Fawkes API
Fawkes Development Version
|
NaoJointPositionInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | MoveServoMessage |
MoveServoMessage Fawkes BlackBoard Interface Message. More... | |
class | MoveServosMessage |
MoveServosMessage Fawkes BlackBoard Interface Message. More... | |
class | SetServoMessage |
SetServoMessage Fawkes BlackBoard Interface Message. More... | |
class | SetServosMessage |
SetServosMessage Fawkes BlackBoard Interface Message. More... | |
Public Types | |
enum | RobotType { ROBOTYPE_ACADEMIC, ROBOTYPE_ROBOCUP } |
Enumeration describing the actual version of the robot that's being used. More... | |
Public Member Functions | |
const char * | tostring_RobotType (RobotType value) const |
Convert RobotType constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
RobotType | robot_type () const |
Get robot_type value. More... | |
void | set_robot_type (const RobotType new_robot_type) |
Set robot_type value. More... | |
size_t | maxlenof_robot_type () const |
Get maximum length of robot_type value. More... | |
uint8_t * | robot_version () const |
Get robot_version value. More... | |
uint8_t | robot_version (unsigned int index) const |
Get robot_version value at given index. More... | |
void | set_robot_version (unsigned int index, const uint8_t new_robot_version) |
Set robot_version value at given index. More... | |
void | set_robot_version (const uint8_t *new_robot_version) |
Set robot_version value. More... | |
size_t | maxlenof_robot_version () const |
Get maximum length of robot_version value. More... | |
float | head_yaw () const |
Get head_yaw value. More... | |
void | set_head_yaw (const float new_head_yaw) |
Set head_yaw value. More... | |
size_t | maxlenof_head_yaw () const |
Get maximum length of head_yaw value. More... | |
float | head_pitch () const |
Get head_pitch value. More... | |
void | set_head_pitch (const float new_head_pitch) |
Set head_pitch value. More... | |
size_t | maxlenof_head_pitch () const |
Get maximum length of head_pitch value. More... | |
float | l_shoulder_pitch () const |
Get l_shoulder_pitch value. More... | |
void | set_l_shoulder_pitch (const float new_l_shoulder_pitch) |
Set l_shoulder_pitch value. More... | |
size_t | maxlenof_l_shoulder_pitch () const |
Get maximum length of l_shoulder_pitch value. More... | |
float | l_shoulder_roll () const |
Get l_shoulder_roll value. More... | |
void | set_l_shoulder_roll (const float new_l_shoulder_roll) |
Set l_shoulder_roll value. More... | |
size_t | maxlenof_l_shoulder_roll () const |
Get maximum length of l_shoulder_roll value. More... | |
float | l_elbow_yaw () const |
Get l_elbow_yaw value. More... | |
void | set_l_elbow_yaw (const float new_l_elbow_yaw) |
Set l_elbow_yaw value. More... | |
size_t | maxlenof_l_elbow_yaw () const |
Get maximum length of l_elbow_yaw value. More... | |
float | l_elbow_roll () const |
Get l_elbow_roll value. More... | |
void | set_l_elbow_roll (const float new_l_elbow_roll) |
Set l_elbow_roll value. More... | |
size_t | maxlenof_l_elbow_roll () const |
Get maximum length of l_elbow_roll value. More... | |
float | l_wrist_yaw () const |
Get l_wrist_yaw value. More... | |
void | set_l_wrist_yaw (const float new_l_wrist_yaw) |
Set l_wrist_yaw value. More... | |
size_t | maxlenof_l_wrist_yaw () const |
Get maximum length of l_wrist_yaw value. More... | |
float | l_hand () const |
Get l_hand value. More... | |
void | set_l_hand (const float new_l_hand) |
Set l_hand value. More... | |
size_t | maxlenof_l_hand () const |
Get maximum length of l_hand value. More... | |
float | l_hip_yaw_pitch () const |
Get l_hip_yaw_pitch value. More... | |
void | set_l_hip_yaw_pitch (const float new_l_hip_yaw_pitch) |
Set l_hip_yaw_pitch value. More... | |
size_t | maxlenof_l_hip_yaw_pitch () const |
Get maximum length of l_hip_yaw_pitch value. More... | |
float | l_hip_roll () const |
Get l_hip_roll value. More... | |
void | set_l_hip_roll (const float new_l_hip_roll) |
Set l_hip_roll value. More... | |
size_t | maxlenof_l_hip_roll () const |
Get maximum length of l_hip_roll value. More... | |
float | l_hip_pitch () const |
Get l_hip_pitch value. More... | |
void | set_l_hip_pitch (const float new_l_hip_pitch) |
Set l_hip_pitch value. More... | |
size_t | maxlenof_l_hip_pitch () const |
Get maximum length of l_hip_pitch value. More... | |
float | l_knee_pitch () const |
Get l_knee_pitch value. More... | |
void | set_l_knee_pitch (const float new_l_knee_pitch) |
Set l_knee_pitch value. More... | |
size_t | maxlenof_l_knee_pitch () const |
Get maximum length of l_knee_pitch value. More... | |
float | l_ankle_pitch () const |
Get l_ankle_pitch value. More... | |
void | set_l_ankle_pitch (const float new_l_ankle_pitch) |
Set l_ankle_pitch value. More... | |
size_t | maxlenof_l_ankle_pitch () const |
Get maximum length of l_ankle_pitch value. More... | |
float | l_ankle_roll () const |
Get l_ankle_roll value. More... | |
void | set_l_ankle_roll (const float new_l_ankle_roll) |
Set l_ankle_roll value. More... | |
size_t | maxlenof_l_ankle_roll () const |
Get maximum length of l_ankle_roll value. More... | |
float | r_shoulder_pitch () const |
Get r_shoulder_pitch value. More... | |
void | set_r_shoulder_pitch (const float new_r_shoulder_pitch) |
Set r_shoulder_pitch value. More... | |
size_t | maxlenof_r_shoulder_pitch () const |
Get maximum length of r_shoulder_pitch value. More... | |
float | r_shoulder_roll () const |
Get r_shoulder_roll value. More... | |
void | set_r_shoulder_roll (const float new_r_shoulder_roll) |
Set r_shoulder_roll value. More... | |
size_t | maxlenof_r_shoulder_roll () const |
Get maximum length of r_shoulder_roll value. More... | |
float | r_elbow_yaw () const |
Get r_elbow_yaw value. More... | |
void | set_r_elbow_yaw (const float new_r_elbow_yaw) |
Set r_elbow_yaw value. More... | |
size_t | maxlenof_r_elbow_yaw () const |
Get maximum length of r_elbow_yaw value. More... | |
float | r_elbow_roll () const |
Get r_elbow_roll value. More... | |
void | set_r_elbow_roll (const float new_r_elbow_roll) |
Set r_elbow_roll value. More... | |
size_t | maxlenof_r_elbow_roll () const |
Get maximum length of r_elbow_roll value. More... | |
float | r_wrist_yaw () const |
Get r_wrist_yaw value. More... | |
void | set_r_wrist_yaw (const float new_r_wrist_yaw) |
Set r_wrist_yaw value. More... | |
size_t | maxlenof_r_wrist_yaw () const |
Get maximum length of r_wrist_yaw value. More... | |
float | r_hand () const |
Get r_hand value. More... | |
void | set_r_hand (const float new_r_hand) |
Set r_hand value. More... | |
size_t | maxlenof_r_hand () const |
Get maximum length of r_hand value. More... | |
float | r_hip_yaw_pitch () const |
Get r_hip_yaw_pitch value. More... | |
void | set_r_hip_yaw_pitch (const float new_r_hip_yaw_pitch) |
Set r_hip_yaw_pitch value. More... | |
size_t | maxlenof_r_hip_yaw_pitch () const |
Get maximum length of r_hip_yaw_pitch value. More... | |
float | r_hip_roll () const |
Get r_hip_roll value. More... | |
void | set_r_hip_roll (const float new_r_hip_roll) |
Set r_hip_roll value. More... | |
size_t | maxlenof_r_hip_roll () const |
Get maximum length of r_hip_roll value. More... | |
float | r_hip_pitch () const |
Get r_hip_pitch value. More... | |
void | set_r_hip_pitch (const float new_r_hip_pitch) |
Set r_hip_pitch value. More... | |
size_t | maxlenof_r_hip_pitch () const |
Get maximum length of r_hip_pitch value. More... | |
float | r_knee_pitch () const |
Get r_knee_pitch value. More... | |
void | set_r_knee_pitch (const float new_r_knee_pitch) |
Set r_knee_pitch value. More... | |
size_t | maxlenof_r_knee_pitch () const |
Get maximum length of r_knee_pitch value. More... | |
float | r_ankle_pitch () const |
Get r_ankle_pitch value. More... | |
void | set_r_ankle_pitch (const float new_r_ankle_pitch) |
Set r_ankle_pitch value. More... | |
size_t | maxlenof_r_ankle_pitch () const |
Get maximum length of r_ankle_pitch value. More... | |
float | r_ankle_roll () const |
Get r_ankle_roll value. More... | |
void | set_r_ankle_roll (const float new_r_ankle_roll) |
Set r_ankle_roll value. More... | |
size_t | maxlenof_r_ankle_roll () const |
Get maximum length of r_ankle_roll value. More... | |
int32_t | time () const |
Get time value. More... | |
void | set_time (const int32_t new_time) |
Set time value. More... | |
size_t | maxlenof_time () const |
Get maximum length of time value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
![]() | |
virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Static Public Attributes | |
static const uint32_t | SERVO_head_yaw = 1u |
SERVO_head_yaw constant. More... | |
static const uint32_t | SERVO_head_pitch = 2u |
SERVO_head_pitch constant. More... | |
static const uint32_t | SERVO_l_shoulder_pitch = 4u |
SERVO_l_shoulder_pitch constant. More... | |
static const uint32_t | SERVO_l_shoulder_roll = 8u |
SERVO_l_shoulder_roll constant. More... | |
static const uint32_t | SERVO_l_elbow_yaw = 16u |
SERVO_l_elbow_yaw constant. More... | |
static const uint32_t | SERVO_l_elbow_roll = 32u |
SERVO_l_elbow_roll constant. More... | |
static const uint32_t | SERVO_l_wrist_yaw = 64u |
SERVO_l_wrist_yaw constant. More... | |
static const uint32_t | SERVO_l_hand = 128u |
SERVO_l_hand constant. More... | |
static const uint32_t | SERVO_l_hip_yaw_pitch = 256u |
SERVO_l_hip_yaw_pitch constant. More... | |
static const uint32_t | SERVO_l_hip_roll = 512u |
SERVO_l_hip_roll constant. More... | |
static const uint32_t | SERVO_l_hip_pitch = 1024u |
SERVO_l_hip_pitch constant. More... | |
static const uint32_t | SERVO_l_knee_pitch = 2048u |
SERVO_l_knee_pitch constant. More... | |
static const uint32_t | SERVO_l_ankle_pitch = 4096u |
SERVO_l_ankle_pitch constant. More... | |
static const uint32_t | SERVO_l_ankle_roll = 8192u |
SERVO_l_ankle_roll constant. More... | |
static const uint32_t | SERVO_r_shoulder_pitch = 16384u |
SERVO_r_shoulder_pitch constant. More... | |
static const uint32_t | SERVO_r_shoulder_roll = 32768u |
SERVO_r_shoulder_roll constant. More... | |
static const uint32_t | SERVO_r_elbow_yaw = 65536u |
SERVO_r_elbow_yaw constant. More... | |
static const uint32_t | SERVO_r_elbow_roll = 131072u |
SERVO_r_elbow_roll constant. More... | |
static const uint32_t | SERVO_r_wrist_yaw = 262144u |
SERVO_r_wrist_yaw constant. More... | |
static const uint32_t | SERVO_r_hand = 524288u |
SERVO_r_hand constant. More... | |
static const uint32_t | SERVO_r_hip_yaw_pitch = 1048576u |
SERVO_r_hip_yaw_pitch constant. More... | |
static const uint32_t | SERVO_r_hip_roll = 2097152u |
SERVO_r_hip_roll constant. More... | |
static const uint32_t | SERVO_r_hip_pitch = 4194304u |
SERVO_r_hip_pitch constant. More... | |
static const uint32_t | SERVO_r_knee_pitch = 8388608u |
SERVO_r_knee_pitch constant. More... | |
static const uint32_t | SERVO_r_ankle_pitch = 16777216u |
SERVO_r_ankle_pitch constant. More... | |
static const uint32_t | SERVO_r_ankle_roll = 33554432u |
SERVO_r_ankle_roll constant. More... | |
static const uint32_t | SERVO_min = 1u |
SERVO_min constant. More... | |
static const uint32_t | SERVO_max = 33554432u |
SERVO_max constant. More... | |
Additional Inherited Members | |
![]() | |
static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
![]() | |
Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
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 field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
![]() | |
void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
NaoJointPositionInterface Fawkes BlackBoard Interface.
This interface provides access to Nao joint positions and movements.
Definition at line 33 of file NaoJointPositionInterface.h.
Enumeration describing the actual version of the robot that's being used.
Enumerator | |
---|---|
ROBOTYPE_ACADEMIC | Academic version with 25 DoF and touch sensors. |
ROBOTYPE_ROBOCUP | RoboCup version with 21 DoF. |
Definition at line 73 of file NaoJointPositionInterface.h.
|
virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 1142 of file NaoJointPositionInterface.cpp.
References fawkes::Interface::type().
|
virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 1121 of file NaoJointPositionInterface.cpp.
|
virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 1153 of file NaoJointPositionInterface.cpp.
float fawkes::NaoJointPositionInterface::head_pitch | ( | ) | const |
Get head_pitch value.
Head pitch
Definition at line 310 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::head_yaw | ( | ) | const |
Get head_yaw value.
Head yaw
Definition at line 279 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_ankle_pitch | ( | ) | const |
Get l_ankle_pitch value.
Left ankle pitch
Definition at line 651 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_ankle_roll | ( | ) | const |
Get l_ankle_roll value.
Left ankle roll
Definition at line 682 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_elbow_roll | ( | ) | const |
Get l_elbow_roll value.
Left elbow roll
Definition at line 434 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_elbow_yaw | ( | ) | const |
Get l_elbow_yaw value.
Left elbow yaw
Definition at line 403 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_hand | ( | ) | const |
Get l_hand value.
Left hand
Definition at line 496 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_hip_pitch | ( | ) | const |
Get l_hip_pitch value.
Left hip pitch
Definition at line 589 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_hip_roll | ( | ) | const |
Get l_hip_roll value.
Left hip roll
Definition at line 558 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_hip_yaw_pitch | ( | ) | const |
Get l_hip_yaw_pitch value.
Left hip yaw pitch
Definition at line 527 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_knee_pitch | ( | ) | const |
Get l_knee_pitch value.
Left knee pitch
Definition at line 620 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_shoulder_pitch | ( | ) | const |
Get l_shoulder_pitch value.
Left shoulder pitch
Definition at line 341 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_shoulder_roll | ( | ) | const |
Get l_shoulder_roll value.
Left shoulder roll
Definition at line 372 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::l_wrist_yaw | ( | ) | const |
Get l_wrist_yaw value.
Left wrist yaw
Definition at line 465 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
size_t fawkes::NaoJointPositionInterface::maxlenof_head_pitch | ( | ) | const |
Get maximum length of head_pitch value.
Definition at line 320 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_head_yaw | ( | ) | const |
Get maximum length of head_yaw value.
Definition at line 289 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_ankle_pitch | ( | ) | const |
Get maximum length of l_ankle_pitch value.
Definition at line 661 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_ankle_roll | ( | ) | const |
Get maximum length of l_ankle_roll value.
Definition at line 692 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_elbow_roll | ( | ) | const |
Get maximum length of l_elbow_roll value.
Definition at line 444 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_elbow_yaw | ( | ) | const |
Get maximum length of l_elbow_yaw value.
Definition at line 413 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_hand | ( | ) | const |
Get maximum length of l_hand value.
Definition at line 506 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_pitch | ( | ) | const |
Get maximum length of l_hip_pitch value.
Definition at line 599 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_roll | ( | ) | const |
Get maximum length of l_hip_roll value.
Definition at line 568 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_yaw_pitch | ( | ) | const |
Get maximum length of l_hip_yaw_pitch value.
Definition at line 537 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_knee_pitch | ( | ) | const |
Get maximum length of l_knee_pitch value.
Definition at line 630 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_pitch | ( | ) | const |
Get maximum length of l_shoulder_pitch value.
Definition at line 351 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_roll | ( | ) | const |
Get maximum length of l_shoulder_roll value.
Definition at line 382 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_l_wrist_yaw | ( | ) | const |
Get maximum length of l_wrist_yaw value.
Definition at line 475 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_ankle_pitch | ( | ) | const |
Get maximum length of r_ankle_pitch value.
Definition at line 1033 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_ankle_roll | ( | ) | const |
Get maximum length of r_ankle_roll value.
Definition at line 1064 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_elbow_roll | ( | ) | const |
Get maximum length of r_elbow_roll value.
Definition at line 816 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_elbow_yaw | ( | ) | const |
Get maximum length of r_elbow_yaw value.
Definition at line 785 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_hand | ( | ) | const |
Get maximum length of r_hand value.
Definition at line 878 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_pitch | ( | ) | const |
Get maximum length of r_hip_pitch value.
Definition at line 971 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_roll | ( | ) | const |
Get maximum length of r_hip_roll value.
Definition at line 940 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_yaw_pitch | ( | ) | const |
Get maximum length of r_hip_yaw_pitch value.
Definition at line 909 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_knee_pitch | ( | ) | const |
Get maximum length of r_knee_pitch value.
Definition at line 1002 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_pitch | ( | ) | const |
Get maximum length of r_shoulder_pitch value.
Definition at line 723 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_roll | ( | ) | const |
Get maximum length of r_shoulder_roll value.
Definition at line 754 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_r_wrist_yaw | ( | ) | const |
Get maximum length of r_wrist_yaw value.
Definition at line 847 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_robot_type | ( | ) | const |
Get maximum length of robot_type value.
Definition at line 182 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_robot_version | ( | ) | const |
Get maximum length of robot_version value.
Definition at line 236 of file NaoJointPositionInterface.cpp.
size_t fawkes::NaoJointPositionInterface::maxlenof_time | ( | ) | const |
Get maximum length of time value.
Definition at line 1099 of file NaoJointPositionInterface.cpp.
|
virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 3483 of file NaoJointPositionInterface.cpp.
float fawkes::NaoJointPositionInterface::r_ankle_pitch | ( | ) | const |
Get r_ankle_pitch value.
Right ankle pitch
Definition at line 1023 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_ankle_roll | ( | ) | const |
Get r_ankle_roll value.
Right ankle roll
Definition at line 1054 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_elbow_roll | ( | ) | const |
Get r_elbow_roll value.
Right elbow roll
Definition at line 806 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_elbow_yaw | ( | ) | const |
Get r_elbow_yaw value.
Right elbow yaw
Definition at line 775 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_hand | ( | ) | const |
Get r_hand value.
Right hand
Definition at line 868 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_hip_pitch | ( | ) | const |
Get r_hip_pitch value.
Right hip pitch
Definition at line 961 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_hip_roll | ( | ) | const |
Get r_hip_roll value.
Right hip roll
Definition at line 930 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_hip_yaw_pitch | ( | ) | const |
Get r_hip_yaw_pitch value.
Right hip yaw pitch
Definition at line 899 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_knee_pitch | ( | ) | const |
Get r_knee_pitch value.
Right knee pitch
Definition at line 992 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_shoulder_pitch | ( | ) | const |
Get r_shoulder_pitch value.
Right shoulder pitch
Definition at line 713 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_shoulder_roll | ( | ) | const |
Get r_shoulder_roll value.
Right shoulder roll
Definition at line 744 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
float fawkes::NaoJointPositionInterface::r_wrist_yaw | ( | ) | const |
Get r_wrist_yaw value.
Right wrist yaw
Definition at line 837 of file NaoJointPositionInterface.cpp.
Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().
NaoJointPositionInterface::RobotType fawkes::NaoJointPositionInterface::robot_type | ( | ) | const |
Get robot_type value.
Robot type.
Definition at line 172 of file NaoJointPositionInterface.cpp.
uint8_t * fawkes::NaoJointPositionInterface::robot_version | ( | ) | const |
Get robot_version value.
Robot version. Fields are in ascending array index major, minor, micro and patch level. Currently only the first two are used by Aldebaran, but due to struct alignment we add two extra bytes.
Definition at line 207 of file NaoJointPositionInterface.cpp.
uint8_t fawkes::NaoJointPositionInterface::robot_version | ( | unsigned int | index | ) | const |
Get robot_version value at given index.
Robot version. Fields are in ascending array index major, minor, micro and patch level. Currently only the first two are used by Aldebaran, but due to struct alignment we add two extra bytes.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 223 of file NaoJointPositionInterface.cpp.
void fawkes::NaoJointPositionInterface::set_head_pitch | ( | const float | new_head_pitch | ) |
Set head_pitch value.
Head pitch
new_head_pitch | new head_pitch value |
Definition at line 330 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_head_yaw | ( | const float | new_head_yaw | ) |
Set head_yaw value.
Head yaw
new_head_yaw | new head_yaw value |
Definition at line 299 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_ankle_pitch | ( | const float | new_l_ankle_pitch | ) |
Set l_ankle_pitch value.
Left ankle pitch
new_l_ankle_pitch | new l_ankle_pitch value |
Definition at line 671 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_ankle_roll | ( | const float | new_l_ankle_roll | ) |
Set l_ankle_roll value.
Left ankle roll
new_l_ankle_roll | new l_ankle_roll value |
Definition at line 702 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_elbow_roll | ( | const float | new_l_elbow_roll | ) |
Set l_elbow_roll value.
Left elbow roll
new_l_elbow_roll | new l_elbow_roll value |
Definition at line 454 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_elbow_yaw | ( | const float | new_l_elbow_yaw | ) |
Set l_elbow_yaw value.
Left elbow yaw
new_l_elbow_yaw | new l_elbow_yaw value |
Definition at line 423 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_hand | ( | const float | new_l_hand | ) |
Set l_hand value.
Left hand
new_l_hand | new l_hand value |
Definition at line 516 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_hip_pitch | ( | const float | new_l_hip_pitch | ) |
Set l_hip_pitch value.
Left hip pitch
new_l_hip_pitch | new l_hip_pitch value |
Definition at line 609 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_hip_roll | ( | const float | new_l_hip_roll | ) |
Set l_hip_roll value.
Left hip roll
new_l_hip_roll | new l_hip_roll value |
Definition at line 578 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_hip_yaw_pitch | ( | const float | new_l_hip_yaw_pitch | ) |
Set l_hip_yaw_pitch value.
Left hip yaw pitch
new_l_hip_yaw_pitch | new l_hip_yaw_pitch value |
Definition at line 547 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_knee_pitch | ( | const float | new_l_knee_pitch | ) |
Set l_knee_pitch value.
Left knee pitch
new_l_knee_pitch | new l_knee_pitch value |
Definition at line 640 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_shoulder_pitch | ( | const float | new_l_shoulder_pitch | ) |
Set l_shoulder_pitch value.
Left shoulder pitch
new_l_shoulder_pitch | new l_shoulder_pitch value |
Definition at line 361 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_shoulder_roll | ( | const float | new_l_shoulder_roll | ) |
Set l_shoulder_roll value.
Left shoulder roll
new_l_shoulder_roll | new l_shoulder_roll value |
Definition at line 392 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_l_wrist_yaw | ( | const float | new_l_wrist_yaw | ) |
Set l_wrist_yaw value.
Left wrist yaw
new_l_wrist_yaw | new l_wrist_yaw value |
Definition at line 485 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_ankle_pitch | ( | const float | new_r_ankle_pitch | ) |
Set r_ankle_pitch value.
Right ankle pitch
new_r_ankle_pitch | new r_ankle_pitch value |
Definition at line 1043 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_ankle_roll | ( | const float | new_r_ankle_roll | ) |
Set r_ankle_roll value.
Right ankle roll
new_r_ankle_roll | new r_ankle_roll value |
Definition at line 1074 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_elbow_roll | ( | const float | new_r_elbow_roll | ) |
Set r_elbow_roll value.
Right elbow roll
new_r_elbow_roll | new r_elbow_roll value |
Definition at line 826 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_elbow_yaw | ( | const float | new_r_elbow_yaw | ) |
Set r_elbow_yaw value.
Right elbow yaw
new_r_elbow_yaw | new r_elbow_yaw value |
Definition at line 795 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_hand | ( | const float | new_r_hand | ) |
Set r_hand value.
Right hand
new_r_hand | new r_hand value |
Definition at line 888 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_hip_pitch | ( | const float | new_r_hip_pitch | ) |
Set r_hip_pitch value.
Right hip pitch
new_r_hip_pitch | new r_hip_pitch value |
Definition at line 981 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_hip_roll | ( | const float | new_r_hip_roll | ) |
Set r_hip_roll value.
Right hip roll
new_r_hip_roll | new r_hip_roll value |
Definition at line 950 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_hip_yaw_pitch | ( | const float | new_r_hip_yaw_pitch | ) |
Set r_hip_yaw_pitch value.
Right hip yaw pitch
new_r_hip_yaw_pitch | new r_hip_yaw_pitch value |
Definition at line 919 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_knee_pitch | ( | const float | new_r_knee_pitch | ) |
Set r_knee_pitch value.
Right knee pitch
new_r_knee_pitch | new r_knee_pitch value |
Definition at line 1012 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_shoulder_pitch | ( | const float | new_r_shoulder_pitch | ) |
Set r_shoulder_pitch value.
Right shoulder pitch
new_r_shoulder_pitch | new r_shoulder_pitch value |
Definition at line 733 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_shoulder_roll | ( | const float | new_r_shoulder_roll | ) |
Set r_shoulder_roll value.
Right shoulder roll
new_r_shoulder_roll | new r_shoulder_roll value |
Definition at line 764 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_r_wrist_yaw | ( | const float | new_r_wrist_yaw | ) |
Set r_wrist_yaw value.
Right wrist yaw
new_r_wrist_yaw | new r_wrist_yaw value |
Definition at line 857 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
void fawkes::NaoJointPositionInterface::set_robot_type | ( | const RobotType | new_robot_type | ) |
Set robot_type value.
Robot type.
new_robot_type | new robot_type value |
Definition at line 192 of file NaoJointPositionInterface.cpp.
void fawkes::NaoJointPositionInterface::set_robot_version | ( | unsigned int | index, |
const uint8_t | new_robot_version | ||
) |
Set robot_version value at given index.
Robot version. Fields are in ascending array index major, minor, micro and patch level. Currently only the first two are used by Aldebaran, but due to struct alignment we add two extra bytes.
new_robot_version | new robot_version value |
index | index for of the value |
Definition at line 266 of file NaoJointPositionInterface.cpp.
void fawkes::NaoJointPositionInterface::set_robot_version | ( | const uint8_t * | new_robot_version | ) |
Set robot_version value.
Robot version. Fields are in ascending array index major, minor, micro and patch level. Currently only the first two are used by Aldebaran, but due to struct alignment we add two extra bytes.
new_robot_version | new robot_version value |
Definition at line 250 of file NaoJointPositionInterface.cpp.
void fawkes::NaoJointPositionInterface::set_time | ( | const int32_t | new_time | ) |
Set time value.
Current reference time in ms. For real hardware this is the DCM time. Times in messages are always offsets to the current time and the current time is added before executing the command.
new_time | new time value |
Definition at line 1113 of file NaoJointPositionInterface.cpp.
Referenced by NaoQiDCMThread::loop().
int32_t fawkes::NaoJointPositionInterface::time | ( | ) | const |
Get time value.
Current reference time in ms. For real hardware this is the DCM time. Times in messages are always offsets to the current time and the current time is added before executing the command.
Definition at line 1089 of file NaoJointPositionInterface.cpp.
const char * fawkes::NaoJointPositionInterface::tostring_RobotType | ( | RobotType | value | ) | const |
Convert RobotType constant to string.
value | value to convert to string |
Definition at line 158 of file NaoJointPositionInterface.cpp.
|
static |
SERVO_head_pitch constant.
Definition at line 41 of file NaoJointPositionInterface.h.
|
static |
SERVO_head_yaw constant.
Definition at line 40 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_ankle_pitch constant.
Definition at line 52 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_ankle_roll constant.
Definition at line 53 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_elbow_roll constant.
Definition at line 45 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_elbow_yaw constant.
Definition at line 44 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_hand constant.
Definition at line 47 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_hip_pitch constant.
Definition at line 50 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_hip_roll constant.
Definition at line 49 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_hip_yaw_pitch constant.
Definition at line 48 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_knee_pitch constant.
Definition at line 51 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_shoulder_pitch constant.
Definition at line 42 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_shoulder_roll constant.
Definition at line 43 of file NaoJointPositionInterface.h.
|
static |
SERVO_l_wrist_yaw constant.
Definition at line 46 of file NaoJointPositionInterface.h.
|
static |
SERVO_max constant.
Definition at line 67 of file NaoJointPositionInterface.h.
|
static |
SERVO_min constant.
Definition at line 66 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_ankle_pitch constant.
Definition at line 64 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_ankle_roll constant.
Definition at line 65 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_elbow_roll constant.
Definition at line 57 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_elbow_yaw constant.
Definition at line 56 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_hand constant.
Definition at line 59 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_hip_pitch constant.
Definition at line 62 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_hip_roll constant.
Definition at line 61 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_hip_yaw_pitch constant.
Definition at line 60 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_knee_pitch constant.
Definition at line 63 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_shoulder_pitch constant.
Definition at line 54 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_shoulder_roll constant.
Definition at line 55 of file NaoJointPositionInterface.h.
|
static |
SERVO_r_wrist_yaw constant.
Definition at line 58 of file NaoJointPositionInterface.h.