PlayerCc::ActArrayProxy Class Reference

The ActArrayProxy class is used to control a actarray device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::ActArrayProxy:
Collaboration diagram for PlayerCc::ActArrayProxy:

List of all members.


Detailed Description

The ActArrayProxy class is used to control a actarray device.

Public Member Functions

 ActArrayProxy (PlayerClient *aPc, uint32_t aIndex=0)
 Default constructor.
 ~ActArrayProxy ()
 Default destructor.
void RequestGeometry (void)
 Geometry request - call before getting the geometry of a joint through the accessor method.
void SetPowerConfig (bool aVal)
 Power control.
void SetBrakesConfig (bool aVal)
 Brakes control.
void SetSpeedConfig (uint32_t aJoint, float aSpeed)
 Speed control.
void SetAccelerationConfig (uint32_t aJoint, float aAcc)
 Acceleration control.
void MoveTo (uint32_t aJoint, float aPos)
 Send an actuator to a position.
void MoveToMulti (std::vector< float > aPos)
 Send actuators 0 thru n to the designated positions.
void MoveAtSpeed (uint32_t aJoint, float aSpeed)
 Move an actuator at a speed.
void MoveAtSpeedMulti (std::vector< float > aSpeed)
 Move actuators 0 thru n at the designated speeds.
void MoveHome (int aJoint)
 Send an actuator, or all actuators, home.
void SetActuatorCurrent (uint32_t aJoint, float aCurrent)
 Set an actuator to a given current.
void SetActuatorCurrentMulti (std::vector< float > aCurrent)
 Set actuators 0 thru n to the given currents.
uint32_t GetCount (void) const
 Gets the number of actuators in the array.
player_actarray_actuator_t GetActuatorData (uint32_t aJoint) const
 Accessor method for getting an actuator's data.
player_actarray_actuatorgeom_t GetActuatorGeom (uint32_t aJoint) const
 Same again for getting actuator geometry.
player_point_3d_t GetBasePos (void) const
 Accessor method for getting the base position.
player_orientation_3d_t GetBaseOrientation (void) const
 Accessor method for getting the base orientation.
player_actarray_actuator_t operator[] (uint32_t aJoint)
 Actuator data access operator.

Private Member Functions

void Subscribe (uint32_t aIndex)
void Unsubscribe ()

Private Attributes

playerc_actarray_tmDevice

Member Function Documentation

player_actarray_actuator_t PlayerCc::ActArrayProxy::operator[] ( uint32_t  aJoint) [inline]

Actuator data access operator.

This operator provides an alternate way of access the actuator data. For example, given a ActArrayProxy named ap, the following expressions are equivalent: ap.GetActuatorData[0] and ap[0].


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