Detailed Description

Parameters of the motion.

Definition at line 176 of file common.h.

#include <common.h>

Inheritance diagram for humoto::pepper_mpc::MotionParameters:

Public Member Functions
	MotionParameters ()
	Default constructor. More...

void	finalize ()
	Finalize & check. More...

double	getBaseAngularVelocity () const
	Get theta increment. More...

etools::Vector2	getBasePosition () const
	Get base reference position. More...

etools::Vector2	getBaseVelocity () const
	Get base reference velocity. More...

void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...

void	setDefaults ()
	Default parameters of the walk. More...

void	setIdle ()
	Idle parameters of the motion. More...

void	writeConfig (t_Writer &writer) const
	Write configuration. More...

void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...

void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...

void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Public Attributes
double	base_angular_velocity_

etools::Vector2	base_position_

etools::Vector2	base_velocity_

std::ptrdiff_t	duration_ms_

MotionMode::Mode	motion_mode_

Static Public Attributes
static const std::ptrdiff_t	UNLIMITED_DURATION = -1

Protected Member Functions
virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...

virtual std::size_t	getNumberOfEntries () const=0
	Get number of entries in the corresponding configuration node. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Constructor & Destructor Documentation

◆ MotionParameters()

humoto::pepper_mpc::MotionParameters::MotionParameters ( )

inline

Default constructor.

Definition at line 205 of file common.h.

Member Function Documentation

◆ finalize()

void humoto::pepper_mpc::MotionParameters::finalize ( )

inlinevirtual

Finalize & check.

Reimplemented from humoto::config::CommonConfigurableBase< true >.

Definition at line 236 of file common.h.

◆ getBaseAngularVelocity()

double humoto::pepper_mpc::MotionParameters::getBaseAngularVelocity ( ) const

inline

Get theta increment.

Returns: theta increment

Definition at line 268 of file common.h.

◆ getBasePosition()

etools::Vector2 humoto::pepper_mpc::MotionParameters::getBasePosition ( ) const

inline

Get base reference position.

Returns: base position

Definition at line 257 of file common.h.

◆ getBaseVelocity()

etools::Vector2 humoto::pepper_mpc::MotionParameters::getBaseVelocity ( ) const

inline

Get base reference velocity.

Returns: base velocity

Definition at line 246 of file common.h.

◆ getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns: the name

Attention: Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

◆ getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const

protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns: number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

◆ readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

◆ readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

◆ readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

◆ readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

◆ readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

◆ readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

◆ readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

◆ setDefaults()

void humoto::pepper_mpc::MotionParameters::setDefaults ( )

inlinevirtual

Default parameters of the walk.

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 214 of file common.h.

◆ setIdle()

void humoto::pepper_mpc::MotionParameters::setIdle ( )

inline

Idle parameters of the motion.

Definition at line 223 of file common.h.

◆ writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer & writer ) const

inlineinherited

Write configuration.

Parameters

[in,out] writer configuration writer

Definition at line 300 of file config.h.

◆ writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

◆ writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string & file_name ) const

inlineinherited

Write configuration.

Parameters

[in] file_name file name

Definition at line 328 of file config.h.

◆ writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	const std::string &	file_name,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

◆ writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer & writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out] writer configuration writer

Definition at line 272 of file config.h.

◆ writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ base_angular_velocity_

double humoto::pepper_mpc::MotionParameters::base_angular_velocity_

Definition at line 195 of file common.h.

◆ base_position_

etools::Vector2 humoto::pepper_mpc::MotionParameters::base_position_

Definition at line 193 of file common.h.

◆ base_velocity_

etools::Vector2 humoto::pepper_mpc::MotionParameters::base_velocity_

Definition at line 192 of file common.h.

◆ default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

◆ duration_ms_

std::ptrdiff_t humoto::pepper_mpc::MotionParameters::duration_ms_

Definition at line 196 of file common.h.

◆ motion_mode_

MotionMode::Mode humoto::pepper_mpc::MotionParameters::motion_mode_

Definition at line 198 of file common.h.

◆ UNLIMITED_DURATION

const std::ptrdiff_t humoto::pepper_mpc::MotionParameters::UNLIMITED_DURATION = -1

static

Definition at line 190 of file common.h.

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

modules/pepper_mpc/include/pepper_mpc/common.h

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Attributes

Constructor & Destructor Documentation

◆ MotionParameters()

Member Function Documentation

◆ finalize()

◆ getBaseAngularVelocity()

◆ getBasePosition()

◆ getBaseVelocity()

◆ getConfigSectionID()

◆ getNumberOfEntries()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ setIdle()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ base_angular_velocity_

◆ base_position_

◆ base_velocity_

◆ default_crash_on_missing_entry_

◆ duration_ms_

◆ motion_mode_

◆ UNLIMITED_DURATION