PlayerCc::LimbProxy Class Reference

The LimbProxy class is used to control a limb device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::LimbProxy:

Collaboration diagram for PlayerCc::LimbProxy:

Detailed Description

The LimbProxy class is used to control a limb device.

Public Member Functions
	LimbProxy (PlayerClient *aPc, uint32_t aIndex=0)
	Constructor.
	~LimbProxy ()
	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 (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.
Public Member Functions inherited from PlayerCc::ClientProxy
bool	IsValid () const
	Proxy has any information. More...
bool	IsFresh () const
	Check for fresh data. More...
void	NotFresh ()
	Reset Fresh flag. More...
std::string	GetDriverName () const
	Get the underlying driver's name. More...
double	GetDataTime () const
	Returns the received timestamp of the last data sample [s].
double	GetElapsedTime () const
	Returns the time between the current data time and the time of the last data sample [s].
PlayerClient *	GetPlayerClient () const
	Get a pointer to the Player Client. More...
uint32_t	GetIndex () const
	Get device index. More...
uint32_t	GetInterface () const
	Get Interface Code. More...
std::string	GetInterfaceStr () const
	Get Interface Name. More...
void	SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1)
	Set a replace rule for this proxy on the server. More...
int	HasCapability (uint32_t aType, uint32_t aSubtype)
	Request capabilities of device. More...
int	GetBoolProp (char *aProperty, bool *aValue)
	Request a boolean property. More...
int	SetBoolProp (char *aProperty, bool aValue)
	Set a boolean property. More...
int	GetIntProp (char *aProperty, int32_t *aValue)
	Request an integer property. More...
int	SetIntProp (char *aProperty, int32_t aValue)
	Set an integer property. More...
int	GetDblProp (char *aProperty, double *aValue)
	Request a double property. More...
int	SetDblProp (char *aProperty, double aValue)
	Set a double property. More...
int	GetStrProp (char *aProperty, char **aValue)
	Request a string property. More...
int	SetStrProp (char *aProperty, char *aValue)
	Set a string property. More...
template<typename T >
connection_t	ConnectReadSignal (T aSubscriber)
	Connect a read signal to this proxy. More...
void	DisconnectReadSignal (connection_t aSubscriber)
	Disconnect a signal from this proxy. More...

Private Member Functions
void	Subscribe (uint32_t aIndex)
void	Unsubscribe ()

Private Attributes
playerc_limb_t *	mDevice

Additional Inherited Members
Public Types inherited from PlayerCc::ClientProxy
typedef int	connection_t
typedef boost::mutex::scoped_lock	scoped_lock_t
typedef int	read_signal_t
Protected Member Functions inherited from PlayerCc::ClientProxy
	ClientProxy (PlayerClient *aPc, uint32_t aIndex)
template<typename T >
T	GetVar (const T &aV) const
template<typename T >
void	GetVarByRef (const T aBegin, const T aEnd, T aDest) const
Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClient *	mPc
playerc_client_t *	mClient
playerc_device_t *	mInfo
bool	mFresh

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

• playerc++.h