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1.9.2
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gusimplewhiteboard
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WHITEBOARD_POSTER_STRING_CONVERSION. More...
#include <wb_nao_sonar_protected_walk_command.h>
Public Attributes | |
| 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... | |
WHITEBOARD_POSTER_STRING_CONVERSION.
This message should be used when you want to issue a walk command that is protected by sonar; so if you attempt to walk into something that sonar detects it would replace it by suitable walk that avoids the obstacle.
Definition at line 106 of file wb_nao_sonar_protected_walk_command.h.
| uint8_t wb_nao_sonar_protected_walk_command::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.
Definition at line 182 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::bend(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_bend(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::exactStepsRequested |
No ratcheting, no speed 'buildup', just full step sizes.
This is good for exact movements, like walk 23cm forward for a kick.
Definition at line 137 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::exactStepsRequested(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_exactStepsRequested(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| int16_t wb_nao_sonar_protected_walk_command::forward |
[-300 - 300] step-size(mm) per second, limited to +/- 300mm/step
Definition at line 117 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::forward(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_forward(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::isFast |
for kicks.
True results in a 'Jab'/rapid kick.
Definition at line 147 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::isFast(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_isFast(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::kickWithLeftFoot |
which foot to use for kicking
Definition at line 152 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::kickWithLeftFoot(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_kickWithLeftFoot(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| int16_t wb_nao_sonar_protected_walk_command::left |
[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step
Definition at line 122 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::left(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_left(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::leftArmLimp |
lower stiffness in the arms when walking, allows the arm to move a little more.
This is for robot collisions to allow the arm to absorb some of the collision instead of rigidly transferring the force to the whole body.
Definition at line 162 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::leftArmLimp(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_leftArmLimp(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| uint8_t wb_nao_sonar_protected_walk_command::odometryResetCounter |
Odometry will reset any time this is changed or incremented.
Definition at line 177 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::odometryResetCounter(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_odometryResetCounter(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| uint8_t wb_nao_sonar_protected_walk_command::power |
[0 - 100] stiffness, auto set to minimum needed values.
Advanced pararm! don't alter this without knowledge of exactly what it does.
Definition at line 172 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::power(), guWhiteboard::NaoSonarProtectedWalkCommand::set_power(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| int8_t wb_nao_sonar_protected_walk_command::priority |
subsumption priority 1: unprotected walk, command unmodified.
If priority 2 use protected by sonar mode.
Definition at line 132 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::priority(), guWhiteboard::NaoSonarProtectedWalkCommand::set_priority(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::rightArmLimp |
lower stiffness in the arms when walking, allows the arm to move a little more.
This is for robot collisions to allow the arm to absorb some of the collision instead of rigidly transferring the force to the whole body.
Definition at line 167 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::rightArmLimp(), guWhiteboard::NaoSonarProtectedWalkCommand::set_rightArmLimp(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| uint8_t wb_nao_sonar_protected_walk_command::speed |
[0 - 100] modifier for forward etc.
. when using exactStepsRequested = true
Definition at line 142 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_speed(), guWhiteboard::NaoSonarProtectedWalkCommand::speed(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| int8_t wb_nao_sonar_protected_walk_command::turn |
[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step
Definition at line 127 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_turn(), guWhiteboard::NaoSonarProtectedWalkCommand::turn(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::useShuffle |
limits the step height so the robot 'shuffles' instead of taking larger steps.
Good for walking near other robots or small obstacles that could trip the robot, if it tried to step onto it.
Definition at line 157 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_useShuffle(), guWhiteboard::NaoSonarProtectedWalkCommand::useShuffle(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
| bool wb_nao_sonar_protected_walk_command::walkEngineOn |
connects the dcm callbacks.
Essentially turning the walk on. When enabled, the walk engine controls all joint values except the head pitch and yaw.
Definition at line 112 of file wb_nao_sonar_protected_walk_command.h.
Referenced by guWhiteboard::NaoSonarProtectedWalkCommand::NaoSonarProtectedWalkCommand(), guWhiteboard::NaoSonarProtectedWalkCommand::operator=(), guWhiteboard::NaoSonarProtectedWalkCommand::set_walkEngineOn(), guWhiteboard::NaoSonarProtectedWalkCommand::walkEngineOn(), and wb_nao_sonar_protected_walk_command_from_network_serialised().
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