HumanoidMotionInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | GetUpMessage |
GetUpMessage Fawkes BlackBoard Interface Message. More... | |
struct | HumanoidMotionInterface_data_t |
Internal data storage, do NOT modify! | |
class | KickMessage |
KickMessage Fawkes BlackBoard Interface Message. More... | |
class | ParkMessage |
ParkMessage Fawkes BlackBoard Interface Message. More... | |
class | SetStiffnessParamsMessage |
SetStiffnessParamsMessage Fawkes BlackBoard Interface Message. More... | |
class | SetWalkArmsParamsMessage |
SetWalkArmsParamsMessage Fawkes BlackBoard Interface Message. More... | |
class | SetWalkParamsMessage |
SetWalkParamsMessage 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 | YawPitchHeadMessage |
YawPitchHeadMessage 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... | |
enum | StiffnessMotionPatternEnum { WALK, KICK } |
The motion patterns that need specific stiffness settings. More... | |
Public Member Functions | |
const char * | tostring_LegEnum (LegEnum value) const |
Convert LegEnum constant to string. | |
const char * | tostring_StandupEnum (StandupEnum value) const |
Convert StandupEnum constant to string. | |
const char * | tostring_StiffnessMotionPatternEnum (StiffnessMotionPatternEnum value) const |
Convert StiffnessMotionPatternEnum constant to string. | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. | |
bool | is_moving () const |
Get moving value. | |
void | set_moving (const bool new_moving) |
Set moving value. | |
size_t | maxlenof_moving () const |
Get maximum length of moving value. | |
LegEnum | supporting_leg () const |
Get supporting_leg value. | |
void | set_supporting_leg (const LegEnum new_supporting_leg) |
Set supporting_leg value. | |
size_t | maxlenof_supporting_leg () const |
Get maximum length of supporting_leg value. | |
float | max_step_length () const |
Get max_step_length value. | |
void | set_max_step_length (const float new_max_step_length) |
Set max_step_length value. | |
size_t | maxlenof_max_step_length () const |
Get maximum length of max_step_length value. | |
float | max_step_height () const |
Get max_step_height value. | |
void | set_max_step_height (const float new_max_step_height) |
Set max_step_height value. | |
size_t | maxlenof_max_step_height () const |
Get maximum length of max_step_height value. | |
float | max_step_side () const |
Get max_step_side value. | |
void | set_max_step_side (const float new_max_step_side) |
Set max_step_side value. | |
size_t | maxlenof_max_step_side () const |
Get maximum length of max_step_side value. | |
float | max_step_turn () const |
Get max_step_turn value. | |
void | set_max_step_turn (const float new_max_step_turn) |
Set max_step_turn value. | |
size_t | maxlenof_max_step_turn () const |
Get maximum length of max_step_turn value. | |
float | zmp_offset_forward () const |
Get zmp_offset_forward value. | |
void | set_zmp_offset_forward (const float new_zmp_offset_forward) |
Set zmp_offset_forward value. | |
size_t | maxlenof_zmp_offset_forward () const |
Get maximum length of zmp_offset_forward value. | |
float | zmp_offset_sideward () const |
Get zmp_offset_sideward value. | |
void | set_zmp_offset_sideward (const float new_zmp_offset_sideward) |
Set zmp_offset_sideward value. | |
size_t | maxlenof_zmp_offset_sideward () const |
Get maximum length of zmp_offset_sideward value. | |
float | l_hip_roll_compensation () const |
Get l_hip_roll_compensation value. | |
void | set_l_hip_roll_compensation (const float new_l_hip_roll_compensation) |
Set l_hip_roll_compensation value. | |
size_t | maxlenof_l_hip_roll_compensation () const |
Get maximum length of l_hip_roll_compensation value. | |
float | r_hip_roll_compensation () const |
Get r_hip_roll_compensation value. | |
void | set_r_hip_roll_compensation (const float new_r_hip_roll_compensation) |
Set r_hip_roll_compensation value. | |
size_t | maxlenof_r_hip_roll_compensation () const |
Get maximum length of r_hip_roll_compensation value. | |
float | hip_height () const |
Get hip_height value. | |
void | set_hip_height (const float new_hip_height) |
Set hip_height value. | |
size_t | maxlenof_hip_height () const |
Get maximum length of hip_height value. | |
float | torso_sideward_orientation () const |
Get torso_sideward_orientation value. | |
void | set_torso_sideward_orientation (const float new_torso_sideward_orientation) |
Set torso_sideward_orientation value. | |
size_t | maxlenof_torso_sideward_orientation () const |
Get maximum length of torso_sideward_orientation value. | |
bool | is_arms_enabled () const |
Get arms_enabled value. | |
void | set_arms_enabled (const bool new_arms_enabled) |
Set arms_enabled value. | |
size_t | maxlenof_arms_enabled () const |
Get maximum length of arms_enabled value. | |
float | shoulder_pitch_median () const |
Get shoulder_pitch_median value. | |
void | set_shoulder_pitch_median (const float new_shoulder_pitch_median) |
Set shoulder_pitch_median value. | |
size_t | maxlenof_shoulder_pitch_median () const |
Get maximum length of shoulder_pitch_median value. | |
float | shoulder_pitch_amplitude () const |
Get shoulder_pitch_amplitude value. | |
void | set_shoulder_pitch_amplitude (const float new_shoulder_pitch_amplitude) |
Set shoulder_pitch_amplitude value. | |
size_t | maxlenof_shoulder_pitch_amplitude () const |
Get maximum length of shoulder_pitch_amplitude value. | |
float | elbow_roll_median () const |
Get elbow_roll_median value. | |
void | set_elbow_roll_median (const float new_elbow_roll_median) |
Set elbow_roll_median value. | |
size_t | maxlenof_elbow_roll_median () const |
Get maximum length of elbow_roll_median value. | |
float | elbow_roll_amplitude () const |
Get elbow_roll_amplitude value. | |
void | set_elbow_roll_amplitude (const float new_elbow_roll_amplitude) |
Set elbow_roll_amplitude value. | |
size_t | maxlenof_elbow_roll_amplitude () const |
Get maximum length of elbow_roll_amplitude value. | |
uint32_t | msgid () const |
Get msgid value. | |
void | set_msgid (const uint32_t new_msgid) |
Set msgid value. | |
size_t | maxlenof_msgid () const |
Get maximum length of msgid value. | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. |
HumanoidMotionInterface Fawkes BlackBoard Interface.
This interface provides acces to basic humanoid motion patterns.
Definition at line 33 of file HumanoidMotionInterface.h.
Type to determinate leg side.
Definition at line 42 of file HumanoidMotionInterface.h.
From which position to standup.
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.
The motion patterns that need specific stiffness settings.
Definition at line 57 of file HumanoidMotionInterface.h.
void fawkes::HumanoidMotionInterface::copy_values | ( | const Interface * | other | ) | [virtual] |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 805 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::type().
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.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 766 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::elbow_roll_amplitude | ( | ) | const |
Get elbow_roll_amplitude value.
Amplitude of the elbow roll movement during walking.
Definition at line 699 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::elbow_roll_median | ( | ) | const |
Get elbow_roll_median value.
Median in radians of the elbow roll during walking.
Definition at line 664 of file HumanoidMotionInterface.cpp.
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.
enumtype | enum type as string | |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 816 of file HumanoidMotionInterface.cpp.
References tostring_LegEnum(), tostring_StandupEnum(), and tostring_StiffnessMotionPatternEnum().
float fawkes::HumanoidMotionInterface::hip_height | ( | ) | const |
Get hip_height value.
Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 486 of file HumanoidMotionInterface.cpp.
bool fawkes::HumanoidMotionInterface::is_arms_enabled | ( | ) | const |
Get arms_enabled value.
If true the arms are controlled during walking for balancing.
Definition at line 559 of file HumanoidMotionInterface.cpp.
bool fawkes::HumanoidMotionInterface::is_moving | ( | ) | const |
Get moving value.
True if the robot is currently moving.
Definition at line 137 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::l_hip_roll_compensation | ( | ) | const |
Get l_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 412 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::max_step_height | ( | ) | const |
Get max_step_height value.
Maxium height of a footstep cycloid in m.
Definition at line 236 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::max_step_length | ( | ) | const |
Get max_step_length value.
Maximum length of a footstep in m.
Definition at line 201 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::max_step_side | ( | ) | const |
Get max_step_side value.
Maximum length of side step in m.
Definition at line 271 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::max_step_turn | ( | ) | const |
Get max_step_turn value.
Maximum change around vertical axis on radians per footstep.
Definition at line 306 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_arms_enabled | ( | ) | const |
Get maximum length of arms_enabled value.
Definition at line 569 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_elbow_roll_amplitude | ( | ) | const |
Get maximum length of elbow_roll_amplitude value.
Definition at line 709 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_elbow_roll_median | ( | ) | const |
Get maximum length of elbow_roll_median value.
Definition at line 674 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_hip_height | ( | ) | const |
Get maximum length of hip_height value.
Definition at line 496 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_l_hip_roll_compensation | ( | ) | const |
Get maximum length of l_hip_roll_compensation value.
Definition at line 422 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_height | ( | ) | const |
Get maximum length of max_step_height value.
Definition at line 246 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_length | ( | ) | const |
Get maximum length of max_step_length value.
Definition at line 211 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_side | ( | ) | const |
Get maximum length of max_step_side value.
Definition at line 281 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_max_step_turn | ( | ) | const |
Get maximum length of max_step_turn value.
Definition at line 316 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_moving | ( | ) | const |
Get maximum length of moving value.
Definition at line 147 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 745 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_r_hip_roll_compensation | ( | ) | const |
Get maximum length of r_hip_roll_compensation value.
Definition at line 459 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_shoulder_pitch_amplitude | ( | ) | const |
Get maximum length of shoulder_pitch_amplitude value.
Definition at line 639 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_shoulder_pitch_median | ( | ) | const |
Get maximum length of shoulder_pitch_median value.
Definition at line 604 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_supporting_leg | ( | ) | const |
Get maximum length of supporting_leg value.
Definition at line 178 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_torso_sideward_orientation | ( | ) | const |
Get maximum length of torso_sideward_orientation value.
Definition at line 533 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_zmp_offset_forward | ( | ) | const |
Get maximum length of zmp_offset_forward value.
Definition at line 351 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_zmp_offset_sideward | ( | ) | const |
Get maximum length of zmp_offset_sideward value.
Definition at line 386 of file HumanoidMotionInterface.cpp.
bool fawkes::HumanoidMotionInterface::message_valid | ( | const Message * | message | ) | const [virtual] |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 3508 of file HumanoidMotionInterface.cpp.
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.
Definition at line 735 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::r_hip_roll_compensation | ( | ) | const |
Get r_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 449 of file HumanoidMotionInterface.cpp.
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.
new_arms_enabled | new arms_enabled value |
Definition at line 581 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_elbow_roll_amplitude | ( | const float | new_elbow_roll_amplitude | ) |
Set elbow_roll_amplitude value.
Amplitude of the elbow roll movement during walking.
new_elbow_roll_amplitude | new elbow_roll_amplitude value |
Definition at line 721 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_elbow_roll_median | ( | const float | new_elbow_roll_median | ) |
Set elbow_roll_median value.
Median in radians of the elbow roll during walking.
new_elbow_roll_median | new elbow_roll_median value |
Definition at line 686 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_hip_height | ( | const float | new_hip_height | ) |
Set hip_height value.
Height of hip during walk process. This is fitted to the Nao and is possibly not applicable to other robots.
new_hip_height | new hip_height value |
Definition at line 509 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_l_hip_roll_compensation | ( | const float | new_l_hip_roll_compensation | ) |
Set l_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
new_l_hip_roll_compensation | new l_hip_roll_compensation value |
Definition at line 435 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_max_step_height | ( | const float | new_max_step_height | ) |
Set max_step_height value.
Maxium height of a footstep cycloid in m.
new_max_step_height | new max_step_height value |
Definition at line 258 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_max_step_length | ( | const float | new_max_step_length | ) |
Set max_step_length value.
Maximum length of a footstep in m.
new_max_step_length | new max_step_length value |
Definition at line 223 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_max_step_side | ( | const float | new_max_step_side | ) |
Set max_step_side value.
Maximum length of side step in m.
new_max_step_side | new max_step_side value |
Definition at line 293 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_max_step_turn | ( | const float | new_max_step_turn | ) |
Set max_step_turn value.
Maximum change around vertical axis on radians per footstep.
new_max_step_turn | new max_step_turn value |
Definition at line 328 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_moving | ( | const bool | new_moving | ) |
Set moving value.
True if the robot is currently moving.
new_moving | new moving value |
Definition at line 157 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
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.
new_msgid | new msgid value |
Definition at line 758 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_r_hip_roll_compensation | ( | const float | new_r_hip_roll_compensation | ) |
Set r_hip_roll_compensation value.
Amplitude in degrees of backlash compensation for left hip roll. This is fitted to the Nao and is possibly not applicable to other robots.
new_r_hip_roll_compensation | new r_hip_roll_compensation value |
Definition at line 472 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_shoulder_pitch_amplitude | ( | const float | new_shoulder_pitch_amplitude | ) |
Set shoulder_pitch_amplitude value.
Amplitude of the shoulder pitch movement during walking.
new_shoulder_pitch_amplitude | new shoulder_pitch_amplitude value |
Definition at line 651 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_shoulder_pitch_median | ( | const float | new_shoulder_pitch_median | ) |
Set shoulder_pitch_median value.
Median in radians of the shoulder pitch during walking.
new_shoulder_pitch_median | new shoulder_pitch_median value |
Definition at line 616 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_supporting_leg | ( | const LegEnum | new_supporting_leg | ) |
Set supporting_leg value.
Marks the supporting leg
new_supporting_leg | new supporting_leg value |
Definition at line 188 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_torso_sideward_orientation | ( | const float | new_torso_sideward_orientation | ) |
Set torso_sideward_orientation value.
Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.
new_torso_sideward_orientation | new torso_sideward_orientation value |
Definition at line 546 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_zmp_offset_forward | ( | const float | new_zmp_offset_forward | ) |
Set zmp_offset_forward value.
Zero moment point offset in forward direction in m.
new_zmp_offset_forward | new zmp_offset_forward value |
Definition at line 363 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::HumanoidMotionInterface::set_zmp_offset_sideward | ( | const float | new_zmp_offset_sideward | ) |
Set zmp_offset_sideward value.
Zero moment point offset in sideward direction in m.
new_zmp_offset_sideward | new zmp_offset_sideward value |
Definition at line 398 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
float fawkes::HumanoidMotionInterface::shoulder_pitch_amplitude | ( | ) | const |
Get shoulder_pitch_amplitude value.
Amplitude of the shoulder pitch movement during walking.
Definition at line 629 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::shoulder_pitch_median | ( | ) | const |
Get shoulder_pitch_median value.
Median in radians of the shoulder pitch during walking.
Definition at line 594 of file HumanoidMotionInterface.cpp.
HumanoidMotionInterface::LegEnum fawkes::HumanoidMotionInterface::supporting_leg | ( | ) | const |
Get supporting_leg value.
Marks the supporting leg
Definition at line 168 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::torso_sideward_orientation | ( | ) | const |
Get torso_sideward_orientation value.
Torso orientation in degrees in sideward direction during walking. This is fitted to the Nao and is possibly not applicable to other robots.
Definition at line 523 of file HumanoidMotionInterface.cpp.
const char * fawkes::HumanoidMotionInterface::tostring_LegEnum | ( | LegEnum | value | ) | const |
Convert LegEnum constant to string.
value | value to convert to string |
Definition at line 96 of file HumanoidMotionInterface.cpp.
References LEG_LEFT, and LEG_RIGHT.
Referenced by enum_tostring().
const char * fawkes::HumanoidMotionInterface::tostring_StandupEnum | ( | StandupEnum | value | ) | const |
Convert StandupEnum constant to string.
value | value to convert to string |
Definition at line 109 of file HumanoidMotionInterface.cpp.
References STANDUP_BACK, STANDUP_DETECT, and STANDUP_FRONT.
Referenced by enum_tostring().
const char * fawkes::HumanoidMotionInterface::tostring_StiffnessMotionPatternEnum | ( | StiffnessMotionPatternEnum | value | ) | const |
Convert StiffnessMotionPatternEnum constant to string.
value | value to convert to string |
Definition at line 123 of file HumanoidMotionInterface.cpp.
Referenced by enum_tostring().
float fawkes::HumanoidMotionInterface::zmp_offset_forward | ( | ) | const |
Get zmp_offset_forward value.
Zero moment point offset in forward direction in m.
Definition at line 341 of file HumanoidMotionInterface.cpp.
float fawkes::HumanoidMotionInterface::zmp_offset_sideward | ( | ) | const |
Get zmp_offset_sideward value.
Zero moment point offset in sideward direction in m.
Definition at line 376 of file HumanoidMotionInterface.cpp.