A list of Feedback objects that can be received from a Group of modules; the size() must match the number of modules in the group. More...
#include <group_feedback.hpp>
Public Member Functions | |
| Eigen::MatrixX3d | getAccelerometer () const |
| Convenience function for returning feedback accelerometer values. More... | |
| void | getAccelerometer (Eigen::MatrixX3d &out) const |
| Convenience function for returning feedback accelerometer values. More... | |
| Eigen::VectorXd | getBoardTemperature () const |
| Convenience function for returning feedback board temperature values. More... | |
| void | getBoardTemperature (Eigen::VectorXd &out) const |
| Convenience function for returning feedback board temperature values. More... | |
| Eigen::VectorXd | getDeflection () const |
| Convenience function for returning feedback deflection values. More... | |
| void | getDeflection (Eigen::VectorXd &out) const |
| Convenience function for returning feedback deflection values. More... | |
| Eigen::VectorXd | getDeflectionVelocity () const |
| Convenience function for returning feedback deflection velocity values. More... | |
| void | getDeflectionVelocity (Eigen::VectorXd &out) const |
| Convenience function for returning feedback deflection velocity values. More... | |
| Eigen::VectorXd | getEffort () const |
| Convenience function for returning feedback effort values. More... | |
| void | getEffort (Eigen::VectorXd &out) const |
| Convenience function for returning feedback effort values. More... | |
| Eigen::VectorXd | getEffortCommand () const |
| Convenience function for returning commanded effort values. More... | |
| void | getEffortCommand (Eigen::VectorXd &out) const |
| Convenience function for returning commanded effort values. More... | |
| Eigen::MatrixX3d | getGyro () const |
| Convenience function for returning feedback gyroscope values. More... | |
| void | getGyro (Eigen::MatrixX3d &out) const |
| Convenience function for returning feedback gyroscope values. More... | |
| Eigen::VectorXd | getMotorCurrent () const |
| Convenience function for returning feedback motor current values. More... | |
| void | getMotorCurrent (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor current values. More... | |
| Eigen::VectorXd | getMotorHousingTemperature () const |
| Convenience function for returning feedback motor housing temperature values. More... | |
| void | getMotorHousingTemperature (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor housing temperature values. More... | |
| Eigen::VectorXd | getMotorSensorTemperature () const |
| Convenience function for returning feedback motor sensor temperature values. More... | |
| void | getMotorSensorTemperature (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor sensor temperature values. More... | |
| Eigen::VectorXd | getMotorVelocity () const |
| Convenience function for returning feedback motor velocity values. More... | |
| void | getMotorVelocity (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor velocity values. More... | |
| Eigen::VectorXd | getMotorWindingCurrent () const |
| Convenience function for returning feedback motor winding current values. More... | |
| void | getMotorWindingCurrent (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor winding current values. More... | |
| Eigen::VectorXd | getMotorWindingTemperature () const |
| Convenience function for returning feedback motor winding temperature values. More... | |
| void | getMotorWindingTemperature (Eigen::VectorXd &out) const |
| Convenience function for returning feedback motor winding temperature values. More... | |
| Eigen::VectorXd | getPosition () const |
| Convenience function for returning feedback position values. More... | |
| void | getPosition (Eigen::VectorXd &out) const |
| Convenience function for returning feedback position values. More... | |
| Eigen::VectorXd | getPositionCommand () const |
| Convenience function for returning commanded position values. More... | |
| void | getPositionCommand (Eigen::VectorXd &out) const |
| Convenience function for returning commanded position values. More... | |
| Eigen::VectorXd | getProcessorTemperature () const |
| Convenience function for returning feedback processor temperature values. More... | |
| void | getProcessorTemperature (Eigen::VectorXd &out) const |
| Convenience function for returning feedback processor temperature values. More... | |
| double | getTime () const |
| Gets a single wall-clock timestamp (in seconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived). More... | |
| uint64_t | getTimeUs () const |
| Gets a single wall-clock timestamp (in microseconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived). More... | |
| Eigen::VectorXd | getVelocity () const |
| Convenience function for returning feedback velocity values. More... | |
| void | getVelocity (Eigen::VectorXd &out) const |
| Convenience function for returning feedback velocity values. More... | |
| Eigen::VectorXd | getVelocityCommand () const |
| Convenience function for returning commanded velocity values. More... | |
| void | getVelocityCommand (Eigen::VectorXd &out) const |
| Convenience function for returning commanded velocity values. More... | |
| Eigen::VectorXd | getVoltage () const |
| Convenience function for returning feedback voltage values. More... | |
| void | getVoltage (Eigen::VectorXd &out) const |
| Convenience function for returning feedback voltage values. More... | |
| GroupFeedback (size_t number_of_modules) | |
| Create a group feedback with the specified number of modules. More... | |
| GroupFeedback (HebiGroupFeedbackPtr group_feedback) | |
| const Feedback & | operator[] (size_t index) const |
| Access the feedback for an individual module. More... | |
| size_t | size () const |
| Returns the number of module feedbacks in this group feedback. More... | |
| ~GroupFeedback () noexcept | |
| Destructor cleans up group feedback object as necessary. More... | |
Public Attributes | |
| HebiGroupFeedbackPtr | internal_ |
Private Attributes | |
| std::vector< Feedback > | feedbacks_ |
| const bool | manage_pointer_lifetime_ |
| const size_t | number_of_modules_ |
A list of Feedback objects that can be received from a Group of modules; the size() must match the number of modules in the group.
Definition at line 16 of file group_feedback.hpp.
| hebi::GroupFeedback::GroupFeedback | ( | size_t | number_of_modules | ) |
Create a group feedback with the specified number of modules.
Definition at line 5 of file group_feedback.cpp.
| hebi::GroupFeedback::GroupFeedback | ( | HebiGroupFeedbackPtr | group_feedback | ) |
Wraps an existing C-style feedback object; object lifetime is assumed to be managed by the caller. NOTE: this should not be used except by internal library functions!
Definition at line 13 of file group_feedback.cpp.
|
noexcept |
Destructor cleans up group feedback object as necessary.
Definition at line 21 of file group_feedback.cpp.
| Eigen::MatrixX3d hebi::GroupFeedback::getAccelerometer | ( | ) | const |
Convenience function for returning feedback accelerometer values.
Definition at line 194 of file group_feedback.cpp.
| void hebi::GroupFeedback::getAccelerometer | ( | Eigen::MatrixX3d & | out | ) | const |
Convenience function for returning feedback accelerometer values.
Definition at line 404 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getBoardTemperature | ( | ) | const |
Convenience function for returning feedback board temperature values.
Definition at line 53 of file group_feedback.cpp.
| void hebi::GroupFeedback::getBoardTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback board temperature values.
Definition at line 229 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getDeflection | ( | ) | const |
Convenience function for returning feedback deflection values.
Definition at line 78 of file group_feedback.cpp.
| void hebi::GroupFeedback::getDeflection | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback deflection values.
Definition at line 260 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getDeflectionVelocity | ( | ) | const |
Convenience function for returning feedback deflection velocity values.
Definition at line 86 of file group_feedback.cpp.
| void hebi::GroupFeedback::getDeflectionVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback deflection velocity values.
Definition at line 270 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getEffort | ( | ) | const |
Convenience function for returning feedback effort values.
Definition at line 160 of file group_feedback.cpp.
| void hebi::GroupFeedback::getEffort | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback effort values.
Definition at line 362 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getEffortCommand | ( | ) | const |
Convenience function for returning commanded effort values.
Definition at line 185 of file group_feedback.cpp.
| void hebi::GroupFeedback::getEffortCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded effort values.
Definition at line 393 of file group_feedback.cpp.
| Eigen::MatrixX3d hebi::GroupFeedback::getGyro | ( | ) | const |
Convenience function for returning feedback gyroscope values.
Definition at line 211 of file group_feedback.cpp.
| void hebi::GroupFeedback::getGyro | ( | Eigen::MatrixX3d & | out | ) | const |
Convenience function for returning feedback gyroscope values.
Definition at line 423 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorCurrent | ( | ) | const |
Convenience function for returning feedback motor current values.
Definition at line 102 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorCurrent | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor current values.
Definition at line 290 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorHousingTemperature | ( | ) | const |
Convenience function for returning feedback motor housing temperature values.
Definition at line 135 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorHousingTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor housing temperature values.
Definition at line 331 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorSensorTemperature | ( | ) | const |
Convenience function for returning feedback motor sensor temperature values.
Definition at line 110 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorSensorTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor sensor temperature values.
Definition at line 300 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorVelocity | ( | ) | const |
Convenience function for returning feedback motor velocity values.
Definition at line 94 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor velocity values.
Definition at line 280 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorWindingCurrent | ( | ) | const |
Convenience function for returning feedback motor winding current values.
Definition at line 118 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorWindingCurrent | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor winding current values.
Definition at line 310 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getMotorWindingTemperature | ( | ) | const |
Convenience function for returning feedback motor winding temperature values.
Definition at line 127 of file group_feedback.cpp.
| void hebi::GroupFeedback::getMotorWindingTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor winding temperature values.
Definition at line 321 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getPosition | ( | ) | const |
Convenience function for returning feedback position values.
Definition at line 144 of file group_feedback.cpp.
| void hebi::GroupFeedback::getPosition | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback position values.
Definition at line 342 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getPositionCommand | ( | ) | const |
Convenience function for returning commanded position values.
Definition at line 169 of file group_feedback.cpp.
| void hebi::GroupFeedback::getPositionCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded position values.
Definition at line 373 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getProcessorTemperature | ( | ) | const |
Convenience function for returning feedback processor temperature values.
Definition at line 61 of file group_feedback.cpp.
| void hebi::GroupFeedback::getProcessorTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback processor temperature values.
Definition at line 239 of file group_feedback.cpp.
| double hebi::GroupFeedback::getTime | ( | ) | const |
Gets a single wall-clock timestamp (in seconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived).
Definition at line 30 of file group_feedback.cpp.
| uint64_t hebi::GroupFeedback::getTimeUs | ( | ) | const |
Gets a single wall-clock timestamp (in microseconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived).
Definition at line 42 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getVelocity | ( | ) | const |
Convenience function for returning feedback velocity values.
Definition at line 152 of file group_feedback.cpp.
| void hebi::GroupFeedback::getVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback velocity values.
Definition at line 352 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getVelocityCommand | ( | ) | const |
Convenience function for returning commanded velocity values.
Definition at line 177 of file group_feedback.cpp.
| void hebi::GroupFeedback::getVelocityCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded velocity values.
Definition at line 383 of file group_feedback.cpp.
| Eigen::VectorXd hebi::GroupFeedback::getVoltage | ( | ) | const |
Convenience function for returning feedback voltage values.
Definition at line 69 of file group_feedback.cpp.
| void hebi::GroupFeedback::getVoltage | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback voltage values.
Definition at line 249 of file group_feedback.cpp.
| const Feedback & hebi::GroupFeedback::operator[] | ( | size_t | index | ) | const |
Access the feedback for an individual module.
Definition at line 28 of file group_feedback.cpp.
| size_t hebi::GroupFeedback::size | ( | ) | const |
Returns the number of module feedbacks in this group feedback.
Definition at line 26 of file group_feedback.cpp.
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private |
The list of Feedback subobjects
Definition at line 39 of file group_feedback.hpp.
| HebiGroupFeedbackPtr hebi::GroupFeedback::internal_ |
C-style group feedback object. NOTE: this should not be used except by library functions!
Definition at line 23 of file group_feedback.hpp.
|
private |
True if this object is responsible for creating and destroying the underlying C pointer; false otherwise.
Definition at line 31 of file group_feedback.hpp.
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private |
The number of modules in this group feedback.
Definition at line 35 of file group_feedback.hpp.