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

LinearGotoKniMessage Fawkes BlackBoard Interface Message. More...

#include <>>

Inheritance diagram for fawkes::KatanaInterface::LinearGotoKniMessage:

Public Member Functions

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

Additional Inherited Members

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

Detailed Description

Constructor & Destructor Documentation

◆ LinearGotoKniMessage() [1/3]

fawkes::KatanaInterface::LinearGotoKniMessage::LinearGotoKniMessage ( const float  ini_x,
const float  ini_y,
const float  ini_z,
const float  ini_phi,
const float  ini_theta,
const float  ini_psi 
)

Constructor with initial values.

Parameters
ini_xinitial value for x
ini_yinitial value for y
ini_zinitial value for z
ini_phiinitial value for phi
ini_thetainitial value for theta
ini_psiinitial value for psi

Definition at line 1400 of file KatanaInterface.cpp.

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

◆ LinearGotoKniMessage() [2/3]

fawkes::KatanaInterface::LinearGotoKniMessage::LinearGotoKniMessage ( )

◆ ~LinearGotoKniMessage()

fawkes::KatanaInterface::LinearGotoKniMessage::~LinearGotoKniMessage ( )

Destructor.

Definition at line 1437 of file KatanaInterface.cpp.

References fawkes::Message::data_ptr.

◆ LinearGotoKniMessage() [3/3]

fawkes::KatanaInterface::LinearGotoKniMessage::LinearGotoKniMessage ( const LinearGotoKniMessage m)

Copy constructor.

Parameters
mmessage to copy from

Definition at line 1445 of file KatanaInterface.cpp.

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

Member Function Documentation

◆ clone()

Message * fawkes::KatanaInterface::LinearGotoKniMessage::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 1647 of file KatanaInterface.cpp.

◆ maxlenof_phi()

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

Get maximum length of phi value.

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

Definition at line 1566 of file KatanaInterface.cpp.

◆ maxlenof_psi()

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

Get maximum length of psi value.

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

Definition at line 1626 of file KatanaInterface.cpp.

◆ maxlenof_theta()

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

Get maximum length of theta value.

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

Definition at line 1596 of file KatanaInterface.cpp.

◆ maxlenof_x()

size_t fawkes::KatanaInterface::LinearGotoKniMessage::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 1471 of file KatanaInterface.cpp.

◆ maxlenof_y()

size_t fawkes::KatanaInterface::LinearGotoKniMessage::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 1503 of file KatanaInterface.cpp.

◆ maxlenof_z()

size_t fawkes::KatanaInterface::LinearGotoKniMessage::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 1535 of file KatanaInterface.cpp.

◆ phi()

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

Get phi value.

Euler angle Phi of tool orientation.

Returns
phi value

Definition at line 1556 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ psi()

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

Get psi value.

Euler angle Psi of tool orientation.

Returns
psi value

Definition at line 1616 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ set_phi()

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

Set phi value.

Euler angle Phi of tool orientation.

Parameters
new_phinew phi value

Definition at line 1576 of file KatanaInterface.cpp.

◆ set_psi()

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

Set psi value.

Euler angle Psi of tool orientation.

Parameters
new_psinew psi value

Definition at line 1636 of file KatanaInterface.cpp.

◆ set_theta()

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

Set theta value.

Euler angle Theta of tool orientation.

Parameters
new_thetanew theta value

Definition at line 1606 of file KatanaInterface.cpp.

◆ set_x()

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

Set x value.

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

Parameters
new_xnew x value

Definition at line 1482 of file KatanaInterface.cpp.

◆ set_y()

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

Set y value.

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

Parameters
new_ynew y value

Definition at line 1514 of file KatanaInterface.cpp.

◆ set_z()

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

Set z value.

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

Parameters
new_znew z value

Definition at line 1546 of file KatanaInterface.cpp.

◆ theta()

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

Get theta value.

Euler angle Theta of tool orientation.

Returns
theta value

Definition at line 1586 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ x()

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

Get x value.

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

Returns
x value

Definition at line 1461 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ y()

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

Get y value.

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

Returns
y value

Definition at line 1493 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().

◆ z()

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

Get z value.

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

Returns
z value

Definition at line 1525 of file KatanaInterface.cpp.

Referenced by KatanaActThread::loop().


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