Public Member Functions |
| LimbProxy (PlayerClient *aPc, uint32_t aIndex=0) |
void | RequestGeometry (void) |
| Geometry request - call before getting the geometry of a joint through the accessor method.
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void | SetPowerConfig (bool aVal) |
| Power control.
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void | SetBrakesConfig (bool aVal) |
| Brakes control.
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void | SetSpeedConfig (float aSpeed) |
| Speed control.
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void | MoveHome (void) |
| Move the limb to the home position.
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void | Stop (void) |
| Stop the limb immediately.
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void | SetPose (float aPX, float aPY, float aPZ, float aAX, float aAY, float aAZ, float aOX, float aOY, float aOZ) |
| Move the end effector to a given pose.
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void | SetPosition (float aX, float aY, float aZ) |
| Move the end effector to a given position, ignoring orientation.
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void | VectorMove (float aX, float aY, float aZ, float aLength) |
| Move the end effector along a vector of given length, maintaining current orientation.
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player_limb_data_t | GetData (void) const |
| Accessor method for getting the limb's data.
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player_limb_geom_req_t | GetGeom (void) const |
| Same again for getting the limb's geometry.
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bool | IsValid () const |
| Returns true if we have received any data from the device.
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bool | IsFresh () const |
| Fresh is set to true on each new read.
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void | NotFresh () |
| This states that the data in a client is currently not Fresh.
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std::string | GetDriverName () const |
| Returns the driver name.
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double | GetDataTime () const |
| Returns the received timestamp [s].
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double | GetElapsedTime () const |
| Returns the received timestamp [s].
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PlayerClient * | GetPlayerClient () const |
| Returns a pointer to the Player Client.
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uint32_t | GetIndex () const |
| Returns device index.
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uint32_t | GetInterface () const |
| Returns device interface.
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std::string | GetInterfaceStr () const |
| Returns device interface.
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void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server.
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int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device.
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int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property.
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int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property.
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int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property.
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int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property.
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int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property.
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int | SetDblProp (char *aProperty, double aValue) |
| Set a double property.
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int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property.
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int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property.
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template<typename T > |
connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a signal to this proxy For more information check out Signals & multithreading.
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void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal to this proxy.
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The LimbProxy
class is used to control a limb device.