Singleton class representing the ARM.
#include <ManusArm.hpp>
Public Member Functions | |
| void | fold () |
| Folds the ARM. | |
| std::string | getCsvState () |
| Returns the ARM's current position as a CSV string. | |
| void | getPosition (float position[]) |
| Gets current ARM position. | |
| std::string | getPrintState () |
| Returns the ARM's current position as a printable string. | |
| int | init (std::string interface) |
| Inits the ARM. | |
| bool | isMoveComplete () |
| void | moveCartesian (const CartesianMove &cmd) |
| Binds the cartesian movement method and the movement command to a thread. | |
| void | moveConstant (const ConstantMove &cmd) |
| Binds the constant movement method and the movement command to a thread. | |
| void | setMoveComplete (bool move_complete) |
| void | unfold () |
| Unfolds the ARM. | |
Static Public Member Functions | |
| static ManusArm * | instance () |
| Returns the ARM instance. | |
Private Member Functions | |
| void | doCartesianMove (const CartesianMove &cmd) |
| Moves the ARM to the position specified in the message. | |
| void | doConstantMove (const ConstantMove &cmd) |
| Moves the ARM in the direction specified in the message. | |
| void | enqueueFrame (can_frame toSend) |
| Adds a frame to the ARM's message queue. | |
| ManusArm () | |
| ManusArm (ManusArm const &) | |
| ManusArm & | operator= (ManusArm const &) |
| void | pollCanSocket () |
| void | sendFrames (can_frame frame) |
| void | setCartesian () |
| Puts the ARM in cartesian mode. | |
| void | setCbox (int cbox, can_frame *frm) |
Private Attributes | |
| int | canSock |
| armState | currState |
| boost::thread | motionThread |
| bool | moveComplete |
| bool | running |
| std::vector< can_frame > | sendQueue |
| boost::mutex | stateMutex |
Static Private Attributes | |
| static ManusArm * | armInstance = NULL |
Singleton class representing the ARM.
Definition at line 101 of file ManusArm.hpp.
| ManusArm::ManusArm | ( | ) | [private] |
Definition at line 721 of file ManusArm.cpp.
| ManusArm::ManusArm | ( | ManusArm const & | ) | [inline, private] |
Definition at line 106 of file ManusArm.hpp.
| void ManusArm::doCartesianMove | ( | const CartesianMove & | cmd | ) | [private] |
Moves the ARM to the position specified in the message.
The ARM will stop when it reaches its destination.
| cmd | the cartesian movement message |
Definition at line 163 of file ManusArm.cpp.
| void ManusArm::doConstantMove | ( | const ConstantMove & | cmd | ) | [private] |
Moves the ARM in the direction specified in the message.
This is a constant motion; the ARM will not stop until it is told otherwise.
| cmd | the constant movement message |
Definition at line 339 of file ManusArm.cpp.
| void ManusArm::enqueueFrame | ( | can_frame | toSend | ) | [private] |
Adds a frame to the ARM's message queue.
| toSend | the frame to add to the queue |
Definition at line 415 of file ManusArm.cpp.
| void ManusArm::fold | ( | ) |
Folds the ARM.
Warning: Be sure that the ARM is free of obstructions (wires/cords, etc) when folding or else it will get stuck and will not unfold.
Definition at line 387 of file ManusArm.cpp.
| string ManusArm::getCsvState | ( | ) |
Returns the ARM's current position as a CSV string.
Definition at line 36 of file ManusArm.cpp.
| void ManusArm::getPosition | ( | float | fill[] | ) |
Gets current ARM position.
| fill | array of floats to which the ARM positions will be stored |
Definition at line 19 of file ManusArm.cpp.
| string ManusArm::getPrintState | ( | ) |
Returns the ARM's current position as a printable string.
Definition at line 78 of file ManusArm.cpp.
| int ManusArm::init | ( | std::string | interface | ) |
Inits the ARM.
Establishes a connection to the ARM hardware.
Definition at line 621 of file ManusArm.cpp.
| ManusArm * ManusArm::instance | ( | ) | [static] |
Returns the ARM instance.
The ARM is a singleton; this method allows only one instance
Definition at line 607 of file ManusArm.cpp.
| bool ManusArm::isMoveComplete | ( | ) | [inline] |
Definition at line 141 of file ManusArm.hpp.
| void ManusArm::moveCartesian | ( | const CartesianMove & | cmd | ) |
Binds the cartesian movement method and the movement command to a thread.
Call this method to move the arm with a cartesian movement message.
| cmd | the cartesian movement message |
Definition at line 151 of file ManusArm.cpp.
| void ManusArm::moveConstant | ( | const ConstantMove & | cmd | ) |
Binds the constant movement method and the movement command to a thread.
Call this method to move the arm with a constant movement message.
| cmd | the constant movement message |
Definition at line 327 of file ManusArm.cpp.
| void ManusArm::pollCanSocket | ( | ) | [private] |
Definition at line 452 of file ManusArm.cpp.
| void ManusArm::sendFrames | ( | can_frame | frame | ) | [private] |
| void ManusArm::setCartesian | ( | ) | [private] |
Puts the ARM in cartesian mode.
Definition at line 367 of file ManusArm.cpp.
| void ManusArm::setCbox | ( | int | cbox, |
| can_frame * | frm | ||
| ) | [private] |
| cbox | |
| frm |
Definition at line 123 of file ManusArm.cpp.
| void ManusArm::setMoveComplete | ( | bool | move_complete | ) | [inline] |
Definition at line 142 of file ManusArm.hpp.
| void ManusArm::unfold | ( | ) |
Unfolds the ARM.
Definition at line 400 of file ManusArm.cpp.
ManusArm * ManusArm::armInstance = NULL [static, private] |
Definition at line 109 of file ManusArm.hpp.
int ManusArm::canSock [private] |
Definition at line 112 of file ManusArm.hpp.
armState ManusArm::currState [private] |
Definition at line 117 of file ManusArm.hpp.
boost::thread ManusArm::motionThread [private] |
Definition at line 131 of file ManusArm.hpp.
bool ManusArm::moveComplete [private] |
Definition at line 118 of file ManusArm.hpp.
bool ManusArm::running [private] |
Definition at line 113 of file ManusArm.hpp.
std::vector<can_frame> ManusArm::sendQueue [private] |
Definition at line 124 of file ManusArm.hpp.
boost::mutex ManusArm::stateMutex [private] |
Definition at line 119 of file ManusArm.hpp.