Public Member Functions | Private Member Functions | Private Attributes | List of all members
PlayerCc::ActArrayProxy Class Reference

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

#include <playerc++.h>

Inheritance diagram for PlayerCc::ActArrayProxy:
PlayerCc::ClientProxy

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. More...
 
- Public Member Functions inherited from PlayerCc::ClientProxy
bool IsValid () const
 Returns true if we have received any data from the device.
 
bool IsFresh () const
 Fresh is set to true on each new read. More...
 
void NotFresh ()
 This states that the data in a client is currently not Fresh.
 
std::string GetDriverName () const
 Returns the driver name. More...
 
double GetDataTime () const
 Returns the received timestamp [s].
 
double GetElapsedTime () const
 Returns the received timestamp [s].
 
PlayerClientGetPlayerClient () const
 Returns a pointer to the Player Client.
 
uint32_t GetIndex () const
 Returns device index.
 
uint32_t GetInterface () const
 Returns device interface.
 
std::string GetInterfaceStr () const
 Returns device interface.
 
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.
 
int SetBoolProp (char *aProperty, bool aValue)
 Set a boolean property.
 
int GetIntProp (char *aProperty, int32_t *aValue)
 Request an integer property.
 
int SetIntProp (char *aProperty, int32_t aValue)
 Set an integer property.
 
int GetDblProp (char *aProperty, double *aValue)
 Request a double property.
 
int SetDblProp (char *aProperty, double aValue)
 Set a double property.
 
int GetStrProp (char *aProperty, char **aValue)
 Request a string property.
 
int SetStrProp (char *aProperty, char *aValue)
 Set a string property.
 
template<typename T >
connection_t ConnectReadSignal (T aSubscriber)
 Connect a signal to this proxy For more information check out Signals & multithreading.
 
void DisconnectReadSignal (connection_t aSubscriber)
 Disconnect a signal to this proxy.
 

Private Member Functions

void Subscribe (uint32_t aIndex)
 
void Unsubscribe ()
 

Private Attributes

playerc_actarray_tmDevice
 

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 >
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
PlayerClientmPc
 
playerc_client_tmClient
 
playerc_device_tmInfo
 
bool mFresh
 

Detailed Description

The ActArrayProxy class is used to control a actarray device.

Member Function Documentation

◆ operator[]()

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:

Last updated 12 September 2005 21:38:45