hebi::Info Class Reference

Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings. More...

#include <info.hpp>

Classes
class	Actuator
	Actuator-specific information. More...
class	BoolField
	A message field representable by a bool value. More...
class	EnumField
	A message field representable by an enum of a given type. More...
class	FlagField
	A two-state message field (either set/true or cleared/false). More...
class	FloatField
	A message field representable by a single-precision floating point value. More...
class	HighResAngleField
	A message field for an angle measurement which does not lose precision at very high angles. More...
class	LedField
	A message field for interfacing with an LED. More...
class	Settings
	Module settings that are typically changed at a slower rate. More...
class	StringField
	A message field representable by a std::string. More...

Public Types
enum	CalibrationState { CalibrationState::Normal, CalibrationState::UncalibratedCurrent, CalibrationState::UncalibratedPosition, CalibrationState::UncalibratedEffort }
enum	ControlStrategy {   ControlStrategy::Off, ControlStrategy::DirectPWM, ControlStrategy::Strategy2, ControlStrategy::Strategy3,   ControlStrategy::Strategy4 }

Public Member Functions
const Actuator &	actuator () const
	Actuator-specific information. More...
	Info (HebiInfoPtr)
	Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions! More...
	Info (Info &&other)
	Move constructor (necessary for containment in STL template classes) More...
const LedField &	led () const
	The module's LED. More...
const StringField &	serial () const
	Gets the serial number for this module (e.g., X5-0001). More...
const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...
	~Info () noexcept
	Cleans up info object as necessary. More...

Protected Types
using	InfoGains = Gains< HebiInfoPtr, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField >

Private Member Functions
Info &	operator= (const Info &&other)=delete

Private Attributes
Actuator	actuator_
HebiInfoPtr	internal_
LedField	led_
StringField	serial_
Settings	settings_

Detailed Description

Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent info object, and so should not be used after the parent object has been destroyed.

The fields in the info object are typed; generally, these are optional-style read-only fields (i.e., have the concept of has/get), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Definition at line 30 of file info.hpp.

Member Typedef Documentation

using hebi::Info::InfoGains = Gains<HebiInfoPtr, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField>

protected

Definition at line 293 of file info.hpp.

Member Enumeration Documentation

enum hebi::Info::CalibrationState

strong

Enumerator
Normal	The module has been calibrated; this is the normal state.
UncalibratedCurrent	The current has not been calibrated.
UncalibratedPosition	The factory zero position has not been set.
UncalibratedEffort	The effort (e.g., spring nonlinearity) has not been calibrated.

Definition at line 46 of file info.hpp.

enum hebi::Info::ControlStrategy

strong

Enumerator
Off	The motor is not given power (equivalent to a 0 PWM value)
DirectPWM	A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Strategy2	A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control Modes".
Strategy3	A combination of the position, velocity, and effort loops with P, V, and T feeding to PWM; documented on docs.hebi.us under "Control Modes".
Strategy4	A combination of the position, velocity, and effort loops with P feeding to T and V feeding to PWM; documented on docs.hebi.us under "Control Modes".

Definition at line 33 of file info.hpp.

Constructor & Destructor Documentation

hebi::Info::Info

(

HebiInfoPtr

info

)

Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions!

Definition at line 155 of file info.cpp.

hebi::Info::Info

(

Info &&

other

)

Move constructor (necessary for containment in STL template classes)

Definition at line 167 of file info.cpp.

hebi::Info::~Info ( )

noexcept

Cleans up info object as necessary.

Definition at line 163 of file info.cpp.

Member Function Documentation

const Actuator& hebi::Info::actuator ( ) const

inline

Actuator-specific information.

Definition at line 457 of file info.hpp.

const Info::LedField & hebi::Info::led

(

)

const

The module's LED.

Definition at line 178 of file info.cpp.

Info& hebi::Info::operator= ( const Info &&  other )

privatedelete

Disable copy constructor/assignment operators

const StringField& hebi::Info::serial ( ) const

inline

Gets the serial number for this module (e.g., X5-0001).

Definition at line 465 of file info.hpp.

const Settings& hebi::Info::settings ( ) const

inline

Module settings that are typically changed at a slower rate.

Definition at line 455 of file info.hpp.

Member Data Documentation

Actuator hebi::Info::actuator_

private

Definition at line 469 of file info.hpp.

HebiInfoPtr hebi::Info::internal_

private

C-style object; managed by parent. NOTE: this should not be used except by internal library functions!

Definition at line 430 of file info.hpp.

LedField hebi::Info::led_

private

Definition at line 471 of file info.hpp.

StringField hebi::Info::serial_

private

Definition at line 473 of file info.hpp.

Settings hebi::Info::settings_

private

Definition at line 468 of file info.hpp.

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

• info.hpp
• info.cpp