A message field for an angle measurement which does not lose precision at very high angles. More...
#include <feedback.hpp>
Public Member Functions | |
double | get () const |
If the field has a value, returns that value as a double; otherwise, returns a default. More... | |
void | get (int64_t *revolutions, float *radian_offset) const |
If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default. More... | |
bool | has () const |
True if (and only if) the field has a value. More... | |
HighResAngleField (const HebiFeedbackRef &internal, HebiFeedbackHighResAngleField field) | |
operator bool () const | |
Allows casting to a bool to check if the field has a value without directly calling has() . More... | |
Private Attributes | |
HebiFeedbackHighResAngleField const | field_ |
const HebiFeedbackRef & | internal_ |
A message field for an angle measurement which does not lose precision at very high angles.
This field is represented as an int64_t for the number of revolutions and a float for the radian offset from that number of revolutions.
Definition at line 167 of file feedback.hpp.
hebi::Feedback::HighResAngleField::HighResAngleField | ( | const HebiFeedbackRef & | internal, |
HebiFeedbackHighResAngleField | field | ||
) |
Definition at line 26 of file feedback.cpp.
double hebi::Feedback::HighResAngleField::get | ( | ) | const |
If the field has a value, returns that value as a double; otherwise, returns a default.
Note that some precision might be lost converting to a double at very high number of revolutions.
Definition at line 33 of file feedback.cpp.
void hebi::Feedback::HighResAngleField::get | ( | int64_t * | revolutions, |
float * | radian_offset | ||
) | const |
If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default.
Note that this maintains the full precision of the underlying angle measurement, even for very large numbers of revolutions.
revolutions | The number of full revolutions |
radian_offset | The offset from the given number of full revolutions. Note that this is usually between 0 and 2*M_PI , but callers should not assume this. |
Definition at line 42 of file feedback.cpp.
bool hebi::Feedback::HighResAngleField::has | ( | ) | const |
True if (and only if) the field has a value.
Definition at line 29 of file feedback.cpp.
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inlineexplicit |
Allows casting to a bool to check if the field has a value without directly calling has()
.
This can be used as in the following (assuming 'parent' is a parent message, and this field is called 'myField')
Definition at line 184 of file feedback.hpp.
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private |
Definition at line 209 of file feedback.hpp.
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private |
Definition at line 208 of file feedback.hpp.