Wrapper class around Motoman-specific motion control commands. More...

Public Member Functions
bool	controllerReady ()

bool	init (SmplMsgConnection *connection, int robot_id)

	MotomanMotionCtrl ()
	Default constructor. More...

bool	setTrajMode (bool enable)

bool	stopTrajectory ()

Static Public Member Functions
static std::string	getErrorString (const MotionReply &reply)

Protected Member Functions
bool	sendAndReceive (MotionControlCmd command, MotionReply &reply)

Detailed Description

Wrapper class around Motoman-specific motion control commands.

Definition at line 51 of file motion_ctrl.h.

Constructor & Destructor Documentation

motoman::motion_ctrl::MotomanMotionCtrl::MotomanMotionCtrl ( )

inline

Default constructor.

Definition at line 57 of file motion_ctrl.h.

bool motoman::motion_ctrl::MotomanMotionCtrl::controllerReady ( )

Definition at line 58 of file motion_ctrl.cpp.

std::string motoman::motion_ctrl::MotomanMotionCtrl::getErrorString ( const MotionReply & reply )

static

Definition at line 135 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::init	(	SmplMsgConnection *	connection,
		int	robot_id
	)

Definition at line 51 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::sendAndReceive	(	MotionControlCmd	command,
		MotionReply &	reply
	)

protected

Definition at line 112 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::setTrajMode ( bool enable )

Definition at line 73 of file motion_ctrl.cpp.

bool motoman::motion_ctrl::MotomanMotionCtrl::stopTrajectory ( )

Definition at line 93 of file motion_ctrl.cpp.

SmplMsgConnection* motoman::motion_ctrl::MotomanMotionCtrl::connection_

protected

Definition at line 69 of file motion_ctrl.h.

int motoman::motion_ctrl::MotomanMotionCtrl::robot_id_

protected

Definition at line 70 of file motion_ctrl.h.

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