guWhiteboard::Motions Namespace Reference

Classes
struct	A
	Simple struct to store the hardcoded motion 'Actions'. More...
struct	Action_Transition
	Internal struct for representing a motion 'Action' such as Kicking. More...
class	Stance_Path
	Internal class for cost based graph search paths, in this case motion paths. More...
struct	Stance_Transition
	Internal struct for representing a transition from one from one 'Stance' to another. More...
struct	T
	Simple struct to store the hardcoded motion transitions from one 'Stance' to another. More...

Enumerations
enum	motion_file_layout {   NAO_Version = 0 , Units , Stiffness , Joints ,   Motions }
	This is the file format of the .mot files. More...
enum	stance {   Standby_stance = 0 , Kneeling_stance , Standing_stance , GoalieSaveLeft_stance ,   GoalieSaveRight_stance , FallenForward_stance , FallenBack_stance , NUM_OF_STANCES }
	enum values for all stances More...
enum	action {   Kneeling_wave = 0 , Kneeling_quickwave , Kneeling_flagwave , Kneeling_raiseright ,   Kneeling_signal , Standing_leftkick , Standing_rightkick , Standing_leftpass ,   Standing_rightpass , Standing_wave , NUM_OF_ACTIONS }
	enum values for all actions that can be done More...

Enumeration Type Documentation

action

enum guWhiteboard::Motions::action

enum values for all actions that can be done

Enumerator
Kneeling_wave	When kneeling, wave with one arm.
Kneeling_quickwave	When kneeling, wave quickly with one arm (originally for the RoboCup sound demo)
Kneeling_flagwave	When kneeling, wave as if holding a flag - Jeremy's Flag Wave.
Kneeling_raiseright	When kneeling, raise right arm - Vlad's treat to hit.
Kneeling_signal	When kneeling, signal right arm - Vlad's where to hit.
Standing_leftkick	When standing, kick with the left foot.
Standing_rightkick	When standing, kick with the right foot.
Standing_leftpass	When standing, kick sideways, moving the object in front of the robot left.
Standing_rightpass	When standing, kick sideways, moving the object in front of the robot right.
Standing_wave	When standing, wave with one arm.
NUM_OF_ACTIONS	Handy counter for the number of enums.

Definition at line 78 of file MOTION_Interface.hpp.

motion_file_layout

enum guWhiteboard::Motions::motion_file_layout

This is the file format of the .mot files.

It is used when parsing them in the Nao motion module.

Enumerator
NAO_Version	V3 = 0, V4 = 1.
Units	RAD = 0 or DEG = 1.
Stiffness	0 - 100
Joints	Joint numbers, see SensorInfo.h 'jointNames' array.
Motions	The rest of the file is comma seperated joints and 10ms seperated lines.

Definition at line 51 of file MOTION_Interface.hpp.

stance

enum guWhiteboard::Motions::stance

enum values for all stances

Enumerator
Standby_stance	Gorilla position, releases stiffness when done (implemented in the Nao motion module)
Kneeling_stance	default kneeling stance - no stiffness by default (implemented in the Nao motion module)
Standing_stance	standing up, this is mirrored by the Nao walk engines 'Initialise' pose and means that a motion transition is not required to turn on the Nao walk engine.
GoalieSaveLeft_stance	Half kneeling and leaning to the left.
GoalieSaveRight_stance	Half kneeling and leaning to the right.
FallenForward_stance	The robot has fallen face down. There is no path to the fallen stances, these can only be gotten to by the fall manager FSM overwriting the current stance.
FallenBack_stance	The robot has fallen backwards. There is no path to the fallen stances, these can only be gotten to by the fall manager FSM overwriting the current stance.
NUM_OF_STANCES	Handy counter for the number of enums.

Definition at line 63 of file MOTION_Interface.hpp.