hebi::Feedback::HighResAngleField Class Reference

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

#include <feedback.hpp>

Public Member Functions
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 (HebiFeedbackPtr internal, HebiFeedbackHighResAngleField field)
	operator bool () const
	Allows casting to a bool to check if the field has a value without directly calling has(). More...

Private Attributes
HebiFeedbackHighResAngleField const	field_
HebiFeedbackPtr 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 150 of file feedback.hpp.

Constructor & Destructor Documentation

hebi::Feedback::HighResAngleField::HighResAngleField	(	HebiFeedbackPtr	internal,
		HebiFeedbackHighResAngleField	field
	)

Definition at line 35 of file feedback.cpp.

Member Function Documentation

double hebi::Feedback::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 50 of file feedback.cpp.

void hebi::Feedback::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 64 of file feedback.cpp.

bool hebi::Feedback::HighResAngleField::has

(

)

const

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

Definition at line 45 of file feedback.cpp.

hebi::Feedback::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')

Feedback::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 40 of file feedback.cpp.

Member Data Documentation

HebiFeedbackHighResAngleField const hebi::Feedback::HighResAngleField::field_

private

Definition at line 192 of file feedback.hpp.

HebiFeedbackPtr const hebi::Feedback::HighResAngleField::internal_

private

Definition at line 191 of file feedback.hpp.

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

• feedback.hpp
• feedback.cpp