Class Feedback

Nested Relationships

Nested Types

Class Documentation

class Feedback

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.

Public Types

enum class TemperatureState

Values:

enumerator Normal

Temperature within normal range.

enumerator Critical

Motor output beginning to be limited due to high temperature.

enumerator ExceedMaxMotor

Temperature exceeds max allowable for motor; motor output disabled.

enumerator ExceedMaxBoard

Temperature exceeds max allowable for electronics; motor output disabled.

enum class MstopState

Values:

enumerator Triggered

The MStop is pressed.

enumerator NotTriggered

The MStop is not pressed.

enum class PositionLimitState

Values:

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

enumerator AtLower

The position of the module was near the lower safety limit, and the motor output is being limited or reversed.

enumerator Inside

The position of the module was within the safety limits.

enumerator AtUpper

The position of the module was near the upper safety limit, and the motor output is being limited or reversed.

enumerator 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

enumerator Uninitialized

The module has not been inside the safety limits since it was booted or the safety limits were set.

enum class VelocityLimitState

Values:

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

enumerator AtLower

The velocity of the module was near the lower safety limit, and the motor output is being limited or reversed.

enumerator Inside

The velocity of the module was within the safety limits.

enumerator AtUpper

The velocity of the module was near the upper safety limit, and the motor output is being limited or reversed.

enumerator 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

enumerator Uninitialized

The module has not been inside the safety limits since it was booted or the safety limits were set.

enum class EffortLimitState

Values:

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

enumerator AtLower

The effort of the module was near the lower safety limit, and the motor output is being limited or reversed.

enumerator Inside

The effort of the module was within the safety limits.

enumerator AtUpper

The effort of the module was near the upper safety limit, and the motor output is being limited or reversed.

enumerator 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

enumerator Uninitialized

The module has not been inside the safety limits since it was booted or the safety limits were set.

enum class CommandLifetimeState

Values:

enumerator Unlocked

There is not command lifetime active on this module.

enumerator LockedByOther

Commands are locked out due to control from other users.

enumerator LockedBySender

Commands from others are locked out due to control from this group.

enum class ArQuality

Values:

enumerator ArQualityNotAvailable

Camera position tracking is not available.

enumerator ArQualityLimitedUnknown

Tracking is available albeit suboptimal for an unknown reason.

enumerator ArQualityLimitedInitializing

The AR session has not yet gathered enough camera or motion data to provide tracking information.

enumerator ArQualityLimitedRelocalizing

The AR session is attempting to resume after an interruption.

enumerator ArQualityLimitedExcessiveMotion

The device is moving too fast for accurate image-based position tracking.

enumerator ArQualityLimitedInsufficientFeatures

The scene visible to the camera does not contain enough distinguishable features for image-based position tracking.

enumerator ArQualityNormal

Camera position tracking is providing optimal results.

Public Functions

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!

Feedback(Feedback &&other)

Move constructor (necessary for containment in STL template classes)

inline const Io &io() const

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

inline const Actuator &actuator() const

Actuator-specific feedback.

inline const Mobile &mobile() const

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

inline const Imu &imu() const

Inertial measurement unit feedback (accelerometers and gyros).

inline const FloatField &boardTemperature() const

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

inline const FloatField &processorTemperature() const

Temperature of the processor chip, in degrees Celsius.

inline const FloatField &voltage() const

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

inline const NumberedFloatField &debug() const

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

inline const UInt64Field &sequenceNumber() const

Sequence number going to module (local)

inline const UInt64Field &receiveTimeUs() const

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

inline const UInt64Field &transmitTimeUs() const

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

inline const UInt64Field &hardwareReceiveTimeUs() const

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

inline const UInt64Field &hardwareTransmitTimeUs() const

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

inline const UInt64Field &senderId() const

Unique ID of the module transmitting this feedback.

inline const UInt64Field &rxSequenceNumber() const

Sequence number of incoming packet per module (local)

inline const LedField &led() const

The module’s LED.

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

Disable copy constructor/assignment operators

class Actuator

Actuator-specific feedback.

Public Functions

inline Actuator(const HebiFeedbackRef &internal)
inline const FloatField &velocity() const

Velocity of the module output (post-spring), in radians/second.

inline const FloatField &effort() const

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

inline const FloatField &velocityCommand() const

Commanded velocity of the module output (post-spring), in radians/second.

inline const FloatField &effortCommand() const

Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

inline const FloatField &deflection() const

Difference (in radians) between the pre-spring and post-spring output position.

inline const FloatField &deflectionVelocity() const

Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.

inline const FloatField &motorVelocity() const

The velocity (in radians/second) of the motor shaft.

inline const FloatField &motorCurrent() const

Current supplied to the motor.

inline const FloatField &motorSensorTemperature() const

The temperature from a sensor near the motor housing.

inline const FloatField &motorWindingCurrent() const

The estimated current in the motor windings.

inline const FloatField &motorWindingTemperature() const

The estimated temperature of the motor windings.

inline const FloatField &motorHousingTemperature() const

The estimated temperature of the motor housing.

inline const FloatField &pwmCommand() const

Commanded PWM signal sent to the motor; final output of PID controllers.

inline const FloatField &innerEffortCommand() const

In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop.

inline const HighResAngleField &position() const

Position of the module output (post-spring), in radians.

inline const HighResAngleField &positionCommand() const

Commanded position of the module output (post-spring), in radians.

inline const HighResAngleField &motorPosition() const

The position of an actuator’s internal motor before the gear reduction, in radians.

inline const EnumField<TemperatureState> &temperatureState() const

Describes how the temperature inside the module is limiting the output of the motor.

inline const EnumField<MstopState> &mstopState() const

Current status of the MStop.

inline const EnumField<PositionLimitState> &positionLimitState() const

Software-controlled bounds on the allowable position of the module; user settable.

inline const EnumField<VelocityLimitState> &velocityLimitState() const

Software-controlled bounds on the allowable velocity of the module.

inline const EnumField<EffortLimitState> &effortLimitState() const

Software-controlled bounds on the allowable effort of the module.

inline const EnumField<CommandLifetimeState> &commandLifetimeState() const

The state of the command lifetime safety controller, with respect to the current group.

template<typename T>
class EnumField

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

Public Functions

inline EnumField(const HebiFeedbackRef &internal, HebiFeedbackEnumField field)
inline explicit operator bool() const

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’) 

Feedback::EnumField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

inline bool has() const

True if (and only if) the field has a value.

inline T get() const

If the field has a value, returns that value; otherwise, returns a default.

class FloatField

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

Public Functions

FloatField(const HebiFeedbackRef &internal, HebiFeedbackFloatField field)
inline explicit operator bool() const

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’) 

Feedback::FloatField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool has() const

True if (and only if) the field has a value.

float get() const

If the field has a value, returns that value; otherwise, returns a default.

class HighResAngleField

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.

Public Functions

HighResAngleField(const HebiFeedbackRef &internal, HebiFeedbackHighResAngleField field)
inline explicit operator bool() const

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’) 

Feedback::HighResAngleField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool has() const

True if (and only if) the field has a value.

double 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.

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.

Note that this maintains the full precision of the underlying angle measurement, even for very large numbers of revolutions.

Parameters:

  • 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.

class Imu

Inertial measurement unit feedback (accelerometers and gyros).

Public Functions

inline Imu(const HebiFeedbackRef &internal)
inline const Vector3fField &accelerometer() const

Accelerometer data, in m/s^2.

inline const Vector3fField &gyro() const

Gyro data, in radians/second.

inline const QuaternionfField &orientation() const

A filtered estimate of the orientation of the module.

class Io

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

Public Functions

inline Io(const HebiFeedbackRef &internal)
inline const IoBank &a() const

I/O pin bank a (pins 1-8 available)

inline const IoBank &b() const

I/O pin bank b (pins 1-8 available)

inline const IoBank &c() const

I/O pin bank c (pins 1-8 available)

inline const IoBank &d() const

I/O pin bank d (pins 1-8 available)

inline const IoBank &e() const

I/O pin bank e (pins 1-8 available)

inline const IoBank &f() const

I/O pin bank f (pins 1-8 available)

class IoBank

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

Public Functions

IoBank(const HebiFeedbackRef &internal, HebiFeedbackIoPinBank bank)
bool hasInt(size_t pinNumber) const

True if (and only if) the particular numbered pin in this bank has an integer (e.g., digital) value.

Parameters:

pinNumber – Which pin to check; valid values for pinNumber depend on the bank.

bool hasFloat(size_t pinNumber) const

True if (and only if) the particular numbered pin in this bank has an floating point (e.g., analog or PWM) value.

Parameters:

pinNumber – Which pin to check; valid values for pinNumber depend on the bank.

int64_t getInt(size_t pinNumber) const

If this numbered pin in this bank has an integer (e.g., digital) value, returns that value; otherwise returns a default.

Parameters:

pinNumber – Which pin to get; valid values for pinNumber depend on the bank.

float getFloat(size_t pinNumber) const

If this numbered pin in this bank has an floating point (e.g., analog or PWM) value, returns that value; otherwise returns a default.

Parameters:

pinNumber – Which pin to get; valid values for pinNumber depend on the bank.

class LedField

A message field for interfacing with an LED.

Public Functions

LedField(const HebiFeedbackRef &internal, HebiFeedbackLedField field)
inline explicit operator bool() const

Allows casting to a bool to check if the LED color is set without directly calling hasColor().

This can be used as in the following (assuming ‘parent’ is a parent message, and this field is called ‘myField’) 

Feedback::LedField& f = parent.myField();
if (f)
  std::cout << "Field has color!" << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool hasColor() const

Returns true if the LED color is set, and false otherwise.

Color getColor() const

Returns the led color.

class Mobile

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

Public Functions

inline Mobile(const HebiFeedbackRef &internal)
inline const FloatField &batteryLevel() const

Charge level of the device’s battery (in percent).

inline const Vector3fField &arPosition() const

A device’s position in the world as calculated from an augmented reality framework, in meters.

inline const QuaternionfField &arOrientation() const

A device’s orientation in the world as calculated from an augmented reality framework.

inline const EnumField<ArQuality> &arQuality() const

The status of the augmented reality tracking, if using an AR enabled device.

class NumberedFloatField

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

Public Functions

NumberedFloatField(const HebiFeedbackRef &internal, HebiFeedbackNumberedFloatField field)
bool has(size_t fieldNumber) const

True if (and only if) the particular numbered subvalue of this field has a value.

Parameters:

fieldNumber – Which subvalue to check; valid values for fieldNumber depend on the field type.

float get(size_t fieldNumber) const

If the particular numbered subvalue of this field has a value, returns that value; otherwise returns a default.

Parameters:

fieldNumber – Which subvalue to get; valid values for fieldNumber depend on the field type.

class QuaternionfField

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

Public Functions

QuaternionfField(const HebiFeedbackRef &internal, HebiFeedbackQuaternionfField field)
inline explicit operator bool() const

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’) 

Feedback::QuaternionfField& f = parent.myField();
if (f)
  std::cout << "Field has value!" << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool has() const

True if (and only if) the field has a value.

Quaternionf get() const

If the field has a value, returns that value; otherwise, returns a default.

class UInt64Field

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

Public Functions

UInt64Field(const HebiFeedbackRef &internal, HebiFeedbackUInt64Field field)
inline explicit operator bool() const

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’) 

Feedback::UInt64Field& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool has() const

True if (and only if) the field has a value.

uint64_t get() const

If the field has a value, returns that value; otherwise, returns a default.

class Vector3fField

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

Public Functions

Vector3fField(const HebiFeedbackRef &internal, HebiFeedbackVector3fField field)
inline explicit operator bool() const

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’) 

Feedback::Vector3fField& f = parent.myField();
if (f)
  std::cout << "Field has value!" << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

bool has() const

True if (and only if) the field has a value.

Vector3f get() const

If the field has a value, returns that value; otherwise, returns a default.