ERC CISST - cisst software

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prmActuatorState Class Reference

#include <prmActuatorState.h>

Inheritance diagram for prmActuatorState:

[legend]Collaboration diagram for prmActuatorState:

[legend]List of all members.

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Detailed Description

A container for Controlloer's Actuator states Position, Velocity, etc. for each actuator

Definition at line 41 of file prmActuatorState.h.

Public Types

• typedef prmActuatorState ThisType
• typedef unsigned int size_type

Public Member Functions

• prmActuatorState ()
• prmActuatorState (size_type size)
• void SetSize (size_type size)
• virtual ~prmActuatorState ()
• bool Allocate (const cmnGenericObject *model)
• void ToStream (std::ostream &outputStream) const

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsDoubleVec, Position)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsDoubleVec, Velocity)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, InMotion)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, MotorOff)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, SoftFwdLimitHit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, SoftRevLimitHit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, HardFwdLimitHit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, HardRevLimitHit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, HomeSwitchOn)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (vctBoolVec, IsHomed)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, EStopON)

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Constructor & Destructor Documentation

prmActuatorState::prmActuatorState

(

)

[inline]

default constructor - does nothing for now

Definition at line 50 of file prmActuatorState.h.

virtual prmActuatorState::~prmActuatorState

(

)

[inline, virtual]

destructor

Definition at line 64 of file prmActuatorState.h.

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Member Function Documentation

bool prmActuatorState::Allocate

(

const cmnGenericObject *

model

)

[inline]

Allocate memory based on an existing object of the same type. The object is provided via a cmnGenericObject pointer. If a dynamic cast to this type is not possible, this method returns false.

Definition at line 69 of file prmActuatorState.h.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsDoubleVec	,
		Position
	)

Set and Get methods for the the position.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsDoubleVec	,
		Velocity
	)

Set and Get methods for the the Velocity.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		InMotion
	)

Set and Get methods for the the position.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		MotorOff
	)

Set and Get methods for the the position.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		SoftFwdLimitHit
	)

Set and Get methods for the forward SOFTWARE limits hit.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		SoftRevLimitHit
	)

Set and Get methods for the reverse SOFTWARE Limit.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		HardFwdLimitHit
	)

Set and Get methods for the forward HARDWARE limits hit.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		HardRevLimitHit
	)

Set and Get methods for the reverse HARDWARE Limit.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		HomeSwitchOn
	)

Set and Get methods for the HomeSwitch .

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctBoolVec	,
		IsHomed
	)

Set and Get methods for state of homing variable on the controller.

prmActuatorState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		EStopON
	)

Set and Get methods for the state of the estop button.

void prmActuatorState::ToStream

(

std::ostream &

outputStream

)

const [virtual]

Human readable output to stream.

Reimplemented from mtsGenericObject.

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

• prmActuatorState.h

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