PlayerCc::ActArrayProxy Class Reference
The ActArrayProxy class is used to control a actarray device.
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#include <playerc++.h>
Inheritance diagram for PlayerCc::ActArrayProxy:
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 | 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_t * | mDevice |
Detailed Description
The ActArrayProxy class is used to control a actarray device.
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: