- PlayerCc
- ActArrayProxy
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The ActArrayProxy class is used to control a actarray device.
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#include <playerc++.h>
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]. | |
| PlayerClient * | GetPlayerClient () 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_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 |
The ActArrayProxy class is used to control a actarray device.
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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].