The Barrett hand has its own dedicated class so it can speak to a real Barrett hand. More...
#include <barrett.h>
Public Member Functions | |
| Barrett (World *w, const char *name) | |
| Just sets the interface to NULL, no real hand used by default. | |
| BarrettHand * | getRealHand () |
| Returns the interface to the real barrett hand. | |
| bool | isBusy () |
| Returns true if the real hand is currently executing a motor command. | |
| int | loadFromXml (const TiXmlElement *root, QString rootPath) |
| Also sets the real hand interface to NULL. | |
| ~Barrett () | |
| Also deletes the interface, if any. | |
Protected Attributes | |
| BarrettHand * | mRealHand |
| The interface to the real Barrett hand (or NULL if no real hand is used). | |
The Barrett hand has its own dedicated class so it can speak to a real Barrett hand.
The Barrett hand class can also hold an instance of the interface to a real Barrett hand. Using this interface, the real Barrett can be made to mimic the behavior of the simulated Barrett, or vice versa.
Definition at line 40 of file barrett.h.
| Barrett::Barrett | ( | World * | w, | |
| const char * | name | |||
| ) | [inline] |
| Barrett::~Barrett | ( | ) |
Also deletes the interface, if any.
Definition at line 43 of file barrett.cpp.
| BarrettHand * Barrett::getRealHand | ( | ) |
Returns the interface to the real barrett hand.
For now, the caller can use this interface directly, but in the future all interaction will have to go through the Barrett class.
Definition at line 62 of file barrett.cpp.
| bool Barrett::isBusy | ( | ) |
Returns true if the real hand is currently executing a motor command.
Returns true if the last motor command sent to the real hand has not finished yet. Attempts to tell when the motors of the real hand are uner current, as this affect things such as Flock of Birds measurements.
Definition at line 88 of file barrett.cpp.
| int Barrett::loadFromXml | ( | const TiXmlElement * | root, | |
| QString | rootPath | |||
| ) | [virtual] |
Also sets the real hand interface to NULL.
Reimplemented from Robot.
Definition at line 51 of file barrett.cpp.
BarrettHand* Barrett::mRealHand [protected] |
