hebi::Command::HighResAngleField Class Reference

A message field for an angle measurement which does not lose precision at very high angles. More...

#include <command.hpp>

Public Member Functions
void	clear ()
	Removes any currently set value for this field. More...
double	get () const
	If the field has a value, returns that value as a double; otherwise, returns a default. More...
void	get (int64_t *revolutions, float *radian_offset) const
	If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default. More...
bool	has () const
	True if (and only if) the field has a value. More...
	HighResAngleField (HebiCommandPtr internal, HebiCommandHighResAngleField field)
	operator bool () const
	Allows casting to a bool to check if the field has a value without directly calling has(). More...
void	set (double radians)
	Sets the field to a given double value (in radians). Note that double precision floating point numbers cannot represent the same angular resolution at very high magnitudes as they can at lower magnitudes. More...
void	set (int64_t revolutions, float radian_offset)
	Sets the field to a given integer number of revolutions and a floating point offset from this number of revolutions. The offset does not specifically need to fall within a certain range (i.e., can add more than a single revolution to the integer value), but should be kept relatively small (e.g., below 10,000) to avoid potential loss of precision. More...

Private Attributes
HebiCommandHighResAngleField const	field_
HebiCommandPtr const	internal_

Detailed Description

A message field for an angle measurement which does not lose precision at very high angles.

This field is represented as an int64_t for the number of revolutions and a float for the radian offset from that number of revolutions.

Definition at line 89 of file command.hpp.

Constructor & Destructor Documentation

hebi::Command::HighResAngleField::HighResAngleField	(	HebiCommandPtr	internal,
		HebiCommandHighResAngleField	field
	)

Definition at line 46 of file command.cpp.

Member Function Documentation

void hebi::Command::HighResAngleField::clear

(

)

Removes any currently set value for this field.

Definition at line 101 of file command.cpp.

double hebi::Command::HighResAngleField::get

(

)

const

If the field has a value, returns that value as a double; otherwise, returns a default.

Note that some precision might be lost converting to a double at very high number of revolutions.

Definition at line 61 of file command.cpp.

void hebi::Command::HighResAngleField::get	(	int64_t *	revolutions,
		float *	radian_offset
	)		const

If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default.

Note that this maintains the full precision of the underlying angle measurement, even for very large numbers of revolutions.

Parameters

revolutions	The number of full revolutions
radian_offset	The offset from the given number of full revolutions. Note that this is usually between 0 and 2*M_PI, but callers should not assume this.

Definition at line 75 of file command.cpp.

bool hebi::Command::HighResAngleField::has

(

)

const

True if (and only if) the field has a value.

Definition at line 56 of file command.cpp.

hebi::Command::HighResAngleField::operator bool ( ) const

explicit

Allows casting to a bool to check if the field has a value without directly calling has().

This can be used as in the following (assuming 'parent' is a parent message, and this field is called 'myField')

Command::HighResAngleField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

Definition at line 51 of file command.cpp.

void hebi::Command::HighResAngleField::set

(

double

radians

)

Sets the field to a given double value (in radians). Note that double precision floating point numbers cannot represent the same angular resolution at very high magnitudes as they can at lower magnitudes.

Definition at line 84 of file command.cpp.

void hebi::Command::HighResAngleField::set	(	int64_t	revolutions,
		float	radian_offset
	)

Sets the field to a given integer number of revolutions and a floating point offset from this number of revolutions. The offset does not specifically need to fall within a certain range (i.e., can add more than a single revolution to the integer value), but should be kept relatively small (e.g., below 10,000) to avoid potential loss of precision.

Definition at line 96 of file command.cpp.

Member Data Documentation

HebiCommandHighResAngleField const hebi::Command::HighResAngleField::field_

private

Definition at line 145 of file command.hpp.

HebiCommandPtr const hebi::Command::HighResAngleField::internal_

private

Definition at line 144 of file command.hpp.

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

• command.hpp
• command.cpp