PlayerCc::LimbProxy Class Reference
The LimbProxy class is used to control a limb device.
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#include <playerc++.h>
Inheritance diagram for PlayerCc::LimbProxy:
Public Member Functions | |
| LimbProxy (PlayerClient *aPc, uint32_t aIndex=0) | |
| 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 (float aSpeed) |
| Speed control. | |
| void | MoveHome (void) |
| Move the limb to the home position. | |
| void | Stop (void) |
| Stop the limb immediately. | |
| void | SetPose (float aPX, float aPY, float aPZ, float aAX, float aAY, float aAZ, float aOX, float aOY, float aOZ) |
| Move the end effector to a given pose. | |
| void | SetPosition (float aX, float aY, float aZ) |
| Move the end effector to a given position, ignoring orientation. | |
| void | VectorMove (float aX, float aY, float aZ, float aLength) |
| Move the end effector along a vector of given length, maintaining current orientation. | |
| player_limb_data_t | GetData (void) const |
| Accessor method for getting the limb's data. | |
| player_limb_geom_req_t | GetGeom (void) const |
| Same again for getting the limb's geometry. | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_limb_t * | mDevice |
Detailed Description
The documentation for this class was generated from the following file: