Fawkes API
Fawkes Development Version
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KatanaInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint8_t * | sensor_value () const |
Get sensor_value value. More... | |
uint8_t | sensor_value (unsigned int index) const |
Get sensor_value value at given index. More... | |
void | set_sensor_value (unsigned int index, const uint8_t new_sensor_value) |
Set sensor_value value at given index. More... | |
void | set_sensor_value (const uint8_t *new_sensor_value) |
Set sensor_value value. More... | |
size_t | maxlenof_sensor_value () const |
Get maximum length of sensor_value 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... | |
int32_t * | encoders () const |
Get encoders value. More... | |
int32_t | encoders (unsigned int index) const |
Get encoders value at given index. More... | |
void | set_encoders (unsigned int index, const int32_t new_encoders) |
Set encoders value at given index. More... | |
void | set_encoders (const int32_t *new_encoders) |
Set encoders value. More... | |
size_t | maxlenof_encoders () const |
Get maximum length of encoders value. More... | |
float * | angles () const |
Get angles value. More... | |
float | angles (unsigned int index) const |
Get angles value at given index. More... | |
void | set_angles (unsigned int index, const float new_angles) |
Set angles value at given index. More... | |
void | set_angles (const float *new_angles) |
Set angles value. More... | |
size_t | maxlenof_angles () const |
Get maximum length of angles value. More... | |
uint32_t | msgid () const |
Get msgid value. More... | |
void | set_msgid (const uint32_t new_msgid) |
Set msgid value. More... | |
size_t | maxlenof_msgid () const |
Get maximum length of msgid value. More... | |
bool | is_final () const |
Get final value. More... | |
void | set_final (const bool new_final) |
Set final value. More... | |
size_t | maxlenof_final () const |
Get maximum length of final value. More... | |
uint32_t | error_code () const |
Get error_code value. More... | |
void | set_error_code (const uint32_t new_error_code) |
Set error_code value. More... | |
size_t | maxlenof_error_code () const |
Get maximum length of error_code value. More... | |
bool | is_enabled () const |
Get enabled value. More... | |
void | set_enabled (const bool new_enabled) |
Set enabled value. More... | |
size_t | maxlenof_enabled () const |
Get maximum length of enabled value. More... | |
bool | is_calibrated () const |
Get calibrated value. More... | |
void | set_calibrated (const bool new_calibrated) |
Set calibrated value. More... | |
size_t | maxlenof_calibrated () const |
Get maximum length of calibrated value. More... | |
uint8_t | max_velocity () const |
Get max_velocity value. More... | |
void | set_max_velocity (const uint8_t new_max_velocity) |
Set max_velocity value. More... | |
size_t | maxlenof_max_velocity () const |
Get maximum length of max_velocity value. More... | |
uint8_t | num_motors () const |
Get num_motors value. More... | |
void | set_num_motors (const uint8_t new_num_motors) |
Set num_motors value. More... | |
size_t | maxlenof_num_motors () const |
Get maximum length of num_motors 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... | |
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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 | SENSOR_IR_RIGHT_INNER_MIDDLE = 0u |
SENSOR_IR_RIGHT_INNER_MIDDLE constant. More... | |
static const uint32_t | SENSOR_IR_RIGHT_INNER_FRONT = 1u |
SENSOR_IR_RIGHT_INNER_FRONT constant. More... | |
static const uint32_t | SENSOR_RESERVED_2 = 2u |
SENSOR_RESERVED_2 constant. More... | |
static const uint32_t | SENSOR_COND_BOTH = 3u |
SENSOR_COND_BOTH constant. More... | |
static const uint32_t | SENSOR_IR_RIGHT_OUTER_FRONT = 4u |
SENSOR_IR_RIGHT_OUTER_FRONT constant. More... | |
static const uint32_t | SENSOR_IR_RIGHT_BOTTOM_FRONT = 5u |
SENSOR_IR_RIGHT_BOTTOM_FRONT constant. More... | |
static const uint32_t | SENSOR_FORCE_RIGHT_REAR = 6u |
SENSOR_FORCE_RIGHT_REAR constant. More... | |
static const uint32_t | SENSOR_FORCE_RIGHT_FRONT = 7u |
SENSOR_FORCE_RIGHT_FRONT constant. More... | |
static const uint32_t | SENSOR_IR_LEFT_INNER_MIDDLE = 8u |
SENSOR_IR_LEFT_INNER_MIDDLE constant. More... | |
static const uint32_t | SENSOR_IR_LEFT_INNER_FRONT = 9u |
SENSOR_IR_LEFT_INNER_FRONT constant. More... | |
static const uint32_t | SENSOR_RESERVED_10 = 10u |
SENSOR_RESERVED_10 constant. More... | |
static const uint32_t | SENSOR_IR_CENTER_GRIPPER = 11u |
SENSOR_IR_CENTER_GRIPPER constant. More... | |
static const uint32_t | SENSOR_IR_LEFT_OUTER_FRONT = 12u |
SENSOR_IR_LEFT_OUTER_FRONT constant. More... | |
static const uint32_t | SENSOR_IR_LEFT_BOTTOM_FRONT = 13u |
SENSOR_IR_LEFT_BOTTOM_FRONT constant. More... | |
static const uint32_t | SENSOR_FORCE_LEFT_REAR = 14u |
SENSOR_FORCE_LEFT_REAR constant. More... | |
static const uint32_t | SENSOR_FORCE_LEFT_FRONT = 15u |
SENSOR_FORCE_LEFT_FRONT constant. More... | |
static const uint32_t | ERROR_NONE = 0u |
ERROR_NONE constant. More... | |
static const uint32_t | ERROR_UNSPECIFIC = 1u |
ERROR_UNSPECIFIC constant. More... | |
static const uint32_t | ERROR_CMD_START_FAILED = 2u |
ERROR_CMD_START_FAILED constant. More... | |
static const uint32_t | ERROR_NO_SOLUTION = 4u |
ERROR_NO_SOLUTION constant. More... | |
static const uint32_t | ERROR_COMMUNICATION = 8u |
ERROR_COMMUNICATION constant. More... | |
static const uint32_t | ERROR_MOTOR_CRASHED = 16u |
ERROR_MOTOR_CRASHED constant. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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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... | |
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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... | |
KatanaInterface Fawkes BlackBoard Interface.
Interface to access component providing access to a Neuronics Katana arm.
Definition at line 33 of file KatanaInterface.h.
float * fawkes::KatanaInterface::angles | ( | ) | const |
Get angles value.
Angle values of motors
Definition at line 461 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
float fawkes::KatanaInterface::angles | ( | unsigned int | index | ) | const |
Get angles value at given index.
Angle values of motors
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 473 of file KatanaInterface.cpp.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 788 of file KatanaInterface.cpp.
References fawkes::Interface::type().
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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 743 of file KatanaInterface.cpp.
int32_t * fawkes::KatanaInterface::encoders | ( | ) | const |
Get encoders value.
Encoder values of motors
Definition at line 401 of file KatanaInterface.cpp.
int32_t fawkes::KatanaInterface::encoders | ( | unsigned int | index | ) | const |
Get encoders value at given index.
Encoder values of motors
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 413 of file KatanaInterface.cpp.
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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 799 of file KatanaInterface.cpp.
uint32_t fawkes::KatanaInterface::error_code | ( | ) | const |
Get error_code value.
Failure code set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).
Definition at line 589 of file KatanaInterface.cpp.
bool fawkes::KatanaInterface::is_calibrated | ( | ) | const |
Get calibrated value.
Has arm been calibrated?
Definition at line 653 of file KatanaInterface.cpp.
bool fawkes::KatanaInterface::is_enabled | ( | ) | const |
Get enabled value.
Are motors enabled?
Definition at line 622 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
bool fawkes::KatanaInterface::is_final | ( | ) | const |
Get final value.
True, if the last goto command has been finished, false if it is still running
Definition at line 555 of file KatanaInterface.cpp.
uint8_t fawkes::KatanaInterface::max_velocity | ( | ) | const |
Get max_velocity value.
Maximum velocity
Definition at line 684 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_angles | ( | ) | const |
Get maximum length of angles value.
Definition at line 486 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_calibrated | ( | ) | const |
Get maximum length of calibrated value.
Definition at line 663 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_enabled | ( | ) | const |
Get maximum length of enabled value.
Definition at line 632 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_encoders | ( | ) | const |
Get maximum length of encoders value.
Definition at line 426 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_error_code | ( | ) | const |
Get maximum length of error_code value.
Definition at line 599 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_final | ( | ) | const |
Get maximum length of final value.
Definition at line 565 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_max_velocity | ( | ) | const |
Get maximum length of max_velocity value.
Definition at line 694 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 532 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_num_motors | ( | ) | const |
Get maximum length of num_motors value.
Definition at line 725 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_phi | ( | ) | const |
Get maximum length of phi value.
Definition at line 318 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_psi | ( | ) | const |
Get maximum length of psi value.
Definition at line 380 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_sensor_value | ( | ) | const |
Get maximum length of sensor_value value.
Definition at line 172 of file KatanaInterface.cpp.
Referenced by KatanaActThread::update_sensor_values().
size_t fawkes::KatanaInterface::maxlenof_theta | ( | ) | const |
Get maximum length of theta value.
Definition at line 349 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_x | ( | ) | const |
Get maximum length of x value.
Definition at line 220 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_y | ( | ) | const |
Get maximum length of y value.
Definition at line 253 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::maxlenof_z | ( | ) | const |
Get maximum length of z value.
Definition at line 286 of file KatanaInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 2718 of file KatanaInterface.cpp.
uint32_t fawkes::KatanaInterface::msgid | ( | ) | const |
Get msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 522 of file KatanaInterface.cpp.
uint8_t fawkes::KatanaInterface::num_motors | ( | ) | const |
Get num_motors value.
Number of motors
Definition at line 715 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::phi | ( | ) | const |
Get phi value.
DEPRECATED! Euler angle Phi of tool orientation.
Definition at line 308 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::psi | ( | ) | const |
Get psi value.
DEPRECATED! Euler angle Psi of tool orientation.
Definition at line 370 of file KatanaInterface.cpp.
uint8_t * fawkes::KatanaInterface::sensor_value | ( | ) | const |
Get sensor_value value.
Sensor values. Use SENSOR_* indexes for accessing the values.
Definition at line 146 of file KatanaInterface.cpp.
uint8_t fawkes::KatanaInterface::sensor_value | ( | unsigned int | index | ) | const |
Get sensor_value value at given index.
Sensor values. Use SENSOR_* indexes for accessing the values.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 159 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::set_angles | ( | unsigned int | index, |
const float | new_angles | ||
) |
Set angles value at given index.
Angle values of motors
new_angles | new angles value |
index | index for of the value |
Definition at line 508 of file KatanaInterface.cpp.
Referenced by KatanaActThread::update_sensor_values().
void fawkes::KatanaInterface::set_angles | ( | const float * | new_angles | ) |
Set angles value.
Angle values of motors
new_angles | new angles value |
Definition at line 496 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::set_calibrated | ( | const bool | new_calibrated | ) |
Set calibrated value.
Has arm been calibrated?
new_calibrated | new calibrated value |
Definition at line 673 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
void fawkes::KatanaInterface::set_enabled | ( | const bool | new_enabled | ) |
Set enabled value.
Are motors enabled?
new_enabled | new enabled value |
Definition at line 642 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop(), and KatanaActThread::once().
void fawkes::KatanaInterface::set_encoders | ( | unsigned int | index, |
const int32_t | new_encoders | ||
) |
Set encoders value at given index.
Encoder values of motors
new_encoders | new encoders value |
index | index for of the value |
Definition at line 448 of file KatanaInterface.cpp.
Referenced by KatanaActThread::update_sensor_values().
void fawkes::KatanaInterface::set_encoders | ( | const int32_t * | new_encoders | ) |
Set encoders value.
Encoder values of motors
new_encoders | new encoders value |
Definition at line 436 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::set_error_code | ( | const uint32_t | new_error_code | ) |
Set error_code value.
Failure code set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).
new_error_code | new error_code value |
Definition at line 611 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
void fawkes::KatanaInterface::set_final | ( | const bool | new_final | ) |
Set final value.
True, if the last goto command has been finished, false if it is still running
new_final | new final value |
Definition at line 576 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop(), and KatanaActThread::update_sensor_values().
void fawkes::KatanaInterface::set_max_velocity | ( | const uint8_t | new_max_velocity | ) |
Set max_velocity value.
Maximum velocity
new_max_velocity | new max_velocity value |
Definition at line 704 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
void fawkes::KatanaInterface::set_msgid | ( | const uint32_t | new_msgid | ) |
Set msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
new_msgid | new msgid value |
Definition at line 543 of file KatanaInterface.cpp.
Referenced by KatanaActThread::update_sensor_values().
void fawkes::KatanaInterface::set_num_motors | ( | const uint8_t | new_num_motors | ) |
Set num_motors value.
Number of motors
new_num_motors | new num_motors value |
Definition at line 735 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::set_phi | ( | const float | new_phi | ) |
Set phi value.
DEPRECATED! Euler angle Phi of tool orientation.
new_phi | new phi value |
Definition at line 328 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
void fawkes::KatanaInterface::set_psi | ( | const float | new_psi | ) |
Set psi value.
DEPRECATED! Euler angle Psi of tool orientation.
new_psi | new psi value |
Definition at line 390 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
void fawkes::KatanaInterface::set_sensor_value | ( | unsigned int | index, |
const uint8_t | new_sensor_value | ||
) |
Set sensor_value value at given index.
Sensor values. Use SENSOR_* indexes for accessing the values.
new_sensor_value | new sensor_value value |
index | index for of the value |
Definition at line 196 of file KatanaInterface.cpp.
Referenced by KatanaActThread::update_sensor_values().
void fawkes::KatanaInterface::set_sensor_value | ( | const uint8_t * | new_sensor_value | ) |
Set sensor_value value.
Sensor values. Use SENSOR_* indexes for accessing the values.
new_sensor_value | new sensor_value value |
Definition at line 183 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::set_theta | ( | const float | new_theta | ) |
Set theta value.
DEPRECATED! Euler angle Theta of tool orientation.
new_theta | new theta value |
Definition at line 359 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
void fawkes::KatanaInterface::set_x | ( | const float | new_x | ) |
Set x value.
DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
new_x | new x value |
Definition at line 231 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
void fawkes::KatanaInterface::set_y | ( | const float | new_y | ) |
Set y value.
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
new_y | new y value |
Definition at line 264 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
void fawkes::KatanaInterface::set_z | ( | const float | new_z | ) |
Set z value.
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
new_z | new z value |
Definition at line 297 of file KatanaInterface.cpp.
Referenced by KatanaActThread::once().
float fawkes::KatanaInterface::theta | ( | ) | const |
Get theta value.
DEPRECATED! Euler angle Theta of tool orientation.
Definition at line 339 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::x | ( | ) | const |
Get x value.
DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
Definition at line 210 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::y | ( | ) | const |
Get y value.
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
Definition at line 243 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::z | ( | ) | const |
Get z value.
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
Definition at line 276 of file KatanaInterface.cpp.
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ERROR_CMD_START_FAILED constant.
Definition at line 58 of file KatanaInterface.h.
Referenced by KatanaCalibrationThread::once(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().
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ERROR_COMMUNICATION constant.
Definition at line 60 of file KatanaInterface.h.
Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().
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ERROR_MOTOR_CRASHED constant.
Definition at line 61 of file KatanaInterface.h.
Referenced by KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().
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ERROR_NO_SOLUTION constant.
Definition at line 59 of file KatanaInterface.h.
Referenced by KatanaGotoThread::once().
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ERROR_NONE constant.
Definition at line 56 of file KatanaInterface.h.
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ERROR_UNSPECIFIC constant.
Definition at line 57 of file KatanaInterface.h.
Referenced by KatanaMotorControlThread::once().
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SENSOR_COND_BOTH constant.
Definition at line 43 of file KatanaInterface.h.
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SENSOR_FORCE_LEFT_FRONT constant.
Definition at line 55 of file KatanaInterface.h.
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SENSOR_FORCE_LEFT_REAR constant.
Definition at line 54 of file KatanaInterface.h.
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SENSOR_FORCE_RIGHT_FRONT constant.
Definition at line 47 of file KatanaInterface.h.
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SENSOR_FORCE_RIGHT_REAR constant.
Definition at line 46 of file KatanaInterface.h.
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SENSOR_IR_CENTER_GRIPPER constant.
Definition at line 51 of file KatanaInterface.h.
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SENSOR_IR_LEFT_BOTTOM_FRONT constant.
Definition at line 53 of file KatanaInterface.h.
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SENSOR_IR_LEFT_INNER_FRONT constant.
Definition at line 49 of file KatanaInterface.h.
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SENSOR_IR_LEFT_INNER_MIDDLE constant.
Definition at line 48 of file KatanaInterface.h.
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SENSOR_IR_LEFT_OUTER_FRONT constant.
Definition at line 52 of file KatanaInterface.h.
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SENSOR_IR_RIGHT_BOTTOM_FRONT constant.
Definition at line 45 of file KatanaInterface.h.
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SENSOR_IR_RIGHT_INNER_FRONT constant.
Definition at line 41 of file KatanaInterface.h.
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SENSOR_IR_RIGHT_INNER_MIDDLE constant.
Definition at line 40 of file KatanaInterface.h.
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SENSOR_IR_RIGHT_OUTER_FRONT constant.
Definition at line 44 of file KatanaInterface.h.
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SENSOR_RESERVED_10 constant.
Definition at line 50 of file KatanaInterface.h.
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SENSOR_RESERVED_2 constant.
Definition at line 42 of file KatanaInterface.h.