Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings. More...

#include <feedback.hpp>

Classes
class	Actuator
	Actuator-specific feedback. More...

class	EnumField
	A message field representable by an enum of a given type. More...

class	FloatField
	A message field representable by a single-precision floating point value. More...

class	HighResAngleField
	A message field for an angle measurement which does not lose precision at very high angles. More...

class	Imu
	Inertial measurement unit feedback (accelerometers and gyros). More...

class	Io
	Feedback from any available I/O pins on the device. More...

class	IoBank
	A message field for interfacing with a bank of I/O pins. More...

class	LedField
	A message field for interfacing with an LED. More...

class	Mobile
	Feedback generally from a mobile device such as a phone or tablet. More...

class	NumberedFloatField
	A message field containing a numbered set of single-precision floating point values. More...

class	QuaternionfField
	A message field representable by a 3-D vector of single-precision floating point values. More...

class	UInt64Field
	A message field representable by an unsigned 64 bit integer value. More...

class	Vector3fField
	A message field representable by a 3-D vector of single-precision floating point values. More...

Public Types
enum	ArQuality { ArQuality::ArQualityNotAvailable, ArQuality::ArQualityLimitedUnknown, ArQuality::ArQualityLimitedInitializing, ArQuality::ArQualityLimitedRelocalizing, ArQuality::ArQualityLimitedExcessiveMotion, ArQuality::ArQualityLimitedInsufficientFeatures, ArQuality::ArQualityNormal }

enum	CommandLifetimeState { CommandLifetimeState::Unlocked, CommandLifetimeState::LockedByOther, CommandLifetimeState::LockedBySender }

enum	EffortLimitState { EffortLimitState::Below, EffortLimitState::AtLower, EffortLimitState::Inside, EffortLimitState::AtUpper, EffortLimitState::Above, EffortLimitState::Uninitialized }

enum	MstopState { MstopState::Triggered, MstopState::NotTriggered }

enum	PositionLimitState { PositionLimitState::Below, PositionLimitState::AtLower, PositionLimitState::Inside, PositionLimitState::AtUpper, PositionLimitState::Above, PositionLimitState::Uninitialized }

enum	TemperatureState { TemperatureState::Normal, TemperatureState::Critical, TemperatureState::ExceedMaxMotor, TemperatureState::ExceedMaxBoard }

enum	VelocityLimitState { VelocityLimitState::Below, VelocityLimitState::AtLower, VelocityLimitState::Inside, VelocityLimitState::AtUpper, VelocityLimitState::Above, VelocityLimitState::Uninitialized }

Public Member Functions
const Actuator &	actuator () const
	Actuator-specific feedback. More...

const FloatField &	boardTemperature () const
	Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius. More...

const NumberedFloatField &	debug () const
	Values for internal debug functions (channel 1-9 available). More...

	Feedback (HebiFeedbackPtr)
	Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions! More...

	Feedback (Feedback &&other)
	Move constructor (necessary for containment in STL template classes) More...

const UInt64Field &	hardwareReceiveTimeUs () const
	Timestamp of when message was received by module (remote; microseconds) More...

const UInt64Field &	hardwareTransmitTimeUs () const
	Timestamp of when message was transmitted from module (remote; microseconds) More...

const Imu &	imu () const
	Inertial measurement unit feedback (accelerometers and gyros). More...

const Io &	io () const
	Feedback from any available I/O pins on the device. More...

const LedField &	led () const
	The module's LED. More...

const Mobile &	mobile () const
	Feedback generally from a mobile device such as a phone or tablet. More...

Feedback &	operator= (Feedback &&other)=delete

const FloatField &	processorTemperature () const
	Temperature of the processor chip, in degrees Celsius. More...

const UInt64Field &	receiveTimeUs () const
	Timestamp of when message was received from module (local; microseconds) More...

const UInt64Field &	senderId () const
	Unique ID of the module transmitting this feedback. More...

const UInt64Field &	transmitTimeUs () const
	Timestamp of when message was transmitted to module (local; microseconds) More...

const FloatField &	voltage () const
	Bus voltage that the module is running at (in Volts). More...

Detailed Description

Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent feedback object, and so should not be used after the parent object has been destroyed.

The fields in the feedback object are typed; generally, these are optional-style read-only fields (i.e., have the concept of has/get), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Definition at line 32 of file feedback.hpp.

Member Enumeration Documentation

enum hebi::Feedback::ArQuality

strong

Enumerator
ArQualityNotAvailable	Camera position tracking is not available.
ArQualityLimitedUnknown	Tracking is available albeit suboptimal for an unknown reason.
ArQualityLimitedInitializing	The AR session has not yet gathered enough camera or motion data to provide tracking information.
ArQualityLimitedRelocalizing	The AR session is attempting to resume after an interruption.
ArQualityLimitedExcessiveMotion	The device is moving too fast for accurate image-based position tracking.
ArQualityLimitedInsufficientFeatures	The scene visible to the camera does not contain enough distinguishable features for image-based position tracking.
ArQualityNormal	Camera position tracking is providing optimal results.

Definition at line 112 of file feedback.hpp.

enum hebi::Feedback::CommandLifetimeState

strong

Enumerator
Unlocked	There is not command lifetime active on this module.
LockedByOther	Commands are locked out due to control from other users.
LockedBySender	Commands from others are locked out due to control from this group.

Definition at line 103 of file feedback.hpp.

enum hebi::Feedback::EffortLimitState

strong

Enumerator
Below	The effort of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The effort of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The effort of the module was within the safety limits.
AtUpper	The effort of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The effort of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 86 of file feedback.hpp.

enum hebi::Feedback::MstopState

strong

Enumerator
Triggered	The MStop is pressed.
NotTriggered	The MStop is not pressed.

Definition at line 45 of file feedback.hpp.

enum hebi::Feedback::PositionLimitState

strong

Enumerator
Below	The position of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The position of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The position of the module was within the safety limits.
AtUpper	The position of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The position of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 52 of file feedback.hpp.

enum hebi::Feedback::TemperatureState

strong

Enumerator
Normal	Temperature within normal range.
Critical	Motor output beginning to be limited due to high temperature.
ExceedMaxMotor	Temperature exceeds max allowable for motor; motor output disabled.
ExceedMaxBoard	Temperature exceeds max allowable for electronics; motor output disabled.

Definition at line 34 of file feedback.hpp.

enum hebi::Feedback::VelocityLimitState

strong

Enumerator
Below	The velocity of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The velocity of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The velocity of the module was within the safety limits.
AtUpper	The velocity of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The velocity of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

Definition at line 69 of file feedback.hpp.

Constructor & Destructor Documentation

hebi::Feedback::Feedback ( HebiFeedbackPtr feedback )

Wraps an existing C-style object that is managed by its parent. NOTE: this should not be used except by internal library functions!

Definition at line 154 of file feedback.cpp.

hebi::Feedback::Feedback ( Feedback && other )

Move constructor (necessary for containment in STL template classes)

Definition at line 173 of file feedback.cpp.

Member Function Documentation

const Actuator& hebi::Feedback::actuator ( ) const

inline

Actuator-specific feedback.

Definition at line 683 of file feedback.hpp.

const FloatField& hebi::Feedback::boardTemperature ( ) const

inline

Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.

Definition at line 692 of file feedback.hpp.

const NumberedFloatField& hebi::Feedback::debug ( ) const

inline

Values for internal debug functions (channel 1-9 available).

Definition at line 699 of file feedback.hpp.

const UInt64Field& hebi::Feedback::hardwareReceiveTimeUs ( ) const

inline

Timestamp of when message was received by module (remote; microseconds)

Definition at line 706 of file feedback.hpp.

const UInt64Field& hebi::Feedback::hardwareTransmitTimeUs ( ) const

inline

Timestamp of when message was transmitted from module (remote; microseconds)

Definition at line 708 of file feedback.hpp.

const Imu& hebi::Feedback::imu ( ) const

inline

Inertial measurement unit feedback (accelerometers and gyros).

Definition at line 687 of file feedback.hpp.

const Io& hebi::Feedback::io ( ) const

inline

Feedback from any available I/O pins on the device.

Definition at line 681 of file feedback.hpp.

const LedField& hebi::Feedback::led ( ) const

inline

The module's LED.

Definition at line 712 of file feedback.hpp.

const Mobile& hebi::Feedback::mobile ( ) const

inline

Feedback generally from a mobile device such as a phone or tablet.

Definition at line 685 of file feedback.hpp.

Feedback& hebi::Feedback::operator= ( Feedback && other )

delete

Disable copy constructor/assignment operators

const FloatField& hebi::Feedback::processorTemperature ( ) const

inline

Temperature of the processor chip, in degrees Celsius.

Definition at line 694 of file feedback.hpp.

const UInt64Field& hebi::Feedback::receiveTimeUs ( ) const

inline

Timestamp of when message was received from module (local; microseconds)

Definition at line 702 of file feedback.hpp.

const UInt64Field& hebi::Feedback::senderId ( ) const

inline

Unique ID of the module transmitting this feedback.

Definition at line 710 of file feedback.hpp.

const UInt64Field& hebi::Feedback::transmitTimeUs ( ) const

inline

Timestamp of when message was transmitted to module (local; microseconds)

Definition at line 704 of file feedback.hpp.

const FloatField& hebi::Feedback::voltage ( ) const

inline

Bus voltage that the module is running at (in Volts).

Definition at line 696 of file feedback.hpp.

Member Data Documentation

Actuator hebi::Feedback::actuator_

private

Definition at line 724 of file feedback.hpp.

FloatField hebi::Feedback::board_temperature_

private

Definition at line 728 of file feedback.hpp.

NumberedFloatField hebi::Feedback::debug_

private

Definition at line 731 of file feedback.hpp.

UInt64Field hebi::Feedback::hardware_receive_time_us_

private

Definition at line 734 of file feedback.hpp.

UInt64Field hebi::Feedback::hardware_transmit_time_us_

private

Definition at line 735 of file feedback.hpp.

Imu hebi::Feedback::imu_

private

Definition at line 726 of file feedback.hpp.

HebiFeedbackPtr hebi::Feedback::internal_

private

C-style object; managed by parent. NOTE: this should not be used except by internal library functions!

Definition at line 659 of file feedback.hpp.

HebiFeedbackRef hebi::Feedback::internal_ref_

private

Definition at line 660 of file feedback.hpp.

Io hebi::Feedback::io_

private

Definition at line 723 of file feedback.hpp.

LedField hebi::Feedback::led_

private

Definition at line 737 of file feedback.hpp.

Mobile hebi::Feedback::mobile_

private

Definition at line 725 of file feedback.hpp.

FloatField hebi::Feedback::processor_temperature_

private

Definition at line 729 of file feedback.hpp.

UInt64Field hebi::Feedback::receive_time_us_

private

Definition at line 732 of file feedback.hpp.

UInt64Field hebi::Feedback::sender_id_

private

Definition at line 736 of file feedback.hpp.

UInt64Field hebi::Feedback::transmit_time_us_

private

Definition at line 733 of file feedback.hpp.

FloatField hebi::Feedback::voltage_

private

Definition at line 730 of file feedback.hpp.

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

Private Attributes
Actuator	actuator_

FloatField	board_temperature_

NumberedFloatField	debug_

UInt64Field	hardware_receive_time_us_

UInt64Field	hardware_transmit_time_us_

Imu	imu_

HebiFeedbackPtr	internal_

HebiFeedbackRef	internal_ref_

Io	io_

LedField	led_

Mobile	mobile_

FloatField	processor_temperature_

UInt64Field	receive_time_us_

UInt64Field	sender_id_

UInt64Field	transmit_time_us_

FloatField	voltage_

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation