Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes
motoman::p_var_q::PVarQ Class Reference

#include <p_var_q.h>

List of all members.

Public Member Functions

void addPoint (industrial::joint_data::JointData &joints, double velocity_percent)
 Adds point to the queue (will block until point can be added)
void addPoint (industrial::joint_data::JointData &joints, double velocity_percent)
 Adds point to the queue (will block until point can be added)
bool bufferEmpty ()
 Return true if buffer is empty.
bool bufferEmpty ()
 Return true if buffer is empty.
bool bufferFull ()
 Return true if buffer is full (points cannot be added)
bool bufferFull ()
 Return true if buffer is full (points cannot be added)
int bufferSize ()
 Return current buffer size (number of remaining points) Should be used to determine if more points can be added.
int bufferSize ()
 Return current buffer size (number of remaining points) Should be used to determine if more points can be added.
int getBufferIndex ()
 Return buffer pointer index.
int getBufferIndex ()
 Return buffer pointer index.
int getBufferPosIndex ()
 Return buffer position variable index.
int getBufferPosIndex ()
 Return buffer position variable index.
int getMotionIndex ()
 Return motion pointer index.
int getMotionIndex ()
 Return motion pointer index.
int getMotionPosIndex ()
 Return motion position variable index.
int getMotionPosIndex ()
 Return motion position variable index.
int getNextBufferPosIndex ()
 Return next buffer position variable index.
int getNextBufferPosIndex ()
 Return next buffer position variable index.
void init (industrial::joint_data::JointData &point, double velocity_percent)
 Initializes the queue (sets the initial joint position)
void init (industrial::joint_data::JointData &point, double velocity_percent)
 Initializes the queue (sets the initial joint position)
int maxBufferSize ()
 Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.
int maxBufferSize ()
 Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.
int posVarQueueSize ()
 Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.
int posVarQueueSize ()
 Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.
 PVarQ ()
 PVarQ ()
double TEMP_getVelocityPercent ()
 Get temporary velocity variable (Will be removed in the future)
double TEMP_getVelocityPercent ()
 Get temporary velocity variable (Will be removed in the future)
 ~PVarQ (void)
 ~PVarQ (void)

Protected Member Functions

void incBufferIndex ()
 Increments buffer index.
void incBufferIndex ()
 Increments buffer index.
void setNextPosition (industrial::joint_data::JointData &point, double velocity_percent)
 Set position variable that is next in the queue.
void setNextPosition (industrial::joint_data::JointData &point, double velocity_percent)
 Set position variable that is next in the queue.
void setPosition (int index, industrial::joint_data::JointData &point, double velocity_percent)
 Set position variable in the queue position(index)
void setPosition (int index, industrial::joint_data::JointData &point, double velocity_percent)
 Set position variable in the queue position(index)

Protected Attributes

MP_POSVAR_DATA pointData_
 motion point

Static Protected Attributes

static const int BUFFER_POINTER_ = 92
 Integer index in INFORM integer variable table where buffer pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
static const int BUFFER_POLL_TICK_DELAY_ = 100
 number of ticks to delay between buffer polling
static const int MIN_BUF_START_POINTER_ = 93
 Integer index in INFORM integer variable table where the minimum buffer size for starting motion is. (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
static const int MOTION_POINTER_ = 91
 Integer index in INFORM integer variable table where motion pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
static const int PT_LOOK_AHEAD_ = 5
 Number of points the INFORM motion planner looks ahead.
static const int QSIZE_ = 20
 Size of the INFORM motion queue (i.e. the number of position variables in the MOTION_JOB_NAME_.
static const int TEMP_VELOCITY_POINTER = 94
 Temporary integer value for holding move velocity (WILL BE REMOVED WHEN TRAJECTORY VELOCITY IS USED)
static const int VAR_POLL_TICK_DELAY_ = 10

Detailed Description

Definition at line 107 of file motoplus/motoros_lib/output/p_var_q.h.

Constructor & Destructor Documentation

PVarQ::PVarQ ( )

Definition at line 50 of file p_var_q.cpp.

PVarQ::~PVarQ ( void  )

Definition at line 67 of file p_var_q.cpp.

motoman::p_var_q::PVarQ::PVarQ ( )
motoman::p_var_q::PVarQ::~PVarQ ( void  )

Member Function Documentation

void PVarQ::addPoint ( industrial::joint_data::JointData &  joints,
double  velocity_percent 
)

Adds point to the queue (will block until point can be added)

Parameters:
jointposition to add

Definition at line 90 of file p_var_q.cpp.

void motoman::p_var_q::PVarQ::addPoint ( industrial::joint_data::JointData &  joints,
double  velocity_percent 
)

Adds point to the queue (will block until point can be added)

Parameters:
jointposition to add
bool PVarQ::bufferEmpty ( )

Return true if buffer is empty.

Returns:
true if buffer is empty

Definition at line 154 of file p_var_q.cpp.

bool motoman::p_var_q::PVarQ::bufferEmpty ( )

Return true if buffer is empty.

Returns:
true if buffer is empty
bool PVarQ::bufferFull ( )

Return true if buffer is full (points cannot be added)

Returns:
true if buffer is full

Definition at line 142 of file p_var_q.cpp.

bool motoman::p_var_q::PVarQ::bufferFull ( )

Return true if buffer is full (points cannot be added)

Returns:
true if buffer is full
int motoman::p_var_q::PVarQ::bufferSize ( )

Return current buffer size (number of remaining points) Should be used to determine if more points can be added.

Returns:
current buffer size
int PVarQ::bufferSize ( )

Return current buffer size (number of remaining points) Should be used to determine if more points can be added.

Returns:
current buffer size

Definition at line 106 of file p_var_q.cpp.

int motoman::p_var_q::PVarQ::getBufferIndex ( ) [inline]

Return buffer pointer index.

Returns:
buffer pointer index

Definition at line 171 of file motoplus/motoros_lib/p_var_q.h.

int motoman::p_var_q::PVarQ::getBufferIndex ( ) [inline]

Return buffer pointer index.

Returns:
buffer pointer index

Definition at line 171 of file motoplus/motoros_lib/output/p_var_q.h.

int PVarQ::getBufferPosIndex ( )

Return buffer position variable index.

Returns:
buffer position variable index

Definition at line 132 of file p_var_q.cpp.

int motoman::p_var_q::PVarQ::getBufferPosIndex ( )

Return buffer position variable index.

Returns:
buffer position variable index
int motoman::p_var_q::PVarQ::getMotionIndex ( ) [inline]

Return motion pointer index.

Returns:
motion pointer index

Definition at line 163 of file motoplus/motoros_lib/p_var_q.h.

int motoman::p_var_q::PVarQ::getMotionIndex ( ) [inline]

Return motion pointer index.

Returns:
motion pointer index

Definition at line 163 of file motoplus/motoros_lib/output/p_var_q.h.

int PVarQ::getMotionPosIndex ( )

Return motion position variable index.

Returns:
motion position variable index

Definition at line 127 of file p_var_q.cpp.

int motoman::p_var_q::PVarQ::getMotionPosIndex ( )

Return motion position variable index.

Returns:
motion position variable index
int PVarQ::getNextBufferPosIndex ( )

Return next buffer position variable index.

Returns:
next buffer position variable index

Definition at line 137 of file p_var_q.cpp.

int motoman::p_var_q::PVarQ::getNextBufferPosIndex ( )

Return next buffer position variable index.

Returns:
next buffer position variable index
void PVarQ::incBufferIndex ( ) [protected]

Increments buffer index.

Definition at line 165 of file p_var_q.cpp.

void motoman::p_var_q::PVarQ::incBufferIndex ( ) [protected]

Increments buffer index.

void motoman::p_var_q::PVarQ::init ( industrial::joint_data::JointData &  point,
double  velocity_percent 
)

Initializes the queue (sets the initial joint position)

Parameters:
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)
void PVarQ::init ( industrial::joint_data::JointData &  point,
double  velocity_percent 
)

Initializes the queue (sets the initial joint position)

Parameters:
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 72 of file p_var_q.cpp.

int motoman::p_var_q::PVarQ::maxBufferSize ( ) [inline]

Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.

Returns:
max buffer size

Definition at line 155 of file motoplus/motoros_lib/p_var_q.h.

int motoman::p_var_q::PVarQ::maxBufferSize ( ) [inline]

Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.

Returns:
max buffer size

Definition at line 155 of file motoplus/motoros_lib/output/p_var_q.h.

int motoman::p_var_q::PVarQ::posVarQueueSize ( ) [inline]

Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.

Returns:
number of position variables in queue

Definition at line 146 of file motoplus/motoros_lib/output/p_var_q.h.

int motoman::p_var_q::PVarQ::posVarQueueSize ( ) [inline]

Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.

Returns:
number of position variables in queue

Definition at line 146 of file motoplus/motoros_lib/p_var_q.h.

void PVarQ::setNextPosition ( industrial::joint_data::JointData &  point,
double  velocity_percent 
) [protected]

Set position variable that is next in the queue.

Parameters:
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 174 of file p_var_q.cpp.

void motoman::p_var_q::PVarQ::setNextPosition ( industrial::joint_data::JointData &  point,
double  velocity_percent 
) [protected]

Set position variable that is next in the queue.

Parameters:
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)
void PVarQ::setPosition ( int  index,
industrial::joint_data::JointData &  point,
double  velocity_percent 
) [protected]

Set position variable in the queue position(index)

Parameters:
positionindex
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 180 of file p_var_q.cpp.

void motoman::p_var_q::PVarQ::setPosition ( int  index,
industrial::joint_data::JointData &  point,
double  velocity_percent 
) [protected]

Set position variable in the queue position(index)

Parameters:
positionindex
valueto set joint position to (IN ROS JOINT ORDER)
percentvelocity (will be converted to appropriate integer (see note for jointSpeedData_)
double motoman::p_var_q::PVarQ::TEMP_getVelocityPercent ( ) [inline]

Get temporary velocity variable (Will be removed in the future)

Returns:
velocity percent

Definition at line 217 of file motoplus/motoros_lib/p_var_q.h.

double motoman::p_var_q::PVarQ::TEMP_getVelocityPercent ( ) [inline]

Get temporary velocity variable (Will be removed in the future)

Returns:
velocity percent

Definition at line 217 of file motoplus/motoros_lib/output/p_var_q.h.

Member Data Documentation

static const int PVarQ::BUFFER_POINTER_ = 92 [static, protected]

Integer index in INFORM integer variable table where buffer pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)

Definition at line 261 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::BUFFER_POLL_TICK_DELAY_ = 100 [static, protected]

number of ticks to delay between buffer polling

Definition at line 233 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::MIN_BUF_START_POINTER_ = 93 [static, protected]

Integer index in INFORM integer variable table where the minimum buffer size for starting motion is. (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)

Definition at line 270 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::MOTION_POINTER_ = 91 [static, protected]

Integer index in INFORM integer variable table where motion pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)

Definition at line 253 of file motoplus/motoros_lib/output/p_var_q.h.

MP_POSVAR_DATA PVarQ::pointData_ [protected]

motion point

Definition at line 218 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::PT_LOOK_AHEAD_ = 5 [static, protected]

Number of points the INFORM motion planner looks ahead.

Definition at line 245 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::QSIZE_ = 20 [static, protected]

Size of the INFORM motion queue (i.e. the number of position variables in the MOTION_JOB_NAME_.

Definition at line 239 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::TEMP_VELOCITY_POINTER = 94 [static, protected]

Temporary integer value for holding move velocity (WILL BE REMOVED WHEN TRAJECTORY VELOCITY IS USED)

Definition at line 276 of file motoplus/motoros_lib/output/p_var_q.h.

static const int PVarQ::VAR_POLL_TICK_DELAY_ = 10 [static, protected]

Definition at line 228 of file motoplus/motoros_lib/output/p_var_q.h.

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

dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36