JOINT_CONTROL Class Reference

#include <joint_control.h>

Public Member Functions
void	clear_eff_over (void)
uint16_t	get_center (void)
double	get_command (void)
double *	get_command_addr (void)
double	get_current (void)
double	get_d_command (void)
uint16_t	get_dxl_curr (void)
uint8_t	get_dxl_goal (void)
uint8_t *	get_dxl_goal_addr (void)
uint8_t	get_dxl_id (void)
uint32_t	get_dxl_pos (void)
uint8_t	get_dxl_temp (void)
double	get_eff_const (void)
uint8_t	get_eff_over_cnt (void)
double	get_effort (void)
double *	get_effort_addr (void)
uint16_t	get_home (void)
std::string	get_joint_name (void)
ST_JOINT_PARAM	get_joint_param (void)
double	get_max_effort (void)
uint8_t	get_ope_mode (void)
double	get_position (void)
double *	get_position_addr (void)
double	get_temprature (void)
bool	get_torque (void)
double	get_velocity (void)
double *	get_velocity_addr (void)
void	inc_eff_over (void)
void	init_parameter (std::string init_name, uint8_t init_dxlid, uint16_t init_center, uint16_t init_home, double init_eff_const, uint8_t init_mode)
bool	is_connect (void)
bool	is_effort_limiting (void)
	JOINT_CONTROL (void)
	JOINT_CONTROL (std::string init_name, uint8_t init_dxlid, uint16_t init_center, uint16_t init_home, double init_eff_const, uint8_t init_mode)
	JOINT_CONTROL (const JOINT_CONTROL &src)
void	set_center (uint16_t set_center)
void	set_command (double set_cmd)
void	set_connect (bool set_connect)
void	set_current (double set_curr)
void	set_dxl_curr (uint16_t set_dxl_curr)
void	set_dxl_id (uint8_t set_id)
void	set_dxl_pos (uint32_t set_dxl_pos)
void	set_dxl_temp (uint8_t set_dxl_temp)
void	set_eff_limiting (bool set_limiting)
void	set_effort (double set_eff)
void	set_home (uint16_t set_home)
void	set_joint_name (std::string set_name)
void	set_joint_param (ST_JOINT_PARAM set_param)
void	set_limits (joint_limits_interface::JointLimits &set_limits)
void	set_position (double set_rad)
void	set_temprature (double set_temp)
void	set_torque (bool set_trq)
void	set_velocity (double set_vel)
void	updt_d_command (double val)
	~JOINT_CONTROL (void)

Private Attributes
uint16_t	center
double	cmd
bool	connect
double	curr
double	d_cmd
uint16_t	dxl_curr
uint8_t	dxl_goal [4]
uint32_t	dxl_pos
uint8_t	dxl_temp
double	eff
double	eff_const
bool	eff_limiting
uint8_t	eff_over_cnt
double	goal_eff
double	goal_pos
double	goal_vel
uint16_t	home
uint8_t	id
joint_limits_interface::JointLimits	limits
std::string	name
uint8_t	ope_mode
ST_JOINT_PARAM	param
double	pos
double	prev_cmd
double	temp
bool	torque
double	vel

Detailed Description

Definition at line 203 of file joint_control.h.

Constructor & Destructor Documentation

JOINT_CONTROL() [1/3]

JOINT_CONTROL::JOINT_CONTROL

(

void

)

Definition at line 41 of file joint_control.cpp.

JOINT_CONTROL() [2/3]

JOINT_CONTROL::JOINT_CONTROL	(	std::string	init_name,
		uint8_t	init_dxlid,
		uint16_t	init_center,
		uint16_t	init_home,
		double	init_eff_const,
		uint8_t	init_mode
	)

Definition at line 45 of file joint_control.cpp.

JOINT_CONTROL() [3/3]

JOINT_CONTROL::JOINT_CONTROL

(

const JOINT_CONTROL &

src

)

Definition at line 49 of file joint_control.cpp.

~JOINT_CONTROL()

JOINT_CONTROL::~JOINT_CONTROL ( void  )

inline

Definition at line 209 of file joint_control.h.

Member Function Documentation

clear_eff_over()

void JOINT_CONTROL::clear_eff_over ( void  )

inline

Definition at line 229 of file joint_control.h.

get_center()

uint16_t JOINT_CONTROL::get_center ( void  )

inline

Definition at line 244 of file joint_control.h.

get_command()

double JOINT_CONTROL::get_command ( void  )

inline

Definition at line 241 of file joint_control.h.

get_command_addr()

double* JOINT_CONTROL::get_command_addr ( void  )

inline

Definition at line 242 of file joint_control.h.

get_current()

double JOINT_CONTROL::get_current ( void  )

inline

Definition at line 246 of file joint_control.h.

get_d_command()

double JOINT_CONTROL::get_d_command ( void  )

inline

Definition at line 263 of file joint_control.h.

get_dxl_curr()

uint16_t JOINT_CONTROL::get_dxl_curr ( void  )

inline

Definition at line 250 of file joint_control.h.

get_dxl_goal()

uint8_t JOINT_CONTROL::get_dxl_goal ( void  )

inline

Definition at line 252 of file joint_control.h.

get_dxl_goal_addr()

uint8_t* JOINT_CONTROL::get_dxl_goal_addr ( void  )

inline

Definition at line 256 of file joint_control.h.

get_dxl_id()

uint8_t JOINT_CONTROL::get_dxl_id ( void  )

inline

Definition at line 233 of file joint_control.h.

get_dxl_pos()

uint32_t JOINT_CONTROL::get_dxl_pos ( void  )

inline

Definition at line 249 of file joint_control.h.

get_dxl_temp()

uint8_t JOINT_CONTROL::get_dxl_temp ( void  )

inline

Definition at line 251 of file joint_control.h.

get_eff_const()

double JOINT_CONTROL::get_eff_const ( void  )

inline

Definition at line 259 of file joint_control.h.

get_eff_over_cnt()

uint8_t JOINT_CONTROL::get_eff_over_cnt ( void  )

inline

Definition at line 258 of file joint_control.h.

get_effort()

double JOINT_CONTROL::get_effort ( void  )

inline

Definition at line 238 of file joint_control.h.

get_effort_addr()

double* JOINT_CONTROL::get_effort_addr ( void  )

inline

Definition at line 240 of file joint_control.h.

get_home()

uint16_t JOINT_CONTROL::get_home ( void  )

inline

Definition at line 245 of file joint_control.h.

get_joint_name()

std::string JOINT_CONTROL::get_joint_name ( void  )

inline

Definition at line 232 of file joint_control.h.

get_joint_param()

ST_JOINT_PARAM JOINT_CONTROL::get_joint_param ( void  )

inline

Definition at line 261 of file joint_control.h.

get_max_effort()

double JOINT_CONTROL::get_max_effort ( void  )

inline

Definition at line 239 of file joint_control.h.

get_ope_mode()

uint8_t JOINT_CONTROL::get_ope_mode ( void  )

inline

Definition at line 260 of file joint_control.h.

get_position()

double JOINT_CONTROL::get_position ( void  )

inline

Definition at line 234 of file joint_control.h.

get_position_addr()

double* JOINT_CONTROL::get_position_addr ( void  )

inline

Definition at line 235 of file joint_control.h.

get_temprature()

double JOINT_CONTROL::get_temprature ( void  )

inline

Definition at line 247 of file joint_control.h.

get_torque()

bool JOINT_CONTROL::get_torque ( void  )

inline

Definition at line 243 of file joint_control.h.

get_velocity()

double JOINT_CONTROL::get_velocity ( void  )

inline

Definition at line 236 of file joint_control.h.

get_velocity_addr()

double* JOINT_CONTROL::get_velocity_addr ( void  )

inline

Definition at line 237 of file joint_control.h.

inc_eff_over()

void JOINT_CONTROL::inc_eff_over ( void  )

inline

Definition at line 228 of file joint_control.h.

init_parameter()

void JOINT_CONTROL::init_parameter	(	std::string	init_name,
		uint8_t	init_dxlid,
		uint16_t	init_center,
		uint16_t	init_home,
		double	init_eff_const,
		uint8_t	init_mode
	)

Definition at line 6 of file joint_control.cpp.

is_connect()

bool JOINT_CONTROL::is_connect ( void  )

inline

Definition at line 248 of file joint_control.h.

is_effort_limiting()

bool JOINT_CONTROL::is_effort_limiting ( void  )

inline

Definition at line 257 of file joint_control.h.

set_center()

void JOINT_CONTROL::set_center ( uint16_t  set_center )

inline

Definition at line 218 of file joint_control.h.

set_command()

void JOINT_CONTROL::set_command ( double  set_cmd )

inline

Definition at line 216 of file joint_control.h.

set_connect()

void JOINT_CONTROL::set_connect ( bool  set_connect )

inline

Definition at line 222 of file joint_control.h.

set_current()

void JOINT_CONTROL::set_current ( double  set_curr )

inline

Definition at line 220 of file joint_control.h.

set_dxl_curr()

void JOINT_CONTROL::set_dxl_curr ( uint16_t  set_dxl_curr )

inline

Definition at line 224 of file joint_control.h.

set_dxl_id()

void JOINT_CONTROL::set_dxl_id ( uint8_t  set_id )

inline

Definition at line 212 of file joint_control.h.

set_dxl_pos()

void JOINT_CONTROL::set_dxl_pos ( uint32_t  set_dxl_pos )

inline

Definition at line 223 of file joint_control.h.

set_dxl_temp()

void JOINT_CONTROL::set_dxl_temp ( uint8_t  set_dxl_temp )

inline

Definition at line 225 of file joint_control.h.

set_eff_limiting()

void JOINT_CONTROL::set_eff_limiting ( bool  set_limiting )

inline

Definition at line 227 of file joint_control.h.

set_effort()

void JOINT_CONTROL::set_effort ( double  set_eff )

inline

Definition at line 215 of file joint_control.h.

set_home()

void JOINT_CONTROL::set_home ( uint16_t  set_home )

inline

Definition at line 219 of file joint_control.h.

set_joint_name()

void JOINT_CONTROL::set_joint_name ( std::string  set_name )

inline

Definition at line 211 of file joint_control.h.

set_joint_param()

void JOINT_CONTROL::set_joint_param ( ST_JOINT_PARAM  set_param )

inline

Definition at line 230 of file joint_control.h.

set_limits()

void JOINT_CONTROL::set_limits ( joint_limits_interface::JointLimits &  set_limits )

inline

Definition at line 226 of file joint_control.h.

set_position()

void JOINT_CONTROL::set_position ( double  set_rad )

inline

Definition at line 213 of file joint_control.h.

set_temprature()

void JOINT_CONTROL::set_temprature ( double  set_temp )

inline

Definition at line 221 of file joint_control.h.

set_torque()

void JOINT_CONTROL::set_torque ( bool  set_trq )

inline

Definition at line 217 of file joint_control.h.

set_velocity()

void JOINT_CONTROL::set_velocity ( double  set_vel )

inline

Definition at line 214 of file joint_control.h.

updt_d_command()

void JOINT_CONTROL::updt_d_command ( double  val )

inline

Definition at line 262 of file joint_control.h.

Member Data Documentation

center

uint16_t JOINT_CONTROL::center

private

Definition at line 277 of file joint_control.h.

cmd

double JOINT_CONTROL::cmd

private

Definition at line 271 of file joint_control.h.

connect

bool JOINT_CONTROL::connect

private

Definition at line 279 of file joint_control.h.

curr

double JOINT_CONTROL::curr

private

Definition at line 274 of file joint_control.h.

d_cmd

double JOINT_CONTROL::d_cmd

private

Definition at line 272 of file joint_control.h.

dxl_curr

uint16_t JOINT_CONTROL::dxl_curr

private

Definition at line 290 of file joint_control.h.

dxl_goal

uint8_t JOINT_CONTROL::dxl_goal[4]

private

Definition at line 292 of file joint_control.h.

dxl_pos

uint32_t JOINT_CONTROL::dxl_pos

private

Definition at line 289 of file joint_control.h.

dxl_temp

uint8_t JOINT_CONTROL::dxl_temp

private

Definition at line 291 of file joint_control.h.

eff

double JOINT_CONTROL::eff

private

Definition at line 270 of file joint_control.h.

eff_const

double JOINT_CONTROL::eff_const

private

Definition at line 280 of file joint_control.h.

eff_limiting

bool JOINT_CONTROL::eff_limiting

private

Definition at line 281 of file joint_control.h.

eff_over_cnt

uint8_t JOINT_CONTROL::eff_over_cnt

private

Definition at line 282 of file joint_control.h.

goal_eff

double JOINT_CONTROL::goal_eff

private

Definition at line 287 of file joint_control.h.

goal_pos

double JOINT_CONTROL::goal_pos

private

Definition at line 285 of file joint_control.h.

goal_vel

double JOINT_CONTROL::goal_vel

private

Definition at line 286 of file joint_control.h.

home

uint16_t JOINT_CONTROL::home

private

Definition at line 278 of file joint_control.h.

id

uint8_t JOINT_CONTROL::id

private

Definition at line 267 of file joint_control.h.

limits

joint_limits_interface::JointLimits JOINT_CONTROL::limits

private

Definition at line 294 of file joint_control.h.

name

std::string JOINT_CONTROL::name

private

Definition at line 266 of file joint_control.h.

ope_mode

uint8_t JOINT_CONTROL::ope_mode

private

Definition at line 283 of file joint_control.h.

param

ST_JOINT_PARAM JOINT_CONTROL::param

private

Definition at line 296 of file joint_control.h.

pos

double JOINT_CONTROL::pos

private

Definition at line 268 of file joint_control.h.

prev_cmd

double JOINT_CONTROL::prev_cmd

private

Definition at line 273 of file joint_control.h.

temp

double JOINT_CONTROL::temp

private

Definition at line 275 of file joint_control.h.

torque

bool JOINT_CONTROL::torque

private

Definition at line 276 of file joint_control.h.

vel

double JOINT_CONTROL::vel

private

Definition at line 269 of file joint_control.h.

---

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

• joint_control.h
• joint_control.cpp