Classes | Typedefs | Enumerations | Functions
command.h File Reference
#include <ipcommunication.h>
#include <ypparam.h>
#include <ypspur.h>
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Classes

struct  _spur_user_params

Typedefs

typedef struct _spur_user_params SpurUserParams
typedef struct _spur_user_paramsSpurUserParamsPtr

Enumerations

enum  MotorControlMode {
  MOTOR_CONTROL_OPENFREE, MOTOR_CONTROL_FREE, MOTOR_CONTROL_VEHICLE, MOTOR_CONTROL_VEL,
  MOTOR_CONTROL_ANGLE, MOTOR_CONTROL_ANGLE_VEL
}
enum  SpurRunMode {
  RUN_OPENFREE = -1, RUN_FREE = 0, RUN_STOP, RUN_LINEFOLLOW,
  RUN_STOP_LINE, RUN_CIRCLEFOLLOW, RUN_SPIN, RUN_ORIENT,
  RUN_VEL, RUN_WHEEL_VEL, RUN_WHEEL_TORQUE, RUN_WHEEL_ANGLE
}

Functions

void circle_com (int cs, double *data, SpurUserParamsPtr spur)
void command (void)
void free_com (double *data, SpurUserParamsPtr spur)
void get_ad_com (double *data, double *resdata)
void get_error_state_com (double *data, double *resdata)
void get_force_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_joint_ang_com (int id, double *data, SpurUserParamsPtr spur)
void get_joint_torque_com (int id, double *data, SpurUserParamsPtr spur)
void get_joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void get_joint_vref_com (int id, double *data, SpurUserParamsPtr spur)
void get_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
SpurUserParamsPtr get_spur_user_param_ptr ()
void get_vel_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_wheel_ang_com (double *data, double *resdata, SpurUserParamsPtr spur)
void get_wheel_torque_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_wheel_vel_com (double *data, double *resdata, SpurUserParamsPtr spur)
void get_wheel_vref_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void init_command_thread (pthread_t *thread)
void init_spur_command (void)
void joint_ang_com (int id, double *data, SpurUserParamsPtr spur)
void joint_ang_vel_com (int id, double *data, SpurUserParamsPtr spur)
void joint_torque_com (int id, double *data, SpurUserParamsPtr spur)
void joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void line_com (int cs, double *data, SpurUserParamsPtr spur)
void message_return (struct ipcmd_t *ipcmd, long retpid, YPSpur_msg *res_msg)
int near_ang_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int near_pos_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void openfree_com (double *data, SpurUserParamsPtr spur)
void orient_com (int cs, double *data, SpurUserParamsPtr spur)
int over_line_com (int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int param_get_com (int cs, double *resdata, SpurUserParamsPtr spur)
void param_set_com (int cs, double *data, SpurUserParamsPtr spur)
void param_state_com (int cs, double *data, SpurUserParamsPtr spur)
void set_accel_com (double *data, SpurUserParamsPtr spur)
void set_adjust_com (int cs, double *data, SpurUserParamsPtr spur)
void set_ang_accel_com (double *data, SpurUserParamsPtr spur)
void set_ang_vel_com (double *data, SpurUserParamsPtr spur)
void set_GL_on_GL_com (double *data, SpurUserParamsPtr spur)
void set_io_data_com (double *data, double *resdata)
void set_io_dir_com (double *data, double *resdata)
void set_joint_accel_com (int id, double *data, SpurUserParamsPtr spur)
void set_joint_vel_com (int id, double *data, SpurUserParamsPtr spur)
void set_pos_com (int cs, double *data, SpurUserParamsPtr spur)
void set_tilt_com (int cs, double *data, SpurUserParamsPtr spur)
void set_torque_com (double *data, SpurUserParamsPtr spur)
void set_vel_com (double *data, SpurUserParamsPtr spur)
void set_wheel_accel_com (double *data, SpurUserParamsPtr spur)
void set_wheel_vel_com (double *data, SpurUserParamsPtr spur)
void spin_com (int cs, double *data, SpurUserParamsPtr spur)
void stop_com (double *data, SpurUserParamsPtr spur)
void stop_line_com (int cs, double *data, SpurUserParamsPtr spur)
void vel_com (double *data, SpurUserParamsPtr spur)
void wheel_angle_com (double *data, SpurUserParamsPtr spur)
void wheel_vel_com (double *data, SpurUserParamsPtr spur)

Typedef Documentation

Definition at line 54 of file command.h.


Enumeration Type Documentation

Enumerator:
MOTOR_CONTROL_OPENFREE 
MOTOR_CONTROL_FREE 
MOTOR_CONTROL_VEHICLE 
MOTOR_CONTROL_VEL 
MOTOR_CONTROL_ANGLE 
MOTOR_CONTROL_ANGLE_VEL 

Definition at line 44 of file command.h.

Enumerator:
RUN_OPENFREE 
RUN_FREE 
RUN_STOP 
RUN_LINEFOLLOW 
RUN_STOP_LINE 
RUN_CIRCLEFOLLOW 
RUN_SPIN 
RUN_ORIENT 
RUN_VEL 
RUN_WHEEL_VEL 
RUN_WHEEL_TORQUE 
RUN_WHEEL_ANGLE 

Definition at line 28 of file command.h.


Function Documentation

void circle_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 80 of file command_run.c.

void command ( void  )

Definition at line 87 of file command.c.

void free_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 129 of file command_run.c.

void get_ad_com ( double *  data,
double *  resdata 
)

Definition at line 48 of file command_aux.c.

void get_error_state_com ( double *  data,
double *  resdata 
)

Definition at line 72 of file command_aux.c.

void get_force_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 96 of file command_get.c.

void get_joint_ang_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 142 of file command_joint.c.

void get_joint_torque_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 157 of file command_joint.c.

void get_joint_vel_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 112 of file command_joint.c.

void get_joint_vref_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 127 of file command_joint.c.

void get_pos_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 48 of file command_get.c.

Definition at line 53 of file command.c.

void get_vel_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 83 of file command_get.c.

void get_vref_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 72 of file command_get.c.

void get_wheel_ang_com ( double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 135 of file command_get.c.

void get_wheel_torque_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 109 of file command_get.c.

void get_wheel_vel_com ( double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 122 of file command_get.c.

void get_wheel_vref_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 61 of file command_get.c.

void init_command_thread ( pthread_t *  thread)

Definition at line 462 of file command.c.

void init_spur_command ( void  )

Definition at line 68 of file command.c.

void joint_ang_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 69 of file command_joint.c.

void joint_ang_vel_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 80 of file command_joint.c.

void joint_torque_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 47 of file command_joint.c.

void joint_vel_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 58 of file command_joint.c.

void line_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 48 of file command_run.c.

void message_return ( struct ipcmd_t ipcmd,
long  retpid,
YPSpur_msg res_msg 
)

Definition at line 453 of file command.c.

int near_ang_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 173 of file command_get.c.

int near_pos_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 148 of file command_get.c.

void openfree_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 134 of file command_run.c.

void orient_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 110 of file command_run.c.

int over_line_com ( int  cs,
double *  data,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 199 of file command_get.c.

int param_get_com ( int  cs,
double *  resdata,
SpurUserParamsPtr  spur 
)

Definition at line 60 of file command_param.c.

void param_set_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 51 of file command_param.c.

void param_state_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 93 of file command_param.c.

void set_accel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 152 of file command_set.c.

void set_adjust_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 91 of file command_set.c.

void set_ang_accel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 161 of file command_set.c.

void set_ang_vel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 143 of file command_set.c.

void set_GL_on_GL_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 80 of file command_set.c.

void set_io_data_com ( double *  data,
double *  resdata 
)

Definition at line 64 of file command_aux.c.

void set_io_dir_com ( double *  data,
double *  resdata 
)

Definition at line 56 of file command_aux.c.

void set_joint_accel_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 92 of file command_joint.c.

void set_joint_vel_com ( int  id,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 102 of file command_joint.c.

void set_pos_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 49 of file command_set.c.

void set_tilt_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 170 of file command_set.c.

void set_torque_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 136 of file command_set.c.

void set_vel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 127 of file command_set.c.

void set_wheel_accel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 184 of file command_set.c.

void set_wheel_vel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 190 of file command_set.c.

void spin_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 96 of file command_run.c.

void stop_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 124 of file command_run.c.

void stop_line_com ( int  cs,
double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 64 of file command_run.c.

void vel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 139 of file command_run.c.

void wheel_angle_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 153 of file command_run.c.

void wheel_vel_com ( double *  data,
SpurUserParamsPtr  spur 
)

Definition at line 146 of file command_run.c.



yp-spur
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autogenerated on Fri May 10 2019 02:52:19