Fawkes API  Fawkes Development Version
fawkes::JacoInterface Class Reference

JacoInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::JacoInterface:

Classes

class  AngularGotoMessage
 AngularGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  CalibrateMessage
 CalibrateMessage Fawkes BlackBoard Interface Message. More...
 
class  CartesianGotoMessage
 CartesianGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  JoystickPushMessage
 JoystickPushMessage Fawkes BlackBoard Interface Message. More...
 
class  JoystickReleaseMessage
 JoystickReleaseMessage Fawkes BlackBoard Interface Message. More...
 
class  MoveGripperMessage
 MoveGripperMessage Fawkes BlackBoard Interface Message. More...
 
class  RetractMessage
 RetractMessage Fawkes BlackBoard Interface Message. More...
 
class  SetPlannerParamsMessage
 SetPlannerParamsMessage Fawkes BlackBoard Interface Message. More...
 
class  StopMessage
 StopMessage Fawkes BlackBoard Interface Message. More...
 

Public Member Functions

virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
bool is_connected () const
 Get connected value. More...
 
void set_connected (const bool new_connected)
 Set connected value. More...
 
size_t maxlenof_connected () const
 Get maximum length of connected value. More...
 
bool is_initialized () const
 Get initialized value. More...
 
void set_initialized (const bool new_initialized)
 Set initialized value. More...
 
size_t maxlenof_initialized () const
 Get maximum length of initialized 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 euler1 () const
 Get euler1 value. More...
 
void set_euler1 (const float new_euler1)
 Set euler1 value. More...
 
size_t maxlenof_euler1 () const
 Get maximum length of euler1 value. More...
 
float euler2 () const
 Get euler2 value. More...
 
void set_euler2 (const float new_euler2)
 Set euler2 value. More...
 
size_t maxlenof_euler2 () const
 Get maximum length of euler2 value. More...
 
float euler3 () const
 Get euler3 value. More...
 
void set_euler3 (const float new_euler3)
 Set euler3 value. More...
 
size_t maxlenof_euler3 () const
 Get maximum length of euler3 value. More...
 
float * joints () const
 Get joints value. More...
 
float joints (unsigned int index) const
 Get joints value at given index. More...
 
void set_joints (unsigned int index, const float new_joints)
 Set joints value at given index. More...
 
void set_joints (const float *new_joints)
 Set joints value. More...
 
size_t maxlenof_joints () const
 Get maximum length of joints value. More...
 
float finger1 () const
 Get finger1 value. More...
 
void set_finger1 (const float new_finger1)
 Set finger1 value. More...
 
size_t maxlenof_finger1 () const
 Get maximum length of finger1 value. More...
 
float finger2 () const
 Get finger2 value. More...
 
void set_finger2 (const float new_finger2)
 Set finger2 value. More...
 
size_t maxlenof_finger2 () const
 Get maximum length of finger2 value. More...
 
float finger3 () const
 Get finger3 value. More...
 
void set_finger3 (const float new_finger3)
 Set finger3 value. More...
 
size_t maxlenof_finger3 () const
 Get maximum length of finger3 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...
 
virtual Messagecreate_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...
 
- Public Member Functions inherited from fawkes::Interface
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 Timetimestamp () 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...
 
Messagemsgq_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 ERROR_NONE = 0u
 ERROR_NONE constant. More...
 
static const uint32_t ERROR_UNSPECIFIC = 1u
 ERROR_UNSPECIFIC constant. More...
 
static const uint32_t ERROR_NO_IK = 2u
 ERROR_NO_IK constant. More...
 
static const uint32_t ERROR_PLANNING = 4u
 ERROR_PLANNING constant. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 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...
 
- Protected Attributes inherited from fawkes::Interface
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_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

JacoInterface Fawkes BlackBoard Interface.

Interface providing access to a Kinova Jaco arm.

Definition at line 33 of file JacoInterface.h.

Member Function Documentation

◆ copy_values()

void fawkes::JacoInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 630 of file JacoInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::JacoInterface::create_message ( const char *  type) const
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.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 599 of file JacoInterface.cpp.

◆ enum_tostring()

const char * fawkes::JacoInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
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.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 641 of file JacoInterface.cpp.

◆ error_code()

uint32_t fawkes::JacoInterface::error_code ( ) const

Get error_code value.

Error code, set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise.

Returns
error_code value

Definition at line 569 of file JacoInterface.cpp.

◆ euler1()

float fawkes::JacoInterface::euler1 ( ) const

Get euler1 value.

1st Euler angle of tool rotation.

Returns
euler1 value

Definition at line 255 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

◆ euler2()

float fawkes::JacoInterface::euler2 ( ) const

Get euler2 value.

2nd Euler angle of tool rotation.

Returns
euler2 value

Definition at line 286 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

◆ euler3()

float fawkes::JacoInterface::euler3 ( ) const

Get euler3 value.

3rd Euler angle of tool rotation.

Returns
euler3 value

Definition at line 317 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

◆ finger1()

float fawkes::JacoInterface::finger1 ( ) const

Get finger1 value.

Angular value of finger 1.

Returns
finger1 value

Definition at line 408 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop(), and JacoOpenraveThread::update_openrave().

◆ finger2()

float fawkes::JacoInterface::finger2 ( ) const

Get finger2 value.

Angular value of finger 2.

Returns
finger2 value

Definition at line 439 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop(), and JacoOpenraveThread::update_openrave().

◆ finger3()

float fawkes::JacoInterface::finger3 ( ) const

Get finger3 value.

Angular value of finger 3.

Returns
finger3 value

Definition at line 470 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop(), and JacoOpenraveThread::update_openrave().

◆ is_connected()

bool fawkes::JacoInterface::is_connected ( ) const

Get connected value.

Is JacoArm connected/ready?

Returns
connected value

Definition at line 100 of file JacoInterface.cpp.

◆ is_final()

bool fawkes::JacoInterface::is_final ( ) const

Get final value.

True, if the last goto command has been finished, false if it is still running

Returns
final value

Definition at line 535 of file JacoInterface.cpp.

Referenced by JacoInfoThread::loop().

◆ is_initialized()

bool fawkes::JacoInterface::is_initialized ( ) const

Get initialized value.

Checks if Jaco arm has been initialized once after switched on.

Returns
initialized value

Definition at line 131 of file JacoInterface.cpp.

◆ joints() [1/2]

float * fawkes::JacoInterface::joints ( ) const

Get joints value.

Angle values of joints

Returns
joints value

Definition at line 348 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop(), and JacoOpenraveThread::update_openrave().

◆ joints() [2/2]

float fawkes::JacoInterface::joints ( unsigned int  index) const

Get joints value at given index.

Angle values of joints

Parameters
indexindex of value
Returns
joints value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 360 of file JacoInterface.cpp.

◆ maxlenof_connected()

size_t fawkes::JacoInterface::maxlenof_connected ( ) const

Get maximum length of connected value.

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

Definition at line 110 of file JacoInterface.cpp.

◆ maxlenof_error_code()

size_t fawkes::JacoInterface::maxlenof_error_code ( ) const

Get maximum length of error_code value.

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

Definition at line 579 of file JacoInterface.cpp.

◆ maxlenof_euler1()

size_t fawkes::JacoInterface::maxlenof_euler1 ( ) const

Get maximum length of euler1 value.

Returns
length of euler1 value, can be length of the array or number of maximum number of characters for a string

Definition at line 265 of file JacoInterface.cpp.

◆ maxlenof_euler2()

size_t fawkes::JacoInterface::maxlenof_euler2 ( ) const

Get maximum length of euler2 value.

Returns
length of euler2 value, can be length of the array or number of maximum number of characters for a string

Definition at line 296 of file JacoInterface.cpp.

◆ maxlenof_euler3()

size_t fawkes::JacoInterface::maxlenof_euler3 ( ) const

Get maximum length of euler3 value.

Returns
length of euler3 value, can be length of the array or number of maximum number of characters for a string

Definition at line 327 of file JacoInterface.cpp.

◆ maxlenof_final()

size_t fawkes::JacoInterface::maxlenof_final ( ) const

Get maximum length of final value.

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

Definition at line 545 of file JacoInterface.cpp.

◆ maxlenof_finger1()

size_t fawkes::JacoInterface::maxlenof_finger1 ( ) const

Get maximum length of finger1 value.

Returns
length of finger1 value, can be length of the array or number of maximum number of characters for a string

Definition at line 418 of file JacoInterface.cpp.

◆ maxlenof_finger2()

size_t fawkes::JacoInterface::maxlenof_finger2 ( ) const

Get maximum length of finger2 value.

Returns
length of finger2 value, can be length of the array or number of maximum number of characters for a string

Definition at line 449 of file JacoInterface.cpp.

◆ maxlenof_finger3()

size_t fawkes::JacoInterface::maxlenof_finger3 ( ) const

Get maximum length of finger3 value.

Returns
length of finger3 value, can be length of the array or number of maximum number of characters for a string

Definition at line 480 of file JacoInterface.cpp.

◆ maxlenof_initialized()

size_t fawkes::JacoInterface::maxlenof_initialized ( ) const

Get maximum length of initialized value.

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

Definition at line 141 of file JacoInterface.cpp.

◆ maxlenof_joints()

size_t fawkes::JacoInterface::maxlenof_joints ( ) const

Get maximum length of joints value.

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

Definition at line 373 of file JacoInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::JacoInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

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

Definition at line 512 of file JacoInterface.cpp.

◆ maxlenof_x()

size_t fawkes::JacoInterface::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 172 of file JacoInterface.cpp.

◆ maxlenof_y()

size_t fawkes::JacoInterface::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 203 of file JacoInterface.cpp.

◆ maxlenof_z()

size_t fawkes::JacoInterface::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 234 of file JacoInterface.cpp.

◆ message_valid()

bool fawkes::JacoInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 1694 of file JacoInterface.cpp.

◆ msgid()

uint32_t fawkes::JacoInterface::msgid ( ) const

Get msgid value.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Returns
msgid value

Definition at line 502 of file JacoInterface.cpp.

◆ set_connected()

void fawkes::JacoInterface::set_connected ( const bool  new_connected)

Set connected value.

Is JacoArm connected/ready?

Parameters
new_connectednew connected value

Definition at line 120 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_error_code()

void fawkes::JacoInterface::set_error_code ( const uint32_t  new_error_code)

Set error_code value.

Error code, set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise.

Parameters
new_error_codenew error_code value

Definition at line 591 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoActThread::loop(), and JacoGotoThread::loop().

◆ set_euler1()

void fawkes::JacoInterface::set_euler1 ( const float  new_euler1)

Set euler1 value.

1st Euler angle of tool rotation.

Parameters
new_euler1new euler1 value

Definition at line 275 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_euler2()

void fawkes::JacoInterface::set_euler2 ( const float  new_euler2)

Set euler2 value.

2nd Euler angle of tool rotation.

Parameters
new_euler2new euler2 value

Definition at line 306 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_euler3()

void fawkes::JacoInterface::set_euler3 ( const float  new_euler3)

Set euler3 value.

3rd Euler angle of tool rotation.

Parameters
new_euler3new euler3 value

Definition at line 337 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_final()

void fawkes::JacoInterface::set_final ( const bool  new_final)

Set final value.

True, if the last goto command has been finished, false if it is still running

Parameters
new_finalnew final value

Definition at line 556 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoActThread::loop().

◆ set_finger1()

void fawkes::JacoInterface::set_finger1 ( const float  new_finger1)

Set finger1 value.

Angular value of finger 1.

Parameters
new_finger1new finger1 value

Definition at line 428 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_finger2()

void fawkes::JacoInterface::set_finger2 ( const float  new_finger2)

Set finger2 value.

Angular value of finger 2.

Parameters
new_finger2new finger2 value

Definition at line 459 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_finger3()

void fawkes::JacoInterface::set_finger3 ( const float  new_finger3)

Set finger3 value.

Angular value of finger 3.

Parameters
new_finger3new finger3 value

Definition at line 490 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_initialized()

void fawkes::JacoInterface::set_initialized ( const bool  new_initialized)

Set initialized value.

Checks if Jaco arm has been initialized once after switched on.

Parameters
new_initializednew initialized value

Definition at line 151 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoActThread::loop().

◆ set_joints() [1/2]

void fawkes::JacoInterface::set_joints ( unsigned int  index,
const float  new_joints 
)

Set joints value at given index.

Angle values of joints

Parameters
new_jointsnew joints value
indexindex for of the value

Definition at line 395 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_joints() [2/2]

void fawkes::JacoInterface::set_joints ( const float *  new_joints)

Set joints value.

Angle values of joints

Parameters
new_jointsnew joints value

Definition at line 383 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_msgid()

void fawkes::JacoInterface::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.

Parameters
new_msgidnew msgid value

Definition at line 523 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoActThread::loop().

◆ set_x()

void fawkes::JacoInterface::set_x ( const float  new_x)

Set x value.

X-Coordinate of tool translation.

Parameters
new_xnew x value

Definition at line 182 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_y()

void fawkes::JacoInterface::set_y ( const float  new_y)

Set y value.

Y-Coordinate op tool translation.

Parameters
new_ynew y value

Definition at line 213 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ set_z()

void fawkes::JacoInterface::set_z ( const float  new_z)

Set z value.

Z-Coordinate of tool translation.

Parameters
new_znew z value

Definition at line 244 of file JacoInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by JacoInfoThread::loop().

◆ x()

float fawkes::JacoInterface::x ( ) const

Get x value.

X-Coordinate of tool translation.

Returns
x value

Definition at line 162 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

◆ y()

float fawkes::JacoInterface::y ( ) const

Get y value.

Y-Coordinate op tool translation.

Returns
y value

Definition at line 193 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

◆ z()

float fawkes::JacoInterface::z ( ) const

Get z value.

Z-Coordinate of tool translation.

Returns
z value

Definition at line 224 of file JacoInterface.cpp.

Referenced by JacoGotoThread::loop().

Member Data Documentation

◆ ERROR_NO_IK

const uint32_t fawkes::JacoInterface::ERROR_NO_IK = 2u
static

ERROR_NO_IK constant.

Definition at line 42 of file JacoInterface.h.

◆ ERROR_NONE

const uint32_t fawkes::JacoInterface::ERROR_NONE = 0u
static

ERROR_NONE constant.

Definition at line 40 of file JacoInterface.h.

◆ ERROR_PLANNING

const uint32_t fawkes::JacoInterface::ERROR_PLANNING = 4u
static

ERROR_PLANNING constant.

Definition at line 43 of file JacoInterface.h.

◆ ERROR_UNSPECIFIC

const uint32_t fawkes::JacoInterface::ERROR_UNSPECIFIC = 1u
static

ERROR_UNSPECIFIC constant.

Definition at line 41 of file JacoInterface.h.


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