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)
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

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Detailed Description

Definition at line 108 of file motoplus/motoros_lib/output/p_var_q.h.

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Constructor & Destructor Documentation

PVarQ::PVarQ

(

)

Definition at line 51 of file p_var_q.cpp.

PVarQ::~PVarQ

(

void

)

Definition at line 64 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:

joint

position to add

Definition at line 87 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:

joint

position to add

bool PVarQ::bufferEmpty

(

)

Return true if buffer is empty.

Returns:

true if buffer is empty

Definition at line 151 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 139 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 103 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 172 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 172 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 129 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 164 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 164 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 124 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 134 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 162 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:

value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (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:

value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 69 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 156 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 156 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 147 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 147 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:

value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 171 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:

value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (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:

position	index
value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (will be converted to appropriate integer (see note for jointSpeedData_)

Definition at line 177 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:

position	index
value	to set joint position to (IN ROS JOINT ORDER)
percent	velocity (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 218 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 218 of file motoplus/motoros_lib/output/p_var_q.h.

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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 258 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 230 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 267 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 250 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 242 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 236 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 273 of file motoplus/motoros_lib/output/p_var_q.h.

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

Definition at line 225 of file motoplus/motoros_lib/output/p_var_q.h.

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

• motoplus/motoros_lib/output/p_var_q.h
• motoplus/motoros_lib/p_var_q.h
• p_var_q.cpp