#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 (const JOINT_CONTROL &src)

	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 (void)

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 196 of file joint_control.h.

Constructor & Destructor Documentation

◆ JOINT_CONTROL() [1/3]

JOINT_CONTROL::JOINT_CONTROL ( void )

Definition at line 39 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 43 of file joint_control.cpp.

◆ JOINT_CONTROL() [3/3]

JOINT_CONTROL::JOINT_CONTROL ( const JOINT_CONTROL & src )

Definition at line 47 of file joint_control.cpp.

◆ ~JOINT_CONTROL()

JOINT_CONTROL::~JOINT_CONTROL ( void )

inline

Definition at line 202 of file joint_control.h.

Member Function Documentation

◆ clear_eff_over()

void JOINT_CONTROL::clear_eff_over ( void )

inline

Definition at line 223 of file joint_control.h.

◆ get_center()

uint16_t JOINT_CONTROL::get_center ( void )

inline

Definition at line 238 of file joint_control.h.

◆ get_command()

double JOINT_CONTROL::get_command ( void )

inline

Definition at line 235 of file joint_control.h.

◆ get_command_addr()

double* JOINT_CONTROL::get_command_addr ( void )

inline

Definition at line 236 of file joint_control.h.

◆ get_current()

double JOINT_CONTROL::get_current ( void )

inline

Definition at line 240 of file joint_control.h.

◆ get_d_command()

double JOINT_CONTROL::get_d_command ( void )

inline

Definition at line 257 of file joint_control.h.

◆ get_dxl_curr()

uint16_t JOINT_CONTROL::get_dxl_curr ( void )

inline

Definition at line 244 of file joint_control.h.

◆ get_dxl_goal()

uint8_t JOINT_CONTROL::get_dxl_goal ( void )

inline

Definition at line 246 of file joint_control.h.

◆ get_dxl_goal_addr()

uint8_t* JOINT_CONTROL::get_dxl_goal_addr ( void )

inline

Definition at line 250 of file joint_control.h.

◆ get_dxl_id()

uint8_t JOINT_CONTROL::get_dxl_id ( void )

inline

Definition at line 227 of file joint_control.h.

◆ get_dxl_pos()

uint32_t JOINT_CONTROL::get_dxl_pos ( void )

inline

Definition at line 243 of file joint_control.h.

◆ get_dxl_temp()

uint8_t JOINT_CONTROL::get_dxl_temp ( void )

inline

Definition at line 245 of file joint_control.h.

◆ get_eff_const()

double JOINT_CONTROL::get_eff_const ( void )

inline

Definition at line 253 of file joint_control.h.

◆ get_eff_over_cnt()

uint8_t JOINT_CONTROL::get_eff_over_cnt ( void )

inline

Definition at line 252 of file joint_control.h.

◆ get_effort()

double JOINT_CONTROL::get_effort ( void )

inline

Definition at line 232 of file joint_control.h.

◆ get_effort_addr()

double* JOINT_CONTROL::get_effort_addr ( void )

inline

Definition at line 234 of file joint_control.h.

◆ get_home()

uint16_t JOINT_CONTROL::get_home ( void )

inline

Definition at line 239 of file joint_control.h.

◆ get_joint_name()

std::string JOINT_CONTROL::get_joint_name ( void )

inline

Definition at line 226 of file joint_control.h.

◆ get_joint_param()

ST_JOINT_PARAM JOINT_CONTROL::get_joint_param ( void )

inline

Definition at line 255 of file joint_control.h.

◆ get_max_effort()

double JOINT_CONTROL::get_max_effort ( void )

inline

Definition at line 233 of file joint_control.h.

◆ get_ope_mode()

uint8_t JOINT_CONTROL::get_ope_mode ( void )

inline

Definition at line 254 of file joint_control.h.

◆ get_position()

double JOINT_CONTROL::get_position ( void )

inline

Definition at line 228 of file joint_control.h.

◆ get_position_addr()

double* JOINT_CONTROL::get_position_addr ( void )

inline

Definition at line 229 of file joint_control.h.

◆ get_temprature()

double JOINT_CONTROL::get_temprature ( void )

inline

Definition at line 241 of file joint_control.h.

◆ get_torque()

bool JOINT_CONTROL::get_torque ( void )

inline

Definition at line 237 of file joint_control.h.

◆ get_velocity()

double JOINT_CONTROL::get_velocity ( void )

inline

Definition at line 230 of file joint_control.h.

◆ get_velocity_addr()

double* JOINT_CONTROL::get_velocity_addr ( void )

inline

Definition at line 231 of file joint_control.h.

◆ inc_eff_over()

void JOINT_CONTROL::inc_eff_over ( void )

inline

Definition at line 222 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 242 of file joint_control.h.

◆ is_effort_limiting()

bool JOINT_CONTROL::is_effort_limiting ( void )

inline

Definition at line 251 of file joint_control.h.

◆ set_center()

void JOINT_CONTROL::set_center ( uint16_t set_center )

inline

Definition at line 211 of file joint_control.h.

◆ set_command()

void JOINT_CONTROL::set_command ( double set_cmd )

inline

Definition at line 209 of file joint_control.h.

◆ set_connect()

void JOINT_CONTROL::set_connect ( bool set_connect )

inline

Definition at line 215 of file joint_control.h.

◆ set_current()

void JOINT_CONTROL::set_current ( double set_curr )

inline

Definition at line 213 of file joint_control.h.

◆ set_dxl_curr()

void JOINT_CONTROL::set_dxl_curr ( uint16_t set_dxl_curr )

inline

Definition at line 217 of file joint_control.h.

◆ set_dxl_id()

void JOINT_CONTROL::set_dxl_id ( uint8_t set_id )

inline

Definition at line 205 of file joint_control.h.

◆ set_dxl_pos()

void JOINT_CONTROL::set_dxl_pos ( uint32_t set_dxl_pos )

inline

Definition at line 216 of file joint_control.h.

◆ set_dxl_temp()

void JOINT_CONTROL::set_dxl_temp ( uint8_t set_dxl_temp )

inline

Definition at line 218 of file joint_control.h.

◆ set_eff_limiting()

void JOINT_CONTROL::set_eff_limiting ( bool set_limiting )

inline

Definition at line 221 of file joint_control.h.

◆ set_effort()

void JOINT_CONTROL::set_effort ( double set_eff )

inline

Definition at line 208 of file joint_control.h.

◆ set_home()

void JOINT_CONTROL::set_home ( uint16_t set_home )

inline

Definition at line 212 of file joint_control.h.

◆ set_joint_name()

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

inline

Definition at line 204 of file joint_control.h.

◆ set_joint_param()

void JOINT_CONTROL::set_joint_param ( ST_JOINT_PARAM set_param )

inline

Definition at line 224 of file joint_control.h.

◆ set_limits()

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

inline

Definition at line 220 of file joint_control.h.

◆ set_position()

void JOINT_CONTROL::set_position ( double set_rad )

inline

Definition at line 206 of file joint_control.h.

◆ set_temprature()

void JOINT_CONTROL::set_temprature ( double set_temp )

inline

Definition at line 214 of file joint_control.h.

◆ set_torque()

void JOINT_CONTROL::set_torque ( bool set_trq )

inline

Definition at line 210 of file joint_control.h.

◆ set_velocity()

void JOINT_CONTROL::set_velocity ( double set_vel )

inline

Definition at line 207 of file joint_control.h.

◆ updt_d_command()

void JOINT_CONTROL::updt_d_command ( double val )

inline

Definition at line 256 of file joint_control.h.

Member Data Documentation

◆ center

uint16_t JOINT_CONTROL::center

private

Definition at line 271 of file joint_control.h.

◆ cmd

double JOINT_CONTROL::cmd

private

Definition at line 265 of file joint_control.h.

◆ connect

bool JOINT_CONTROL::connect

private

Definition at line 273 of file joint_control.h.

◆ curr

double JOINT_CONTROL::curr

private

Definition at line 268 of file joint_control.h.

◆ d_cmd

double JOINT_CONTROL::d_cmd

private

Definition at line 266 of file joint_control.h.

◆ dxl_curr

uint16_t JOINT_CONTROL::dxl_curr

private

Definition at line 284 of file joint_control.h.

◆ dxl_goal

uint8_t JOINT_CONTROL::dxl_goal[4]

private

Definition at line 286 of file joint_control.h.

◆ dxl_pos

uint32_t JOINT_CONTROL::dxl_pos

private

Definition at line 283 of file joint_control.h.

◆ dxl_temp

uint8_t JOINT_CONTROL::dxl_temp

private

Definition at line 285 of file joint_control.h.

◆ eff

double JOINT_CONTROL::eff

private

Definition at line 264 of file joint_control.h.

◆ eff_const

double JOINT_CONTROL::eff_const

private

Definition at line 274 of file joint_control.h.

◆ eff_limiting

bool JOINT_CONTROL::eff_limiting

private

Definition at line 275 of file joint_control.h.

◆ eff_over_cnt

uint8_t JOINT_CONTROL::eff_over_cnt

private

Definition at line 276 of file joint_control.h.

◆ goal_eff

double JOINT_CONTROL::goal_eff

private

Definition at line 281 of file joint_control.h.

◆ goal_pos

double JOINT_CONTROL::goal_pos

private

Definition at line 279 of file joint_control.h.

◆ goal_vel

double JOINT_CONTROL::goal_vel

private

Definition at line 280 of file joint_control.h.

◆ home

uint16_t JOINT_CONTROL::home

private

Definition at line 272 of file joint_control.h.

◆ id

uint8_t JOINT_CONTROL::id

private

Definition at line 261 of file joint_control.h.

◆ limits

joint_limits_interface::JointLimits JOINT_CONTROL::limits

private

Definition at line 288 of file joint_control.h.

◆ name

std::string JOINT_CONTROL::name

private

Definition at line 260 of file joint_control.h.

◆ ope_mode

uint8_t JOINT_CONTROL::ope_mode

private

Definition at line 277 of file joint_control.h.

◆ param

ST_JOINT_PARAM JOINT_CONTROL::param

private

Definition at line 290 of file joint_control.h.

◆ pos

double JOINT_CONTROL::pos

private

Definition at line 262 of file joint_control.h.

◆ prev_cmd

double JOINT_CONTROL::prev_cmd

private

Definition at line 267 of file joint_control.h.

◆ temp

double JOINT_CONTROL::temp

private

Definition at line 269 of file joint_control.h.

◆ torque

bool JOINT_CONTROL::torque

private

Definition at line 270 of file joint_control.h.

◆ vel

double JOINT_CONTROL::vel

private

Definition at line 263 of file joint_control.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JOINT_CONTROL() [1/3]

◆ JOINT_CONTROL() [2/3]

◆ JOINT_CONTROL() [3/3]

◆ ~JOINT_CONTROL()

Member Function Documentation

◆ clear_eff_over()

◆ get_center()

◆ get_command()

◆ get_command_addr()

◆ get_current()

◆ get_d_command()

◆ get_dxl_curr()

◆ get_dxl_goal()

◆ get_dxl_goal_addr()

◆ get_dxl_id()

◆ get_dxl_pos()

◆ get_dxl_temp()

◆ get_eff_const()

◆ get_eff_over_cnt()

◆ get_effort()

◆ get_effort_addr()

◆ get_home()

◆ get_joint_name()

◆ get_joint_param()

◆ get_max_effort()

◆ get_ope_mode()

◆ get_position()

◆ get_position_addr()

◆ get_temprature()

◆ get_torque()

◆ get_velocity()

◆ get_velocity_addr()

◆ inc_eff_over()

◆ init_parameter()

◆ is_connect()

◆ is_effort_limiting()

◆ set_center()

◆ set_command()

◆ set_connect()

◆ set_current()

◆ set_dxl_curr()

◆ set_dxl_id()

◆ set_dxl_pos()

◆ set_dxl_temp()

◆ set_eff_limiting()

◆ set_effort()

◆ set_home()

◆ set_joint_name()

◆ set_joint_param()

◆ set_limits()

◆ set_position()

◆ set_temprature()

◆ set_torque()

◆ set_velocity()

◆ updt_d_command()

Member Data Documentation

◆ center

◆ cmd

◆ connect

◆ curr

◆ d_cmd

◆ dxl_curr

◆ dxl_goal

◆ dxl_pos

◆ dxl_temp

◆ eff

◆ eff_const

◆ eff_limiting

◆ eff_over_cnt

◆ goal_eff

◆ goal_pos

◆ goal_vel

◆ home

◆ id

◆ limits

◆ name