#include <p_var_q.h>
Public Member Functions | |
void | addPoint (industrial::joint_data::JointData &joints, double velocity_percent) |
Adds point to the queue (will block until point can be added) | |
void | addPoint (industrial::joint_data::JointData &joints, double velocity_percent) |
Adds point to the queue (will block until point can be added) | |
bool | bufferEmpty () |
Return true if buffer is empty. | |
bool | bufferEmpty () |
Return true if buffer is empty. | |
bool | bufferFull () |
Return true if buffer is full (points cannot be added) | |
bool | bufferFull () |
Return true if buffer is full (points cannot be added) | |
int | bufferSize () |
Return current buffer size (number of remaining points) Should be used to determine if more points can be added. | |
int | bufferSize () |
Return current buffer size (number of remaining points) Should be used to determine if more points can be added. | |
int | getBufferIndex () |
Return buffer pointer index. | |
int | getBufferIndex () |
Return buffer pointer index. | |
int | getBufferPosIndex () |
Return buffer position variable index. | |
int | getBufferPosIndex () |
Return buffer position variable index. | |
int | getMotionIndex () |
Return motion pointer index. | |
int | getMotionIndex () |
Return motion pointer index. | |
int | getMotionPosIndex () |
Return motion position variable index. | |
int | getMotionPosIndex () |
Return motion position variable index. | |
int | getNextBufferPosIndex () |
Return next buffer position variable index. | |
int | getNextBufferPosIndex () |
Return next buffer position variable index. | |
void | init (industrial::joint_data::JointData &point, double velocity_percent) |
Initializes the queue (sets the initial joint position) | |
void | init (industrial::joint_data::JointData &point, double velocity_percent) |
Initializes the queue (sets the initial joint position) | |
int | maxBufferSize () |
Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is. | |
int | maxBufferSize () |
Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is. | |
int | posVarQueueSize () |
Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1. | |
int | posVarQueueSize () |
Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1. | |
PVarQ () | |
PVarQ () | |
double | TEMP_getVelocityPercent () |
Get temporary velocity variable (Will be removed in the future) | |
double | TEMP_getVelocityPercent () |
Get temporary velocity variable (Will be removed in the future) | |
~PVarQ (void) | |
~PVarQ (void) | |
Protected Member Functions | |
void | incBufferIndex () |
Increments buffer index. | |
void | incBufferIndex () |
Increments buffer index. | |
void | setNextPosition (industrial::joint_data::JointData &point, double velocity_percent) |
Set position variable that is next in the queue. | |
void | setNextPosition (industrial::joint_data::JointData &point, double velocity_percent) |
Set position variable that is next in the queue. | |
void | setPosition (int index, industrial::joint_data::JointData &point, double velocity_percent) |
Set position variable in the queue position(index) | |
void | setPosition (int index, industrial::joint_data::JointData &point, double velocity_percent) |
Set position variable in the queue position(index) | |
Static Protected Attributes | |
static const int | BUFFER_POINTER_ = 92 |
Integer index in INFORM integer variable table where buffer pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED) | |
static const int | BUFFER_POLL_TICK_DELAY_ = 100 |
number of ticks to delay between buffer polling | |
static const int | MIN_BUF_START_POINTER_ = 93 |
Integer index in INFORM integer variable table where the minimum buffer size for starting motion is. (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED) | |
static const int | MOTION_POINTER_ = 91 |
Integer index in INFORM integer variable table where motion pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED) | |
static const int | PT_LOOK_AHEAD_ = 5 |
Number of points the INFORM motion planner looks ahead. | |
static const int | QSIZE_ = 20 |
Size of the INFORM motion queue (i.e. the number of position variables in the MOTION_JOB_NAME_. | |
static const int | TEMP_VELOCITY_POINTER = 94 |
Temporary integer value for holding move velocity (WILL BE REMOVED WHEN TRAJECTORY VELOCITY IS USED) | |
static const int | VAR_POLL_TICK_DELAY_ = 10 |
Definition at line 108 of file motoplus/motoros_lib/output/p_var_q.h.
PVarQ::PVarQ | ( | ) |
Definition at line 51 of file p_var_q.cpp.
PVarQ::~PVarQ | ( | void | ) |
Definition at line 64 of file p_var_q.cpp.
motoman::p_var_q::PVarQ::~PVarQ | ( | void | ) |
void PVarQ::addPoint | ( | industrial::joint_data::JointData & | joints, |
double | velocity_percent | ||
) |
Adds point to the queue (will block until point can be added)
joint | position to add |
Definition at line 87 of file p_var_q.cpp.
void motoman::p_var_q::PVarQ::addPoint | ( | industrial::joint_data::JointData & | joints, |
double | velocity_percent | ||
) |
Adds point to the queue (will block until point can be added)
joint | position to add |
bool PVarQ::bufferEmpty | ( | ) |
Return true if buffer is empty.
Definition at line 151 of file p_var_q.cpp.
bool motoman::p_var_q::PVarQ::bufferEmpty | ( | ) |
Return true if buffer is empty.
bool PVarQ::bufferFull | ( | ) |
Return true if buffer is full (points cannot be added)
Definition at line 139 of file p_var_q.cpp.
bool motoman::p_var_q::PVarQ::bufferFull | ( | ) |
Return true if buffer is full (points cannot be added)
Return current buffer size (number of remaining points) Should be used to determine if more points can be added.
int PVarQ::bufferSize | ( | ) |
Return current buffer size (number of remaining points) Should be used to determine if more points can be added.
Definition at line 103 of file p_var_q.cpp.
int motoman::p_var_q::PVarQ::getBufferIndex | ( | ) | [inline] |
Return buffer pointer index.
Definition at line 172 of file motoplus/motoros_lib/p_var_q.h.
int motoman::p_var_q::PVarQ::getBufferIndex | ( | ) | [inline] |
Return buffer pointer index.
Definition at line 172 of file motoplus/motoros_lib/output/p_var_q.h.
int PVarQ::getBufferPosIndex | ( | ) |
Return buffer position variable index.
Definition at line 129 of file p_var_q.cpp.
Return buffer position variable index.
int motoman::p_var_q::PVarQ::getMotionIndex | ( | ) | [inline] |
Return motion pointer index.
Definition at line 164 of file motoplus/motoros_lib/p_var_q.h.
int motoman::p_var_q::PVarQ::getMotionIndex | ( | ) | [inline] |
Return motion pointer index.
Definition at line 164 of file motoplus/motoros_lib/output/p_var_q.h.
int PVarQ::getMotionPosIndex | ( | ) |
Return motion position variable index.
Definition at line 124 of file p_var_q.cpp.
Return motion position variable index.
int PVarQ::getNextBufferPosIndex | ( | ) |
Return next buffer position variable index.
Definition at line 134 of file p_var_q.cpp.
Return next buffer position variable index.
void PVarQ::incBufferIndex | ( | ) | [protected] |
Increments buffer index.
Definition at line 162 of file p_var_q.cpp.
void motoman::p_var_q::PVarQ::incBufferIndex | ( | ) | [protected] |
Increments buffer index.
void motoman::p_var_q::PVarQ::init | ( | industrial::joint_data::JointData & | point, |
double | velocity_percent | ||
) |
Initializes the queue (sets the initial joint position)
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
void PVarQ::init | ( | industrial::joint_data::JointData & | point, |
double | velocity_percent | ||
) |
Initializes the queue (sets the initial joint position)
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
Definition at line 69 of file p_var_q.cpp.
int motoman::p_var_q::PVarQ::maxBufferSize | ( | ) | [inline] |
Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.
Definition at line 156 of file motoplus/motoros_lib/p_var_q.h.
int motoman::p_var_q::PVarQ::maxBufferSize | ( | ) | [inline] |
Return maximum buffer size (Queue size - 1) The max buffer size should be less than the QSIZE minus whatver the motoman look-ahead is.
Definition at line 156 of file motoplus/motoros_lib/output/p_var_q.h.
int motoman::p_var_q::PVarQ::posVarQueueSize | ( | ) | [inline] |
Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.
Definition at line 147 of file motoplus/motoros_lib/output/p_var_q.h.
int motoman::p_var_q::PVarQ::posVarQueueSize | ( | ) | [inline] |
Return number of position variables available in the queue. The number will be greater than or equal to the max buffer size + 1.
Definition at line 147 of file motoplus/motoros_lib/p_var_q.h.
void PVarQ::setNextPosition | ( | industrial::joint_data::JointData & | point, |
double | velocity_percent | ||
) | [protected] |
Set position variable that is next in the queue.
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
Definition at line 171 of file p_var_q.cpp.
void motoman::p_var_q::PVarQ::setNextPosition | ( | industrial::joint_data::JointData & | point, |
double | velocity_percent | ||
) | [protected] |
Set position variable that is next in the queue.
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
void PVarQ::setPosition | ( | int | index, |
industrial::joint_data::JointData & | point, | ||
double | velocity_percent | ||
) | [protected] |
Set position variable in the queue position(index)
position | index |
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
Definition at line 177 of file p_var_q.cpp.
void motoman::p_var_q::PVarQ::setPosition | ( | int | index, |
industrial::joint_data::JointData & | point, | ||
double | velocity_percent | ||
) | [protected] |
Set position variable in the queue position(index)
position | index |
value | to set joint position to (IN ROS JOINT ORDER) |
percent | velocity (will be converted to appropriate integer (see note for jointSpeedData_) |
double motoman::p_var_q::PVarQ::TEMP_getVelocityPercent | ( | ) | [inline] |
Get temporary velocity variable (Will be removed in the future)
Definition at line 218 of file motoplus/motoros_lib/p_var_q.h.
double motoman::p_var_q::PVarQ::TEMP_getVelocityPercent | ( | ) | [inline] |
Get temporary velocity variable (Will be removed in the future)
Definition at line 218 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::BUFFER_POINTER_ = 92 [static, protected] |
Integer index in INFORM integer variable table where buffer pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
Definition at line 258 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::BUFFER_POLL_TICK_DELAY_ = 100 [static, protected] |
number of ticks to delay between buffer polling
Definition at line 230 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::MIN_BUF_START_POINTER_ = 93 [static, protected] |
Integer index in INFORM integer variable table where the minimum buffer size for starting motion is. (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
Definition at line 267 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::MOTION_POINTER_ = 91 [static, protected] |
Integer index in INFORM integer variable table where motion pointer is stored (INDEX MUST BE GREATER THAN QSIZE, INTEGERS ALIGNED WITH POSITION VARIABLES ARE USED TO SET MOTION SPEED)
Definition at line 250 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::PT_LOOK_AHEAD_ = 5 [static, protected] |
Number of points the INFORM motion planner looks ahead.
Definition at line 242 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::QSIZE_ = 20 [static, protected] |
Size of the INFORM motion queue (i.e. the number of position variables in the MOTION_JOB_NAME_.
Definition at line 236 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::TEMP_VELOCITY_POINTER = 94 [static, protected] |
Temporary integer value for holding move velocity (WILL BE REMOVED WHEN TRAJECTORY VELOCITY IS USED)
Definition at line 273 of file motoplus/motoros_lib/output/p_var_q.h.
static const int PVarQ::VAR_POLL_TICK_DELAY_ = 10 [static, protected] |
Definition at line 225 of file motoplus/motoros_lib/output/p_var_q.h.