Fawkes API  Fawkes Development Version
fawkes::HumanoidMotionInterface Class Reference

HumanoidMotionInterface Fawkes BlackBoard Interface. More...

#include <>>

Inheritance diagram for fawkes::HumanoidMotionInterface:

Classes

class  GetUpMessage
 GetUpMessage Fawkes BlackBoard Interface Message. More...
 
class  KickMessage
 KickMessage Fawkes BlackBoard Interface Message. More...
 
class  MoveHeadMessage
 MoveHeadMessage Fawkes BlackBoard Interface Message. More...
 
class  ParkMessage
 ParkMessage Fawkes BlackBoard Interface Message. More...
 
class  StandupMessage
 StandupMessage Fawkes BlackBoard Interface Message. More...
 
class  StopMessage
 StopMessage Fawkes BlackBoard Interface Message. More...
 
class  TurnMessage
 TurnMessage Fawkes BlackBoard Interface Message. More...
 
class  WalkArcMessage
 WalkArcMessage Fawkes BlackBoard Interface Message. More...
 
class  WalkSidewaysMessage
 WalkSidewaysMessage Fawkes BlackBoard Interface Message. More...
 
class  WalkStraightMessage
 WalkStraightMessage Fawkes BlackBoard Interface Message. More...
 
class  WalkVelocityMessage
 WalkVelocityMessage Fawkes BlackBoard Interface Message. More...
 

Public Types

enum  LegEnum { LEG_LEFT, LEG_RIGHT }
 Type to determinate leg side. More...
 
enum  StandupEnum { STANDUP_DETECT, STANDUP_BACK, STANDUP_FRONT }
 From which position to standup. More...
 

Public Member Functions

const char * tostring_LegEnum (LegEnum value) const
 Convert LegEnum constant to string. More...
 
const char * tostring_StandupEnum (StandupEnum value) const
 Convert StandupEnum constant to string. More...
 
virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
bool is_moving () const
 Get moving value. More...
 
void set_moving (const bool new_moving)
 Set moving value. More...
 
size_t maxlenof_moving () const
 Get maximum length of moving value. More...
 
bool is_arms_enabled () const
 Get arms_enabled value. More...
 
void set_arms_enabled (const bool new_arms_enabled)
 Set arms_enabled value. More...
 
size_t maxlenof_arms_enabled () const
 Get maximum length of arms_enabled value. More...
 
uint32_t msgid () const
 Get msgid value. More...
 
void set_msgid (const uint32_t new_msgid)
 Set msgid value. More...
 
size_t maxlenof_msgid () const
 Get maximum length of msgid value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
const char * owner () const
 Get owner of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
Time buffer_timestamp (unsigned int buffer)
 Get time of a buffer. More...
 
void buffer_timestamp (unsigned int buffer, Time *timestamp)
 Get time of a buffer. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
std::string writer () const
 Get owner name of writing interface instance. More...
 
std::list< std::string > readers () const
 Get owner names of reading interface instances. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
void mark_data_changed ()
 Mark data as changed. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
void msgq_append (Message *message)
 Enqueue message. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

HumanoidMotionInterface Fawkes BlackBoard Interface.

This interface provides acces to basic humanoid motion patterns.

Definition at line 33 of file HumanoidMotionInterface.h.

Member Enumeration Documentation

◆ LegEnum

Type to determinate leg side.

Enumerator
LEG_LEFT 

Left leg.

LEG_RIGHT 

Right leg.

Definition at line 42 of file HumanoidMotionInterface.h.

◆ StandupEnum

From which position to standup.

Enumerator
STANDUP_DETECT 

Detect via accelerometer.

STANDUP_BACK 

Standup from lying on the back.

STANDUP_FRONT 

Standup from lying on the tummy.

Definition at line 49 of file HumanoidMotionInterface.h.

Member Function Documentation

◆ copy_values()

void fawkes::HumanoidMotionInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 249 of file HumanoidMotionInterface.cpp.

References fawkes::Message::type(), and fawkes::Interface::type().

◆ create_message()

Message * fawkes::HumanoidMotionInterface::create_message ( const char *  type) const
virtual

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 214 of file HumanoidMotionInterface.cpp.

◆ enum_tostring()

const char * fawkes::HumanoidMotionInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
virtual

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 260 of file HumanoidMotionInterface.cpp.

◆ is_arms_enabled()

bool fawkes::HumanoidMotionInterface::is_arms_enabled ( ) const

Get arms_enabled value.

If true the arms are controlled during walking for balancing.

Returns
arms_enabled value

Definition at line 147 of file HumanoidMotionInterface.cpp.

◆ is_moving()

bool fawkes::HumanoidMotionInterface::is_moving ( ) const

Get moving value.

True if the robot is moving.

Returns
moving value

Definition at line 114 of file HumanoidMotionInterface.cpp.

◆ maxlenof_arms_enabled()

size_t fawkes::HumanoidMotionInterface::maxlenof_arms_enabled ( ) const

Get maximum length of arms_enabled value.

Returns
length of arms_enabled value, can be length of the array or number of maximum number of characters for a string

Definition at line 157 of file HumanoidMotionInterface.cpp.

◆ maxlenof_moving()

size_t fawkes::HumanoidMotionInterface::maxlenof_moving ( ) const

Get maximum length of moving value.

Returns
length of moving value, can be length of the array or number of maximum number of characters for a string

Definition at line 124 of file HumanoidMotionInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::HumanoidMotionInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

Returns
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 193 of file HumanoidMotionInterface.cpp.

◆ message_valid()

bool fawkes::HumanoidMotionInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 1484 of file HumanoidMotionInterface.cpp.

◆ msgid()

uint32_t fawkes::HumanoidMotionInterface::msgid ( ) const

Get msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Returns
msgid value

Definition at line 183 of file HumanoidMotionInterface.cpp.

◆ set_arms_enabled()

void fawkes::HumanoidMotionInterface::set_arms_enabled ( const bool  new_arms_enabled)

Set arms_enabled value.

If true the arms are controlled during walking for balancing.

Parameters
new_arms_enablednew arms_enabled value

Definition at line 169 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by NaoQiMotionThread::loop().

◆ set_moving()

void fawkes::HumanoidMotionInterface::set_moving ( const bool  new_moving)

Set moving value.

True if the robot is moving.

Parameters
new_movingnew moving value

Definition at line 134 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by NaoQiMotionThread::loop().

◆ set_msgid()

void fawkes::HumanoidMotionInterface::set_msgid ( const uint32_t  new_msgid)

Set msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Parameters
new_msgidnew msgid value

Definition at line 206 of file HumanoidMotionInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by NaoQiMotionThread::loop().

◆ tostring_LegEnum()

const char * fawkes::HumanoidMotionInterface::tostring_LegEnum ( LegEnum  value) const

Convert LegEnum constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 86 of file HumanoidMotionInterface.cpp.

◆ tostring_StandupEnum()

const char * fawkes::HumanoidMotionInterface::tostring_StandupEnum ( StandupEnum  value) const

Convert StandupEnum constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 99 of file HumanoidMotionInterface.cpp.


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