Fawkes API  Fawkes Development Version
fawkes::KatanaInterface::LinearGotoMessage Class Reference

LinearGotoMessage Fawkes BlackBoard Interface Message. More...

#include <>>

Inheritance diagram for fawkes::KatanaInterface::LinearGotoMessage:

Public Member Functions

 LinearGotoMessage (const float ini_theta_error, const float ini_offset_xy, const bool ini_straight, const char *ini_trans_frame, const char *ini_rot_frame, const float ini_x, const float ini_y, const float ini_z, const float ini_phi, const float ini_theta, const float ini_psi)
 Constructor with initial values. More...
 
 LinearGotoMessage ()
 Constructor. More...
 
 ~LinearGotoMessage ()
 Destructor. More...
 
 LinearGotoMessage (const LinearGotoMessage *m)
 Copy constructor. More...
 
float theta_error () const
 Get theta_error value. More...
 
void set_theta_error (const float new_theta_error)
 Set theta_error value. More...
 
size_t maxlenof_theta_error () const
 Get maximum length of theta_error value. More...
 
float offset_xy () const
 Get offset_xy value. More...
 
void set_offset_xy (const float new_offset_xy)
 Set offset_xy value. More...
 
size_t maxlenof_offset_xy () const
 Get maximum length of offset_xy value. More...
 
bool is_straight () const
 Get straight value. More...
 
void set_straight (const bool new_straight)
 Set straight value. More...
 
size_t maxlenof_straight () const
 Get maximum length of straight value. More...
 
char * trans_frame () const
 Get trans_frame value. More...
 
void set_trans_frame (const char *new_trans_frame)
 Set trans_frame value. More...
 
size_t maxlenof_trans_frame () const
 Get maximum length of trans_frame value. More...
 
char * rot_frame () const
 Get rot_frame value. More...
 
void set_rot_frame (const char *new_rot_frame)
 Set rot_frame value. More...
 
size_t maxlenof_rot_frame () const
 Get maximum length of rot_frame value. More...
 
float x () const
 Get x value. More...
 
void set_x (const float new_x)
 Set x value. More...
 
size_t maxlenof_x () const
 Get maximum length of x value. More...
 
float y () const
 Get y value. More...
 
void set_y (const float new_y)
 Set y value. More...
 
size_t maxlenof_y () const
 Get maximum length of y value. More...
 
float z () const
 Get z value. More...
 
void set_z (const float new_z)
 Set z value. More...
 
size_t maxlenof_z () const
 Get maximum length of z value. More...
 
float phi () const
 Get phi value. More...
 
void set_phi (const float new_phi)
 Set phi value. More...
 
size_t maxlenof_phi () const
 Get maximum length of phi value. More...
 
float theta () const
 Get theta value. More...
 
void set_theta (const float new_theta)
 Set theta value. More...
 
size_t maxlenof_theta () const
 Get maximum length of theta value. More...
 
float psi () const
 Get psi value. More...
 
void set_psi (const float new_psi)
 Set psi value. More...
 
size_t maxlenof_psi () const
 Get maximum length of psi value. More...
 
virtual Messageclone () const
 Clone this message. More...
 
- Public Member Functions inherited from fawkes::Message
 Message (const char *type)
 Constructor. More...
 
 Message (const Message *mesg)
 Copy constructor. More...
 
 Message (const Message &mesg)
 Copy constructor. More...
 
virtual ~Message ()
 Destructor. More...
 
Messageoperator= (const Message &m)
 Assign this message to given message. More...
 
unsigned int id () const
 Get message ID. More...
 
void set_id (unsigned int message_id)
 Set message ID. More...
 
void mark_enqueued ()
 Mark message as being enqueued. More...
 
bool enqueued () const
 Check is message has been enqueued. More...
 
const Timetime_enqueued () const
 Get time when message was enqueued. More...
 
unsigned int sender_id () const
 Get ID of sender. More...
 
const char * sender_thread_name () const
 Get sender of message. More...
 
Interfaceinterface () const
 Get transmitting interface. More...
 
const char * type () const
 Get message type. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields () const
 Get the number of fields in the message. More...
 
const void * datachunk () const
 Get pointer to data. More...
 
unsigned int datasize () const
 Get size of data. More...
 
unsigned int hops () const
 Get number of hops. More...
 
void set_hops (unsigned int hops)
 Set number of hops. More...
 
void set_from_chunk (const void *chunk)
 Set from raw data chunk. More...
 
unsigned int recipient () const
 Get recipient memory serial. More...
 
template<class MessageType >
bool is_of_type ()
 Check if message has desired type. More...
 
template<class MessageType >
MessageType * as_type ()
 Cast message to given type if possible. More...
 
- Public Member Functions inherited from fawkes::RefCount
 RefCount ()
 Constructor. More...
 
virtual ~RefCount ()
 Destructor. More...
 
void ref ()
 Increment reference count. More...
 
void unref ()
 Decrement reference count and conditionally delete this instance. More...
 
unsigned int refcount ()
 Get reference count for this instance. More...
 

Additional Inherited Members

- Protected Member Functions inherited from fawkes::Message
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
 Add an entry to the info list. More...
 
- Protected Attributes inherited from fawkes::Message
void * data_ptr
 Pointer to memory that contains local data. More...
 
unsigned int data_size
 Size of memory needed to hold all data. More...
 
message_data_ts_tdata_ts
 data timestamp aliasing pointer More...
 

Detailed Description

LinearGotoMessage Fawkes BlackBoard Interface Message.

Definition at line 158 of file KatanaInterface.h.

Constructor & Destructor Documentation

◆ LinearGotoMessage() [1/3]

fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage ( const float  ini_theta_error,
const float  ini_offset_xy,
const bool  ini_straight,
const char *  ini_trans_frame,
const char *  ini_rot_frame,
const float  ini_x,
const float  ini_y,
const float  ini_z,
const float  ini_phi,
const float  ini_theta,
const float  ini_psi 
)

Constructor with initial values.

Parameters
ini_theta_errorinitial value for theta_error
ini_offset_xyinitial value for offset_xy
ini_straightinitial value for straight
ini_trans_frameinitial value for trans_frame
ini_rot_frameinitial value for rot_frame
ini_xinitial value for x
ini_yinitial value for y
ini_zinitial value for z
ini_phiinitial value for phi
ini_thetainitial value for theta
ini_psiinitial value for psi

Definition at line 963 of file KatanaInterface.cpp.

References fawkes::Message::add_fieldinfo(), fawkes::Message::data_ptr, fawkes::Message::data_size, fawkes::Message::data_ts, fawkes::IFT_BOOL, fawkes::IFT_FLOAT, and fawkes::IFT_STRING.

◆ LinearGotoMessage() [2/3]

fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage ( )

◆ ~LinearGotoMessage()

fawkes::KatanaInterface::LinearGotoMessage::~LinearGotoMessage ( )

Destructor.

Definition at line 1015 of file KatanaInterface.cpp.

References fawkes::Message::data_ptr.

◆ LinearGotoMessage() [3/3]

fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage ( const LinearGotoMessage m)

Copy constructor.

Parameters
mmessage to copy from

Definition at line 1023 of file KatanaInterface.cpp.

References fawkes::Message::data_ptr, fawkes::Message::data_size, and fawkes::Message::data_ts.

Member Function Documentation

◆ clone()

Message * fawkes::KatanaInterface::LinearGotoMessage::clone ( ) const
virtual

Clone this message.

Produces a message of the same type as this message and copies the data to the new message.

Returns
clone of this message

Reimplemented from fawkes::Message.

Definition at line 1381 of file KatanaInterface.cpp.

◆ is_straight()

bool fawkes::KatanaInterface::LinearGotoMessage::is_straight ( ) const

Get straight value.

Move in a straight line?

Returns
straight value

Definition at line 1100 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ maxlenof_offset_xy()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_offset_xy ( ) const

Get maximum length of offset_xy value.

Returns
length of offset_xy value, can be length of the array or number of maximum number of characters for a string

Definition at line 1080 of file KatanaInterface.cpp.

◆ maxlenof_phi()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_phi ( ) const

Get maximum length of phi value.

Returns
length of phi value, can be length of the array or number of maximum number of characters for a string

Definition at line 1300 of file KatanaInterface.cpp.

◆ maxlenof_psi()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_psi ( ) const

Get maximum length of psi value.

Returns
length of psi value, can be length of the array or number of maximum number of characters for a string

Definition at line 1360 of file KatanaInterface.cpp.

◆ maxlenof_rot_frame()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_rot_frame ( ) const

Get maximum length of rot_frame value.

Returns
length of rot_frame value, can be length of the array or number of maximum number of characters for a string

Definition at line 1173 of file KatanaInterface.cpp.

◆ maxlenof_straight()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_straight ( ) const

Get maximum length of straight value.

Returns
length of straight value, can be length of the array or number of maximum number of characters for a string

Definition at line 1110 of file KatanaInterface.cpp.

◆ maxlenof_theta()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_theta ( ) const

Get maximum length of theta value.

Returns
length of theta value, can be length of the array or number of maximum number of characters for a string

Definition at line 1330 of file KatanaInterface.cpp.

◆ maxlenof_theta_error()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_theta_error ( ) const

Get maximum length of theta_error value.

Returns
length of theta_error value, can be length of the array or number of maximum number of characters for a string

Definition at line 1049 of file KatanaInterface.cpp.

◆ maxlenof_trans_frame()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_trans_frame ( ) const

Get maximum length of trans_frame value.

Returns
length of trans_frame value, can be length of the array or number of maximum number of characters for a string

Definition at line 1141 of file KatanaInterface.cpp.

◆ maxlenof_x()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_x ( ) const

Get maximum length of x value.

Returns
length of x value, can be length of the array or number of maximum number of characters for a string

Definition at line 1205 of file KatanaInterface.cpp.

◆ maxlenof_y()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_y ( ) const

Get maximum length of y value.

Returns
length of y value, can be length of the array or number of maximum number of characters for a string

Definition at line 1237 of file KatanaInterface.cpp.

◆ maxlenof_z()

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_z ( ) const

Get maximum length of z value.

Returns
length of z value, can be length of the array or number of maximum number of characters for a string

Definition at line 1269 of file KatanaInterface.cpp.

◆ offset_xy()

float fawkes::KatanaInterface::LinearGotoMessage::offset_xy ( ) const

Get offset_xy value.

Offset to target. Distance in m (on the way to the target)

Returns
offset_xy value

Definition at line 1070 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ phi()

float fawkes::KatanaInterface::LinearGotoMessage::phi ( ) const

Get phi value.

DEPRECATED! Euler angle Phi of tool orientation.

Returns
phi value

Definition at line 1290 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ psi()

float fawkes::KatanaInterface::LinearGotoMessage::psi ( ) const

Get psi value.

DEPRECATED! Euler angle Psi of tool orientation.

Returns
psi value

Definition at line 1350 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ rot_frame()

char * fawkes::KatanaInterface::LinearGotoMessage::rot_frame ( ) const

Get rot_frame value.

tf frame-id of origin's coordinate system, regarding the rotation. In most cases, this is the robot's base coordinate system.

Returns
rot_frame value

Definition at line 1163 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ set_offset_xy()

void fawkes::KatanaInterface::LinearGotoMessage::set_offset_xy ( const float  new_offset_xy)

Set offset_xy value.

Offset to target. Distance in m (on the way to the target)

Parameters
new_offset_xynew offset_xy value

Definition at line 1090 of file KatanaInterface.cpp.

◆ set_phi()

void fawkes::KatanaInterface::LinearGotoMessage::set_phi ( const float  new_phi)

Set phi value.

DEPRECATED! Euler angle Phi of tool orientation.

Parameters
new_phinew phi value

Definition at line 1310 of file KatanaInterface.cpp.

◆ set_psi()

void fawkes::KatanaInterface::LinearGotoMessage::set_psi ( const float  new_psi)

Set psi value.

DEPRECATED! Euler angle Psi of tool orientation.

Parameters
new_psinew psi value

Definition at line 1370 of file KatanaInterface.cpp.

◆ set_rot_frame()

void fawkes::KatanaInterface::LinearGotoMessage::set_rot_frame ( const char *  new_rot_frame)

Set rot_frame value.

tf frame-id of origin's coordinate system, regarding the rotation. In most cases, this is the robot's base coordinate system.

Parameters
new_rot_framenew rot_frame value

Definition at line 1184 of file KatanaInterface.cpp.

◆ set_straight()

void fawkes::KatanaInterface::LinearGotoMessage::set_straight ( const bool  new_straight)

Set straight value.

Move in a straight line?

Parameters
new_straightnew straight value

Definition at line 1120 of file KatanaInterface.cpp.

◆ set_theta()

void fawkes::KatanaInterface::LinearGotoMessage::set_theta ( const float  new_theta)

Set theta value.

DEPRECATED! Euler angle Theta of tool orientation.

Parameters
new_thetanew theta value

Definition at line 1340 of file KatanaInterface.cpp.

◆ set_theta_error()

void fawkes::KatanaInterface::LinearGotoMessage::set_theta_error ( const float  new_theta_error)

Set theta_error value.

Error range of theta rotation, gives more flexibility for IK-solution searching.

Parameters
new_theta_errornew theta_error value

Definition at line 1060 of file KatanaInterface.cpp.

◆ set_trans_frame()

void fawkes::KatanaInterface::LinearGotoMessage::set_trans_frame ( const char *  new_trans_frame)

Set trans_frame value.

tf frame-id of origin's coordinate system, regarding the translation

Parameters
new_trans_framenew trans_frame value

Definition at line 1152 of file KatanaInterface.cpp.

◆ set_x()

void fawkes::KatanaInterface::LinearGotoMessage::set_x ( const float  new_x)

Set x value.

DEPRECATED! X-Coordinate for tool position compared to base coordinate system.

Parameters
new_xnew x value

Definition at line 1216 of file KatanaInterface.cpp.

◆ set_y()

void fawkes::KatanaInterface::LinearGotoMessage::set_y ( const float  new_y)

Set y value.

DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.

Parameters
new_ynew y value

Definition at line 1248 of file KatanaInterface.cpp.

◆ set_z()

void fawkes::KatanaInterface::LinearGotoMessage::set_z ( const float  new_z)

Set z value.

DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.

Parameters
new_znew z value

Definition at line 1280 of file KatanaInterface.cpp.

◆ theta()

float fawkes::KatanaInterface::LinearGotoMessage::theta ( ) const

Get theta value.

DEPRECATED! Euler angle Theta of tool orientation.

Returns
theta value

Definition at line 1320 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ theta_error()

float fawkes::KatanaInterface::LinearGotoMessage::theta_error ( ) const

Get theta_error value.

Error range of theta rotation, gives more flexibility for IK-solution searching.

Returns
theta_error value

Definition at line 1039 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ trans_frame()

char * fawkes::KatanaInterface::LinearGotoMessage::trans_frame ( ) const

Get trans_frame value.

tf frame-id of origin's coordinate system, regarding the translation

Returns
trans_frame value

Definition at line 1131 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ x()

float fawkes::KatanaInterface::LinearGotoMessage::x ( ) const

Get x value.

DEPRECATED! X-Coordinate for tool position compared to base coordinate system.

Returns
x value

Definition at line 1195 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ y()

float fawkes::KatanaInterface::LinearGotoMessage::y ( ) const

Get y value.

DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.

Returns
y value

Definition at line 1227 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ z()

float fawkes::KatanaInterface::LinearGotoMessage::z ( ) const

Get z value.

DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.

Returns
z value

Definition at line 1259 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().


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