Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings. More...

#include <info.hpp>

Classes
class	Actuator
	Actuator-specific information. More...

class	BoolField
	A message field representable by a bool value. More...

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

class	FlagField
	A two-state message field (either set/true or cleared/false). 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	LedField
	A message field for interfacing with an LED. More...

class	Settings
	Module settings that are typically changed at a slower rate. More...

class	StringField
	A message field representable by a std::string. More...

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

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

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

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

Info &	operator= (Info &&other)=delete

const StringField &	serial () const
	Gets the serial number for this module (e.g., X5-0001). More...

const Settings &	settings () const
	Module settings that are typically changed at a slower rate. More...

Protected Types
using	InfoGains = Gains< HebiInfoRef, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField >

Private Attributes
Actuator	actuator_

HebiInfoPtr	internal_

HebiInfoRef	internal_ref_

LedField	led_

StringField	serial_

Settings	settings_

Detailed Description

Info objects have various fields representing the module state; 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 info object, and so should not be used after the parent object has been destroyed.

The fields in the info 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 33 of file info.hpp.

Member Typedef Documentation

using hebi::Info::InfoGains = Gains<HebiInfoRef, FloatField, BoolField, HebiInfoFloatField, HebiInfoBoolField>

protected

Definition at line 309 of file info.hpp.

Member Enumeration Documentation

enum hebi::Info::CalibrationState

strong

Enumerator
Normal	The module has been calibrated; this is the normal state.
UncalibratedCurrent	The current has not been calibrated.
UncalibratedPosition	The factory zero position has not been set.
UncalibratedEffort	The effort (e.g., spring nonlinearity) has not been calibrated.

Definition at line 51 of file info.hpp.

enum hebi::Info::ControlStrategy

strong

Enumerator
Off	The motor is not given power (equivalent to a 0 PWM value)
DirectPWM	A direct PWM value (-1 to 1) can be sent to the motor (subject to onboard safety limiting).
Strategy2	A combination of the position, velocity, and effort loops with P and V feeding to T; documented on docs.hebi.us under "Control Modes"
Strategy3	A combination of the position, velocity, and effort loops with P, V, and T feeding to PWM; documented on docs.hebi.us under "Control Modes"
Strategy4	A combination of the position, velocity, and effort loops with P feeding to T and V feeding to PWM; documented on docs.hebi.us under "Control Modes"

Definition at line 35 of file info.hpp.

enum hebi::Info::MstopStrategy

strong

Enumerator
Disabled	Triggering the M-Stop has no effect.
MotorOff	Triggering the M-Stop results in the control strategy being set to 'off'. Remains 'off' until changed by user.
HoldPosition	Triggering the M-Stop results in the motor holding the motor position. Operations resume to normal once trigger is released.

Definition at line 62 of file info.hpp.

enum hebi::Info::PositionLimitStrategy

strong

Enumerator
HoldPosition	Exceeding the position limit results in the actuator holding the position. Needs to be manually set to 'disabled' to recover.
DampedSpring	Exceeding the position limit results in a virtual spring that pushes the actuator back to within the limits.
MotorOff	Exceeding the position limit results in the control strategy being set to 'off'. Remains 'off' until changed by user.
Disabled	Exceeding the position limit has no effect.

Definition at line 71 of file info.hpp.

Constructor & Destructor Documentation

hebi::Info::Info ( HebiInfoPtr info )

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 93 of file info.cpp.

hebi::Info::Info ( Info && other )

Move constructor (necessary for containment in STL template classes)

Definition at line 102 of file info.cpp.

Member Function Documentation

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

inline

Actuator-specific information.

Definition at line 500 of file info.hpp.

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

inline

The module's LED.

Definition at line 507 of file info.hpp.

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

delete

Disable copy constructor/assignment operators

const StringField& hebi::Info::serial ( ) const

inline

Gets the serial number for this module (e.g., X5-0001).

Definition at line 505 of file info.hpp.

const Settings& hebi::Info::settings ( ) const

inline

Module settings that are typically changed at a slower rate.

Definition at line 498 of file info.hpp.

Member Data Documentation

Actuator hebi::Info::actuator_

private

Definition at line 519 of file info.hpp.

HebiInfoPtr hebi::Info::internal_

private

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

Definition at line 476 of file info.hpp.

HebiInfoRef hebi::Info::internal_ref_

private

Definition at line 477 of file info.hpp.

LedField hebi::Info::led_

private

Definition at line 522 of file info.hpp.

StringField hebi::Info::serial_

private

Definition at line 521 of file info.hpp.

Settings hebi::Info::settings_

private

Definition at line 518 of file info.hpp.

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

Public Types
enum	CalibrationState { CalibrationState::Normal, CalibrationState::UncalibratedCurrent, CalibrationState::UncalibratedPosition, CalibrationState::UncalibratedEffort }

enum	ControlStrategy { ControlStrategy::Off, ControlStrategy::DirectPWM, ControlStrategy::Strategy2, ControlStrategy::Strategy3, ControlStrategy::Strategy4 }

enum	MstopStrategy { MstopStrategy::Disabled, MstopStrategy::MotorOff, MstopStrategy::HoldPosition }

enum	PositionLimitStrategy { PositionLimitStrategy::HoldPosition, PositionLimitStrategy::DampedSpring, PositionLimitStrategy::MotorOff, PositionLimitStrategy::Disabled }

Classes

Public Types

Public Member Functions

Protected Types

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation