Fawkes API  Fawkes Development Version
fawkes::JacoBimanualInterface::CartesianGotoMessage Class Reference

CartesianGotoMessage Fawkes BlackBoard Interface Message. More...

#include <>>

Inheritance diagram for fawkes::JacoBimanualInterface::CartesianGotoMessage:

Public Member Functions

 CartesianGotoMessage (const float ini_l_x, const float ini_l_y, const float ini_l_z, const float ini_l_e1, const float ini_l_e2, const float ini_l_e3, const float ini_r_x, const float ini_r_y, const float ini_r_z, const float ini_r_e1, const float ini_r_e2, const float ini_r_e3)
 Constructor with initial values. More...
 
 CartesianGotoMessage ()
 Constructor. More...
 
 ~CartesianGotoMessage ()
 Destructor. More...
 
 CartesianGotoMessage (const CartesianGotoMessage *m)
 Copy constructor. More...
 
float l_x () const
 Get l_x value. More...
 
void set_l_x (const float new_l_x)
 Set l_x value. More...
 
size_t maxlenof_l_x () const
 Get maximum length of l_x value. More...
 
float l_y () const
 Get l_y value. More...
 
void set_l_y (const float new_l_y)
 Set l_y value. More...
 
size_t maxlenof_l_y () const
 Get maximum length of l_y value. More...
 
float l_z () const
 Get l_z value. More...
 
void set_l_z (const float new_l_z)
 Set l_z value. More...
 
size_t maxlenof_l_z () const
 Get maximum length of l_z value. More...
 
float l_e1 () const
 Get l_e1 value. More...
 
void set_l_e1 (const float new_l_e1)
 Set l_e1 value. More...
 
size_t maxlenof_l_e1 () const
 Get maximum length of l_e1 value. More...
 
float l_e2 () const
 Get l_e2 value. More...
 
void set_l_e2 (const float new_l_e2)
 Set l_e2 value. More...
 
size_t maxlenof_l_e2 () const
 Get maximum length of l_e2 value. More...
 
float l_e3 () const
 Get l_e3 value. More...
 
void set_l_e3 (const float new_l_e3)
 Set l_e3 value. More...
 
size_t maxlenof_l_e3 () const
 Get maximum length of l_e3 value. More...
 
float r_x () const
 Get r_x value. More...
 
void set_r_x (const float new_r_x)
 Set r_x value. More...
 
size_t maxlenof_r_x () const
 Get maximum length of r_x value. More...
 
float r_y () const
 Get r_y value. More...
 
void set_r_y (const float new_r_y)
 Set r_y value. More...
 
size_t maxlenof_r_y () const
 Get maximum length of r_y value. More...
 
float r_z () const
 Get r_z value. More...
 
void set_r_z (const float new_r_z)
 Set r_z value. More...
 
size_t maxlenof_r_z () const
 Get maximum length of r_z value. More...
 
float r_e1 () const
 Get r_e1 value. More...
 
void set_r_e1 (const float new_r_e1)
 Set r_e1 value. More...
 
size_t maxlenof_r_e1 () const
 Get maximum length of r_e1 value. More...
 
float r_e2 () const
 Get r_e2 value. More...
 
void set_r_e2 (const float new_r_e2)
 Set r_e2 value. More...
 
size_t maxlenof_r_e2 () const
 Get maximum length of r_e2 value. More...
 
float r_e3 () const
 Get r_e3 value. More...
 
void set_r_e3 (const float new_r_e3)
 Set r_e3 value. More...
 
size_t maxlenof_r_e3 () const
 Get maximum length of r_e3 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

Constructor & Destructor Documentation

◆ CartesianGotoMessage() [1/3]

fawkes::JacoBimanualInterface::CartesianGotoMessage::CartesianGotoMessage ( const float  ini_l_x,
const float  ini_l_y,
const float  ini_l_z,
const float  ini_l_e1,
const float  ini_l_e2,
const float  ini_l_e3,
const float  ini_r_x,
const float  ini_r_y,
const float  ini_r_z,
const float  ini_r_e1,
const float  ini_r_e2,
const float  ini_r_e3 
)

Constructor with initial values.

Parameters
ini_l_xinitial value for l_x
ini_l_yinitial value for l_y
ini_l_zinitial value for l_z
ini_l_e1initial value for l_e1
ini_l_e2initial value for l_e2
ini_l_e3initial value for l_e3
ini_r_xinitial value for r_x
ini_r_yinitial value for r_y
ini_r_zinitial value for r_z
ini_r_e1initial value for r_e1
ini_r_e2initial value for r_e2
ini_r_e3initial value for r_e3

Definition at line 274 of file JacoBimanualInterface.cpp.

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

◆ CartesianGotoMessage() [2/3]

fawkes::JacoBimanualInterface::CartesianGotoMessage::CartesianGotoMessage ( )

◆ ~CartesianGotoMessage()

fawkes::JacoBimanualInterface::CartesianGotoMessage::~CartesianGotoMessage ( )

Destructor.

Definition at line 329 of file JacoBimanualInterface.cpp.

References fawkes::Message::data_ptr.

◆ CartesianGotoMessage() [3/3]

fawkes::JacoBimanualInterface::CartesianGotoMessage::CartesianGotoMessage ( const CartesianGotoMessage m)

Copy constructor.

Parameters
mmessage to copy from

Definition at line 337 of file JacoBimanualInterface.cpp.

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

Member Function Documentation

◆ clone()

Message * fawkes::JacoBimanualInterface::CartesianGotoMessage::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 713 of file JacoBimanualInterface.cpp.

◆ l_e1()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e1 ( ) const

Get l_e1 value.

1st Euler angle of left manipulator rotation

Returns
l_e1 value

Definition at line 442 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ l_e2()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e2 ( ) const

Get l_e2 value.

2nd Euler angle of left manipulator rotation

Returns
l_e2 value

Definition at line 472 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ l_e3()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e3 ( ) const

Get l_e3 value.

3rd Euler angle of left manipulator rotation

Returns
l_e3 value

Definition at line 502 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ l_x()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_x ( ) const

Get l_x value.

X-coordinate of left manipulator

Returns
l_x value

Definition at line 352 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ l_y()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_y ( ) const

Get l_y value.

Y-coordinate of left manipulator

Returns
l_y value

Definition at line 382 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ l_z()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::l_z ( ) const

Get l_z value.

Z-coordinate of left manipulator

Returns
l_z value

Definition at line 412 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ maxlenof_l_e1()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_e1 ( ) const

Get maximum length of l_e1 value.

Returns
length of l_e1 value, can be length of the array or number of maximum number of characters for a string

Definition at line 452 of file JacoBimanualInterface.cpp.

◆ maxlenof_l_e2()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_e2 ( ) const

Get maximum length of l_e2 value.

Returns
length of l_e2 value, can be length of the array or number of maximum number of characters for a string

Definition at line 482 of file JacoBimanualInterface.cpp.

◆ maxlenof_l_e3()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_e3 ( ) const

Get maximum length of l_e3 value.

Returns
length of l_e3 value, can be length of the array or number of maximum number of characters for a string

Definition at line 512 of file JacoBimanualInterface.cpp.

◆ maxlenof_l_x()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_x ( ) const

Get maximum length of l_x value.

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

Definition at line 362 of file JacoBimanualInterface.cpp.

◆ maxlenof_l_y()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_y ( ) const

Get maximum length of l_y value.

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

Definition at line 392 of file JacoBimanualInterface.cpp.

◆ maxlenof_l_z()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_l_z ( ) const

Get maximum length of l_z value.

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

Definition at line 422 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_e1()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_e1 ( ) const

Get maximum length of r_e1 value.

Returns
length of r_e1 value, can be length of the array or number of maximum number of characters for a string

Definition at line 632 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_e2()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_e2 ( ) const

Get maximum length of r_e2 value.

Returns
length of r_e2 value, can be length of the array or number of maximum number of characters for a string

Definition at line 662 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_e3()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_e3 ( ) const

Get maximum length of r_e3 value.

Returns
length of r_e3 value, can be length of the array or number of maximum number of characters for a string

Definition at line 692 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_x()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_x ( ) const

Get maximum length of r_x value.

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

Definition at line 542 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_y()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_y ( ) const

Get maximum length of r_y value.

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

Definition at line 572 of file JacoBimanualInterface.cpp.

◆ maxlenof_r_z()

size_t fawkes::JacoBimanualInterface::CartesianGotoMessage::maxlenof_r_z ( ) const

Get maximum length of r_z value.

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

Definition at line 602 of file JacoBimanualInterface.cpp.

◆ r_e1()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e1 ( ) const

Get r_e1 value.

1st Euler angle of right manipulator rotation

Returns
r_e1 value

Definition at line 622 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ r_e2()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e2 ( ) const

Get r_e2 value.

2nd Euler angle of right manipulator rotation

Returns
r_e2 value

Definition at line 652 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ r_e3()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e3 ( ) const

Get r_e3 value.

3rd Euler angle of right manipulator rotation

Returns
r_e3 value

Definition at line 682 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ r_x()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_x ( ) const

Get r_x value.

X-coordinate of right manipulator

Returns
r_x value

Definition at line 532 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ r_y()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_y ( ) const

Get r_y value.

Y-coordinate of right manipulator

Returns
r_y value

Definition at line 562 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ r_z()

float fawkes::JacoBimanualInterface::CartesianGotoMessage::r_z ( ) const

Get r_z value.

Z-coordinate of right manipulator

Returns
r_z value

Definition at line 592 of file JacoBimanualInterface.cpp.

Referenced by JacoBimanualActThread::loop().

◆ set_l_e1()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_e1 ( const float  new_l_e1)

Set l_e1 value.

1st Euler angle of left manipulator rotation

Parameters
new_l_e1new l_e1 value

Definition at line 462 of file JacoBimanualInterface.cpp.

◆ set_l_e2()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_e2 ( const float  new_l_e2)

Set l_e2 value.

2nd Euler angle of left manipulator rotation

Parameters
new_l_e2new l_e2 value

Definition at line 492 of file JacoBimanualInterface.cpp.

◆ set_l_e3()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_e3 ( const float  new_l_e3)

Set l_e3 value.

3rd Euler angle of left manipulator rotation

Parameters
new_l_e3new l_e3 value

Definition at line 522 of file JacoBimanualInterface.cpp.

◆ set_l_x()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_x ( const float  new_l_x)

Set l_x value.

X-coordinate of left manipulator

Parameters
new_l_xnew l_x value

Definition at line 372 of file JacoBimanualInterface.cpp.

◆ set_l_y()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_y ( const float  new_l_y)

Set l_y value.

Y-coordinate of left manipulator

Parameters
new_l_ynew l_y value

Definition at line 402 of file JacoBimanualInterface.cpp.

◆ set_l_z()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_l_z ( const float  new_l_z)

Set l_z value.

Z-coordinate of left manipulator

Parameters
new_l_znew l_z value

Definition at line 432 of file JacoBimanualInterface.cpp.

◆ set_r_e1()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_e1 ( const float  new_r_e1)

Set r_e1 value.

1st Euler angle of right manipulator rotation

Parameters
new_r_e1new r_e1 value

Definition at line 642 of file JacoBimanualInterface.cpp.

◆ set_r_e2()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_e2 ( const float  new_r_e2)

Set r_e2 value.

2nd Euler angle of right manipulator rotation

Parameters
new_r_e2new r_e2 value

Definition at line 672 of file JacoBimanualInterface.cpp.

◆ set_r_e3()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_e3 ( const float  new_r_e3)

Set r_e3 value.

3rd Euler angle of right manipulator rotation

Parameters
new_r_e3new r_e3 value

Definition at line 702 of file JacoBimanualInterface.cpp.

◆ set_r_x()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_x ( const float  new_r_x)

Set r_x value.

X-coordinate of right manipulator

Parameters
new_r_xnew r_x value

Definition at line 552 of file JacoBimanualInterface.cpp.

◆ set_r_y()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_y ( const float  new_r_y)

Set r_y value.

Y-coordinate of right manipulator

Parameters
new_r_ynew r_y value

Definition at line 582 of file JacoBimanualInterface.cpp.

◆ set_r_z()

void fawkes::JacoBimanualInterface::CartesianGotoMessage::set_r_z ( const float  new_r_z)

Set r_z value.

Z-coordinate of right manipulator

Parameters
new_r_znew r_z value

Definition at line 612 of file JacoBimanualInterface.cpp.


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