Public Member Functions | Protected Attributes
simulatedArm Class Reference

#include <simulatedArm.h>

List of all members.

Public Member Functions

bool Close ()
bool dontWaitForSync ()
 Execute move commands immediately from now on:
bool getConfig (std::vector< double > &result)
 Returns the current Joint Angles.
std::string getErrorMessage () const
bool getJointVelocities (std::vector< double > &result)
 Returns the current Angular velocities (Rad/s)
bool Init (PowerCubeCtrlParams *params)
bool isInitialized () const
bool MoveJointSpaceSync (const std::vector< double > &Angle)
 same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take
bool MovePos (const std::vector< double > &)
 moves all cubes to the given position
bool MoveVel (const std::vector< double > &)
 Moves all cubes by the given velocities.
bool setMaxAcceleration (double radPerSecSquared)
 Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
bool setMaxAcceleration (const std::vector< double > &radPerSecSquared)
bool setMaxVelocity (double radpersec)
 Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
bool setMaxVelocity (const std::vector< double > &radpersec)
 simulatedArm ()
bool statusAcc ()
 Returs true if any of the Joints are accelerating.
bool statusDec ()
 Returns true if any of the Joints are decelerating.
bool statusMoving ()
 Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.
bool Stop ()
 current movement currently not supported in simulation
bool waitForSync ()
 Waits until all Modules are homed, writes status comments to out.
virtual ~simulatedArm ()

Protected Attributes

int m_DOF
std::string m_ErrorMessage
bool m_Initialized
std::vector< double > m_maxAcc
std::vector< double > m_maxVel
std::vector< simulatedMotorm_motors

Detailed Description

Definition at line 69 of file simulatedArm.h.


Constructor & Destructor Documentation

Definition at line 71 of file simulatedArm.cpp.

Definition at line 80 of file simulatedArm.cpp.


Member Function Documentation

bool simulatedArm::Close ( ) [inline]

Definition at line 82 of file simulatedArm.h.

bool simulatedArm::dontWaitForSync ( ) [inline]

Execute move commands immediately from now on:

Definition at line 145 of file simulatedArm.h.

bool simulatedArm::getConfig ( std::vector< double > &  result)

Returns the current Joint Angles.

Definition at line 308 of file simulatedArm.cpp.

std::string simulatedArm::getErrorMessage ( ) const [inline]

Definition at line 80 of file simulatedArm.h.

bool simulatedArm::getJointVelocities ( std::vector< double > &  result)

Returns the current Angular velocities (Rad/s)

Definition at line 322 of file simulatedArm.cpp.

Definition at line 86 of file simulatedArm.cpp.

bool simulatedArm::isInitialized ( ) const [inline]

Definition at line 78 of file simulatedArm.h.

bool simulatedArm::MoveJointSpaceSync ( const std::vector< double > &  Angle)

same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take

Definition at line 123 of file simulatedArm.cpp.

bool simulatedArm::MovePos ( const std::vector< double > &  Pos)

moves all cubes to the given position

Definition at line 237 of file simulatedArm.cpp.

bool simulatedArm::MoveVel ( const std::vector< double > &  Vel)

Moves all cubes by the given velocities.

Definition at line 221 of file simulatedArm.cpp.

bool simulatedArm::setMaxAcceleration ( double  radPerSecSquared)

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Sets the maximum angular acceleration (rad/s^2) all the Joints, use with care!

Definition at line 281 of file simulatedArm.cpp.

bool simulatedArm::setMaxAcceleration ( const std::vector< double > &  radPerSecSquared)

Definition at line 291 of file simulatedArm.cpp.

bool simulatedArm::setMaxVelocity ( double  radpersec)

Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Sets the maximum angular velocity (rad/s) for all Joints, use with care!

Definition at line 253 of file simulatedArm.cpp.

bool simulatedArm::setMaxVelocity ( const std::vector< double > &  radpersec)

Definition at line 268 of file simulatedArm.cpp.

Returs true if any of the Joints are accelerating.

Definition at line 364 of file simulatedArm.cpp.

Returns true if any of the Joints are decelerating.

Definition at line 351 of file simulatedArm.cpp.

Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.

Definition at line 337 of file simulatedArm.cpp.

current movement currently not supported in simulation

Stops the Manipulator immediately.

Stops the Manipulator immediately

Definition at line 116 of file simulatedArm.cpp.

bool simulatedArm::waitForSync ( ) [inline]

Waits until all Modules are homed, writes status comments to out.

Tells the Modules not to start moving until PCubel_startMotionAll is called

Definition at line 143 of file simulatedArm.h.


Member Data Documentation

int simulatedArm::m_DOF [protected]

Definition at line 149 of file simulatedArm.h.

std::string simulatedArm::m_ErrorMessage [protected]

Definition at line 151 of file simulatedArm.h.

bool simulatedArm::m_Initialized [protected]

Definition at line 150 of file simulatedArm.h.

std::vector<double> simulatedArm::m_maxAcc [protected]

Definition at line 156 of file simulatedArm.h.

std::vector<double> simulatedArm::m_maxVel [protected]

Definition at line 155 of file simulatedArm.h.

std::vector<simulatedMotor> simulatedArm::m_motors [protected]

Definition at line 153 of file simulatedArm.h.


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


schunk_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Thu Aug 27 2015 15:06:58