Changes between Version 82 and Version 83 of UserGuideGit
- Timestamp:
- Nov 22, 2017, 1:08:45 PM (8 years ago)
Legend:
- Unmodified
- Added
- Removed
- Modified
-
UserGuideGit
v82 v83 15 15 == Architecture == 16 16 17 The main parts of the fram work are:17 The main parts of the framework are: 18 18 19 19 * the '''robot''' itself; … … 103 103 == Robot == 104 104 105 The '''robot''' is responsible for all static computation, ie implements the '''inverse Kinematic'''. It also manages the body position, which can move along the 3 axes, and rotate ar round 3 axes.105 The '''robot''' is responsible for all static computation, ie implements the '''inverse Kinematic'''. It also manages the body position, which can move along the 3 axes, and rotate around 3 axes. 106 106 107 107 As shown in the [[Tutorials|tutorials]], to implement a custom robot, you need to write a new class which inherits from {{{Robot}}}, and overload several methods: … … 133 133 Like the first method, you can translate/rotate the body. The resulting position of the body is the combination of the bodyPosition and the bodyExtraPosition. 134 134 135 The {{{setBodyPosition()}}} is mainly used at startup, to set a pre-defined position of the body. The {{{setBodyExtraPosition()}}}, however, can be usefull to move the body ar round its default position, without loosing it.135 The {{{setBodyPosition()}}} is mainly used at startup, to set a pre-defined position of the body. The {{{setBodyExtraPosition()}}}, however, can be usefull to move the body around its default position, without loosing it. 136 136 137 137 * incFeetNeutral(self, dneutral) … … 157 157 == Gaits and !GaitSequencer == 158 158 159 The '''Gaits''' and '''!GaitSequencer'''implement the dynamic part of the movements, ie the gait itself. It computes the successive feet positions in order to make the robot walk.159 The {{{Gaits}}} and {{{GaitSequencer}}} implement the dynamic part of the movements, ie the gait itself. It computes the successive feet positions in order to make the robot walk. 160 160 161 161 [[Image(design_gait.png, 300px)]] … … 188 188 Then, a number of objects/methods can be used as components commands: 189 189 190 * selectPreviousConfig(self)191 * selectNextConfig(self)190 * {{{selectPreviousConfig(self)}}} 191 * {{{selectNextConfig(self)}}} 192 192 * {{{robot}}} 193 193 … … 231 231 === Mappers === 232 232 233 '''Mappers''' are simple objects helping to adapt params from '''!RemoteControl''' '''Components''' output to '''Robot'''/'''!GaitSequencer'''methods input.234 235 Custom '''Mappers'''can be defined.236 237 === Add a new Frontend ===233 {{{Mapper}}}s are simple objects helping to adapt params from {{{RemoteControl}}} {{{Component}}}s output to {{{Robot}}}/{{{GaitSequencer}}} methods input. 234 235 Custom {{{Mapper}}}s can be defined. 236 237 === Add a new frontend === 238 238 239 239 {{{Frontend}}}s are responsible of generating states. This is where specific controllers implementation live.
