition at line 259 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::speed.

◆ standWithMinimalStiffness()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::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 NaoWalkCommand instance

Definition at line 724 of file NaoWalkCommand.hpp.

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

◆ standWithStiffness()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::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 NaoWalkCommand instance

Definition at line 713 of file NaoWalkCommand.hpp.

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

◆ stop()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::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 NaoWalkCommand instance

Definition at line 699 of file NaoWalkCommand.hpp.

References NaoWalkCommand(), set_bend(), set_forward(), set_left(), set_turn(), and set_walkEngineOn().

Referenced by standWithMinimalStiffness(), and standWithStiffness().

◆ to_string()

std::string guWhiteboard::NaoWalkCommand::to_string ( )

inline

USE_WB_NAO_WALK_COMMAND_C_CONVERSION

Definition at line 437 of file NaoWalkCommand.hpp.

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

◆ turn() [1/2]

int8_t & guWhiteboard::NaoWalkCommand::turn ( )

inline

Definition at line 224 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::turn.

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

◆ turn() [2/2]

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

inline

Definition at line 229 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::turn.

◆ useShuffle() [1/2]

bool & guWhiteboard::NaoWalkCommand::useShuffle ( )

inline

Definition at line 314 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::useShuffle.

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

◆ useShuffle() [2/2]

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

inline

Definition at line 319 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::useShuffle.

◆ walk()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::walk	(	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 NaoWalkCommand instance

Definition at line 672 of file NaoWalkCommand.hpp.

References NaoWalkCommand(), set_bend(), set_forward(), set_left(), set_turn(), and set_walkEngineOn().

Referenced by walkPrecisely().

◆ walkEngineOn() [1/2]

bool & guWhiteboard::NaoWalkCommand::walkEngineOn ( )

inline

Definition at line 179 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::walkEngineOn.

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

◆ walkEngineOn() [2/2]

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

inline

Definition at line 184 of file NaoWalkCommand.hpp.

References wb_nao_walk_command::walkEngineOn.

◆ walkPrecisely()

static NaoWalkCommand guWhiteboard::NaoWalkCommand::walkPrecisely	(	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 NaoWalkCommand instance

Definition at line 689 of file NaoWalkCommand.hpp.

References set_exactStepsRequested(), and walk().

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

typeClassDefs/NaoWalkCommand.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NaoWalkCommand() [1/4]

◆ NaoWalkCommand() [2/4]

◆ NaoWalkCommand() [3/4]

◆ NaoWalkCommand() [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]

◆ 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_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]

◆ walk()

◆ walkEngineOn() [1/2]

◆ walkEngineOn() [2/2]

◆ walkPrecisely()