Fawkes API  Fawkes Development Version
fawkes::NaoJointPositionInterface Class Reference

NaoJointPositionInterface Fawkes BlackBoard Interface. More...

#include <>>

Inheritance diagram for fawkes::NaoJointPositionInterface:

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 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 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 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

NaoJointPositionInterface Fawkes BlackBoard Interface.

This interface provides access to Nao joint positions and movements.

Definition at line 33 of file NaoJointPositionInterface.h.

Member Enumeration Documentation

◆ RobotType

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.

Member Function Documentation

◆ copy_values()

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

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 1142 of file NaoJointPositionInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::NaoJointPositionInterface::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 1121 of file NaoJointPositionInterface.cpp.

◆ enum_tostring()

const char * fawkes::NaoJointPositionInterface::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 1153 of file NaoJointPositionInterface.cpp.

◆ head_pitch()

float fawkes::NaoJointPositionInterface::head_pitch ( ) const

Get head_pitch value.

Head pitch

Returns
head_pitch value

Definition at line 310 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ head_yaw()

float fawkes::NaoJointPositionInterface::head_yaw ( ) const

Get head_yaw value.

Head yaw

Returns
head_yaw value

Definition at line 279 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_ankle_pitch()

float fawkes::NaoJointPositionInterface::l_ankle_pitch ( ) const

Get l_ankle_pitch value.

Left ankle pitch

Returns
l_ankle_pitch value

Definition at line 651 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_ankle_roll()

float fawkes::NaoJointPositionInterface::l_ankle_roll ( ) const

Get l_ankle_roll value.

Left ankle roll

Returns
l_ankle_roll value

Definition at line 682 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_elbow_roll()

float fawkes::NaoJointPositionInterface::l_elbow_roll ( ) const

Get l_elbow_roll value.

Left elbow roll

Returns
l_elbow_roll value

Definition at line 434 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_elbow_yaw()

float fawkes::NaoJointPositionInterface::l_elbow_yaw ( ) const

Get l_elbow_yaw value.

Left elbow yaw

Returns
l_elbow_yaw value

Definition at line 403 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_hand()

float fawkes::NaoJointPositionInterface::l_hand ( ) const

Get l_hand value.

Left hand

Returns
l_hand value

Definition at line 496 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_hip_pitch()

float fawkes::NaoJointPositionInterface::l_hip_pitch ( ) const

Get l_hip_pitch value.

Left hip pitch

Returns
l_hip_pitch value

Definition at line 589 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_hip_roll()

float fawkes::NaoJointPositionInterface::l_hip_roll ( ) const

Get l_hip_roll value.

Left hip roll

Returns
l_hip_roll value

Definition at line 558 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_hip_yaw_pitch()

float fawkes::NaoJointPositionInterface::l_hip_yaw_pitch ( ) const

Get l_hip_yaw_pitch value.

Left hip yaw pitch

Returns
l_hip_yaw_pitch value

Definition at line 527 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_knee_pitch()

float fawkes::NaoJointPositionInterface::l_knee_pitch ( ) const

Get l_knee_pitch value.

Left knee pitch

Returns
l_knee_pitch value

Definition at line 620 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_shoulder_pitch()

float fawkes::NaoJointPositionInterface::l_shoulder_pitch ( ) const

Get l_shoulder_pitch value.

Left shoulder pitch

Returns
l_shoulder_pitch value

Definition at line 341 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_shoulder_roll()

float fawkes::NaoJointPositionInterface::l_shoulder_roll ( ) const

Get l_shoulder_roll value.

Left shoulder roll

Returns
l_shoulder_roll value

Definition at line 372 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ l_wrist_yaw()

float fawkes::NaoJointPositionInterface::l_wrist_yaw ( ) const

Get l_wrist_yaw value.

Left wrist yaw

Returns
l_wrist_yaw value

Definition at line 465 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ maxlenof_head_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_head_pitch ( ) const

Get maximum length of head_pitch value.

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

Definition at line 320 of file NaoJointPositionInterface.cpp.

◆ maxlenof_head_yaw()

size_t fawkes::NaoJointPositionInterface::maxlenof_head_yaw ( ) const

Get maximum length of head_yaw value.

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

Definition at line 289 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_ankle_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_ankle_pitch ( ) const

Get maximum length of l_ankle_pitch value.

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

Definition at line 661 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_ankle_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_ankle_roll ( ) const

Get maximum length of l_ankle_roll value.

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

Definition at line 692 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_elbow_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_elbow_roll ( ) const

Get maximum length of l_elbow_roll value.

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

Definition at line 444 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_elbow_yaw()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_elbow_yaw ( ) const

Get maximum length of l_elbow_yaw value.

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

Definition at line 413 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_hand()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_hand ( ) const

Get maximum length of l_hand value.

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

Definition at line 506 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_hip_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_pitch ( ) const

Get maximum length of l_hip_pitch value.

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

Definition at line 599 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_hip_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_roll ( ) const

Get maximum length of l_hip_roll value.

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

Definition at line 568 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_hip_yaw_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_hip_yaw_pitch ( ) const

Get maximum length of l_hip_yaw_pitch value.

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

Definition at line 537 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_knee_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_knee_pitch ( ) const

Get maximum length of l_knee_pitch value.

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

Definition at line 630 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_shoulder_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_pitch ( ) const

Get maximum length of l_shoulder_pitch value.

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

Definition at line 351 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_shoulder_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_roll ( ) const

Get maximum length of l_shoulder_roll value.

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

Definition at line 382 of file NaoJointPositionInterface.cpp.

◆ maxlenof_l_wrist_yaw()

size_t fawkes::NaoJointPositionInterface::maxlenof_l_wrist_yaw ( ) const

Get maximum length of l_wrist_yaw value.

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

Definition at line 475 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_ankle_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_ankle_pitch ( ) const

Get maximum length of r_ankle_pitch value.

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

Definition at line 1033 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_ankle_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_ankle_roll ( ) const

Get maximum length of r_ankle_roll value.

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

Definition at line 1064 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_elbow_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_elbow_roll ( ) const

Get maximum length of r_elbow_roll value.

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

Definition at line 816 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_elbow_yaw()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_elbow_yaw ( ) const

Get maximum length of r_elbow_yaw value.

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

Definition at line 785 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_hand()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_hand ( ) const

Get maximum length of r_hand value.

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

Definition at line 878 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_hip_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_pitch ( ) const

Get maximum length of r_hip_pitch value.

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

Definition at line 971 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_hip_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_roll ( ) const

Get maximum length of r_hip_roll value.

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

Definition at line 940 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_hip_yaw_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_hip_yaw_pitch ( ) const

Get maximum length of r_hip_yaw_pitch value.

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

Definition at line 909 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_knee_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_knee_pitch ( ) const

Get maximum length of r_knee_pitch value.

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

Definition at line 1002 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_shoulder_pitch()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_pitch ( ) const

Get maximum length of r_shoulder_pitch value.

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

Definition at line 723 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_shoulder_roll()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_roll ( ) const

Get maximum length of r_shoulder_roll value.

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

Definition at line 754 of file NaoJointPositionInterface.cpp.

◆ maxlenof_r_wrist_yaw()

size_t fawkes::NaoJointPositionInterface::maxlenof_r_wrist_yaw ( ) const

Get maximum length of r_wrist_yaw value.

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

Definition at line 847 of file NaoJointPositionInterface.cpp.

◆ maxlenof_robot_type()

size_t fawkes::NaoJointPositionInterface::maxlenof_robot_type ( ) const

Get maximum length of robot_type value.

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

Definition at line 182 of file NaoJointPositionInterface.cpp.

◆ maxlenof_robot_version()

size_t fawkes::NaoJointPositionInterface::maxlenof_robot_version ( ) const

Get maximum length of robot_version value.

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

Definition at line 236 of file NaoJointPositionInterface.cpp.

◆ maxlenof_time()

size_t fawkes::NaoJointPositionInterface::maxlenof_time ( ) const

Get maximum length of time value.

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

Definition at line 1099 of file NaoJointPositionInterface.cpp.

◆ message_valid()

bool fawkes::NaoJointPositionInterface::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 3483 of file NaoJointPositionInterface.cpp.

◆ r_ankle_pitch()

float fawkes::NaoJointPositionInterface::r_ankle_pitch ( ) const

Get r_ankle_pitch value.

Right ankle pitch

Returns
r_ankle_pitch value

Definition at line 1023 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_ankle_roll()

float fawkes::NaoJointPositionInterface::r_ankle_roll ( ) const

Get r_ankle_roll value.

Right ankle roll

Returns
r_ankle_roll value

Definition at line 1054 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_elbow_roll()

float fawkes::NaoJointPositionInterface::r_elbow_roll ( ) const

Get r_elbow_roll value.

Right elbow roll

Returns
r_elbow_roll value

Definition at line 806 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_elbow_yaw()

float fawkes::NaoJointPositionInterface::r_elbow_yaw ( ) const

Get r_elbow_yaw value.

Right elbow yaw

Returns
r_elbow_yaw value

Definition at line 775 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_hand()

float fawkes::NaoJointPositionInterface::r_hand ( ) const

Get r_hand value.

Right hand

Returns
r_hand value

Definition at line 868 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_hip_pitch()

float fawkes::NaoJointPositionInterface::r_hip_pitch ( ) const

Get r_hip_pitch value.

Right hip pitch

Returns
r_hip_pitch value

Definition at line 961 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_hip_roll()

float fawkes::NaoJointPositionInterface::r_hip_roll ( ) const

Get r_hip_roll value.

Right hip roll

Returns
r_hip_roll value

Definition at line 930 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_hip_yaw_pitch()

float fawkes::NaoJointPositionInterface::r_hip_yaw_pitch ( ) const

Get r_hip_yaw_pitch value.

Right hip yaw pitch

Returns
r_hip_yaw_pitch value

Definition at line 899 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_knee_pitch()

float fawkes::NaoJointPositionInterface::r_knee_pitch ( ) const

Get r_knee_pitch value.

Right knee pitch

Returns
r_knee_pitch value

Definition at line 992 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_shoulder_pitch()

float fawkes::NaoJointPositionInterface::r_shoulder_pitch ( ) const

Get r_shoulder_pitch value.

Right shoulder pitch

Returns
r_shoulder_pitch value

Definition at line 713 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_shoulder_roll()

float fawkes::NaoJointPositionInterface::r_shoulder_roll ( ) const

Get r_shoulder_roll value.

Right shoulder roll

Returns
r_shoulder_roll value

Definition at line 744 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ r_wrist_yaw()

float fawkes::NaoJointPositionInterface::r_wrist_yaw ( ) const

Get r_wrist_yaw value.

Right wrist yaw

Returns
r_wrist_yaw value

Definition at line 837 of file NaoJointPositionInterface.cpp.

Referenced by NaoGuiGtkWindow::~NaoGuiGtkWindow().

◆ robot_type()

NaoJointPositionInterface::RobotType fawkes::NaoJointPositionInterface::robot_type ( ) const

Get robot_type value.

Robot type.

Returns
robot_type value

Definition at line 172 of file NaoJointPositionInterface.cpp.

◆ robot_version() [1/2]

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.

Returns
robot_version value

Definition at line 207 of file NaoJointPositionInterface.cpp.

◆ robot_version() [2/2]

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.

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

Definition at line 223 of file NaoJointPositionInterface.cpp.

◆ set_head_pitch()

void fawkes::NaoJointPositionInterface::set_head_pitch ( const float  new_head_pitch)

Set head_pitch value.

Head pitch

Parameters
new_head_pitchnew head_pitch value

Definition at line 330 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_head_yaw()

void fawkes::NaoJointPositionInterface::set_head_yaw ( const float  new_head_yaw)

Set head_yaw value.

Head yaw

Parameters
new_head_yawnew head_yaw value

Definition at line 299 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_ankle_pitch()

void fawkes::NaoJointPositionInterface::set_l_ankle_pitch ( const float  new_l_ankle_pitch)

Set l_ankle_pitch value.

Left ankle pitch

Parameters
new_l_ankle_pitchnew l_ankle_pitch value

Definition at line 671 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_ankle_roll()

void fawkes::NaoJointPositionInterface::set_l_ankle_roll ( const float  new_l_ankle_roll)

Set l_ankle_roll value.

Left ankle roll

Parameters
new_l_ankle_rollnew l_ankle_roll value

Definition at line 702 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_elbow_roll()

void fawkes::NaoJointPositionInterface::set_l_elbow_roll ( const float  new_l_elbow_roll)

Set l_elbow_roll value.

Left elbow roll

Parameters
new_l_elbow_rollnew l_elbow_roll value

Definition at line 454 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_elbow_yaw()

void fawkes::NaoJointPositionInterface::set_l_elbow_yaw ( const float  new_l_elbow_yaw)

Set l_elbow_yaw value.

Left elbow yaw

Parameters
new_l_elbow_yawnew l_elbow_yaw value

Definition at line 423 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_hand()

void fawkes::NaoJointPositionInterface::set_l_hand ( const float  new_l_hand)

Set l_hand value.

Left hand

Parameters
new_l_handnew l_hand value

Definition at line 516 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_hip_pitch()

void fawkes::NaoJointPositionInterface::set_l_hip_pitch ( const float  new_l_hip_pitch)

Set l_hip_pitch value.

Left hip pitch

Parameters
new_l_hip_pitchnew l_hip_pitch value

Definition at line 609 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_hip_roll()

void fawkes::NaoJointPositionInterface::set_l_hip_roll ( const float  new_l_hip_roll)

Set l_hip_roll value.

Left hip roll

Parameters
new_l_hip_rollnew l_hip_roll value

Definition at line 578 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_hip_yaw_pitch()

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

Parameters
new_l_hip_yaw_pitchnew l_hip_yaw_pitch value

Definition at line 547 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_knee_pitch()

void fawkes::NaoJointPositionInterface::set_l_knee_pitch ( const float  new_l_knee_pitch)

Set l_knee_pitch value.

Left knee pitch

Parameters
new_l_knee_pitchnew l_knee_pitch value

Definition at line 640 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_shoulder_pitch()

void fawkes::NaoJointPositionInterface::set_l_shoulder_pitch ( const float  new_l_shoulder_pitch)

Set l_shoulder_pitch value.

Left shoulder pitch

Parameters
new_l_shoulder_pitchnew l_shoulder_pitch value

Definition at line 361 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_shoulder_roll()

void fawkes::NaoJointPositionInterface::set_l_shoulder_roll ( const float  new_l_shoulder_roll)

Set l_shoulder_roll value.

Left shoulder roll

Parameters
new_l_shoulder_rollnew l_shoulder_roll value

Definition at line 392 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_l_wrist_yaw()

void fawkes::NaoJointPositionInterface::set_l_wrist_yaw ( const float  new_l_wrist_yaw)

Set l_wrist_yaw value.

Left wrist yaw

Parameters
new_l_wrist_yawnew l_wrist_yaw value

Definition at line 485 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_ankle_pitch()

void fawkes::NaoJointPositionInterface::set_r_ankle_pitch ( const float  new_r_ankle_pitch)

Set r_ankle_pitch value.

Right ankle pitch

Parameters
new_r_ankle_pitchnew r_ankle_pitch value

Definition at line 1043 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_ankle_roll()

void fawkes::NaoJointPositionInterface::set_r_ankle_roll ( const float  new_r_ankle_roll)

Set r_ankle_roll value.

Right ankle roll

Parameters
new_r_ankle_rollnew r_ankle_roll value

Definition at line 1074 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_elbow_roll()

void fawkes::NaoJointPositionInterface::set_r_elbow_roll ( const float  new_r_elbow_roll)

Set r_elbow_roll value.

Right elbow roll

Parameters
new_r_elbow_rollnew r_elbow_roll value

Definition at line 826 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_elbow_yaw()

void fawkes::NaoJointPositionInterface::set_r_elbow_yaw ( const float  new_r_elbow_yaw)

Set r_elbow_yaw value.

Right elbow yaw

Parameters
new_r_elbow_yawnew r_elbow_yaw value

Definition at line 795 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_hand()

void fawkes::NaoJointPositionInterface::set_r_hand ( const float  new_r_hand)

Set r_hand value.

Right hand

Parameters
new_r_handnew r_hand value

Definition at line 888 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_hip_pitch()

void fawkes::NaoJointPositionInterface::set_r_hip_pitch ( const float  new_r_hip_pitch)

Set r_hip_pitch value.

Right hip pitch

Parameters
new_r_hip_pitchnew r_hip_pitch value

Definition at line 981 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_hip_roll()

void fawkes::NaoJointPositionInterface::set_r_hip_roll ( const float  new_r_hip_roll)

Set r_hip_roll value.

Right hip roll

Parameters
new_r_hip_rollnew r_hip_roll value

Definition at line 950 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_hip_yaw_pitch()

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

Parameters
new_r_hip_yaw_pitchnew r_hip_yaw_pitch value

Definition at line 919 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_knee_pitch()

void fawkes::NaoJointPositionInterface::set_r_knee_pitch ( const float  new_r_knee_pitch)

Set r_knee_pitch value.

Right knee pitch

Parameters
new_r_knee_pitchnew r_knee_pitch value

Definition at line 1012 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_shoulder_pitch()

void fawkes::NaoJointPositionInterface::set_r_shoulder_pitch ( const float  new_r_shoulder_pitch)

Set r_shoulder_pitch value.

Right shoulder pitch

Parameters
new_r_shoulder_pitchnew r_shoulder_pitch value

Definition at line 733 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_shoulder_roll()

void fawkes::NaoJointPositionInterface::set_r_shoulder_roll ( const float  new_r_shoulder_roll)

Set r_shoulder_roll value.

Right shoulder roll

Parameters
new_r_shoulder_rollnew r_shoulder_roll value

Definition at line 764 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_r_wrist_yaw()

void fawkes::NaoJointPositionInterface::set_r_wrist_yaw ( const float  new_r_wrist_yaw)

Set r_wrist_yaw value.

Right wrist yaw

Parameters
new_r_wrist_yawnew r_wrist_yaw value

Definition at line 857 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ set_robot_type()

void fawkes::NaoJointPositionInterface::set_robot_type ( const RobotType  new_robot_type)

Set robot_type value.

Robot type.

Parameters
new_robot_typenew robot_type value

Definition at line 192 of file NaoJointPositionInterface.cpp.

◆ set_robot_version() [1/2]

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.

Parameters
new_robot_versionnew robot_version value
indexindex for of the value

Definition at line 266 of file NaoJointPositionInterface.cpp.

◆ set_robot_version() [2/2]

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.

Parameters
new_robot_versionnew robot_version value

Definition at line 250 of file NaoJointPositionInterface.cpp.

◆ set_time()

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.

Parameters
new_timenew time value

Definition at line 1113 of file NaoJointPositionInterface.cpp.

Referenced by NaoQiDCMThread::loop().

◆ time()

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.

Returns
time value

Definition at line 1089 of file NaoJointPositionInterface.cpp.

◆ tostring_RobotType()

const char * fawkes::NaoJointPositionInterface::tostring_RobotType ( RobotType  value) const

Convert RobotType constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 158 of file NaoJointPositionInterface.cpp.

Member Data Documentation

◆ SERVO_head_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_head_pitch = 2u
static

SERVO_head_pitch constant.

Definition at line 41 of file NaoJointPositionInterface.h.

◆ SERVO_head_yaw

const uint32_t fawkes::NaoJointPositionInterface::SERVO_head_yaw = 1u
static

SERVO_head_yaw constant.

Definition at line 40 of file NaoJointPositionInterface.h.

◆ SERVO_l_ankle_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_ankle_pitch = 4096u
static

SERVO_l_ankle_pitch constant.

Definition at line 52 of file NaoJointPositionInterface.h.

◆ SERVO_l_ankle_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_ankle_roll = 8192u
static

SERVO_l_ankle_roll constant.

Definition at line 53 of file NaoJointPositionInterface.h.

◆ SERVO_l_elbow_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_elbow_roll = 32u
static

SERVO_l_elbow_roll constant.

Definition at line 45 of file NaoJointPositionInterface.h.

◆ SERVO_l_elbow_yaw

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_elbow_yaw = 16u
static

SERVO_l_elbow_yaw constant.

Definition at line 44 of file NaoJointPositionInterface.h.

◆ SERVO_l_hand

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_hand = 128u
static

SERVO_l_hand constant.

Definition at line 47 of file NaoJointPositionInterface.h.

◆ SERVO_l_hip_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_hip_pitch = 1024u
static

SERVO_l_hip_pitch constant.

Definition at line 50 of file NaoJointPositionInterface.h.

◆ SERVO_l_hip_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_hip_roll = 512u
static

SERVO_l_hip_roll constant.

Definition at line 49 of file NaoJointPositionInterface.h.

◆ SERVO_l_hip_yaw_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_hip_yaw_pitch = 256u
static

SERVO_l_hip_yaw_pitch constant.

Definition at line 48 of file NaoJointPositionInterface.h.

◆ SERVO_l_knee_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_knee_pitch = 2048u
static

SERVO_l_knee_pitch constant.

Definition at line 51 of file NaoJointPositionInterface.h.

◆ SERVO_l_shoulder_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_shoulder_pitch = 4u
static

SERVO_l_shoulder_pitch constant.

Definition at line 42 of file NaoJointPositionInterface.h.

◆ SERVO_l_shoulder_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_shoulder_roll = 8u
static

SERVO_l_shoulder_roll constant.

Definition at line 43 of file NaoJointPositionInterface.h.

◆ SERVO_l_wrist_yaw

const uint32_t fawkes::NaoJointPositionInterface::SERVO_l_wrist_yaw = 64u
static

SERVO_l_wrist_yaw constant.

Definition at line 46 of file NaoJointPositionInterface.h.

◆ SERVO_max

const uint32_t fawkes::NaoJointPositionInterface::SERVO_max = 33554432u
static

SERVO_max constant.

Definition at line 67 of file NaoJointPositionInterface.h.

◆ SERVO_min

const uint32_t fawkes::NaoJointPositionInterface::SERVO_min = 1u
static

SERVO_min constant.

Definition at line 66 of file NaoJointPositionInterface.h.

◆ SERVO_r_ankle_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_ankle_pitch = 16777216u
static

SERVO_r_ankle_pitch constant.

Definition at line 64 of file NaoJointPositionInterface.h.

◆ SERVO_r_ankle_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_ankle_roll = 33554432u
static

SERVO_r_ankle_roll constant.

Definition at line 65 of file NaoJointPositionInterface.h.

◆ SERVO_r_elbow_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_elbow_roll = 131072u
static

SERVO_r_elbow_roll constant.

Definition at line 57 of file NaoJointPositionInterface.h.

◆ SERVO_r_elbow_yaw

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_elbow_yaw = 65536u
static

SERVO_r_elbow_yaw constant.

Definition at line 56 of file NaoJointPositionInterface.h.

◆ SERVO_r_hand

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_hand = 524288u
static

SERVO_r_hand constant.

Definition at line 59 of file NaoJointPositionInterface.h.

◆ SERVO_r_hip_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_hip_pitch = 4194304u
static

SERVO_r_hip_pitch constant.

Definition at line 62 of file NaoJointPositionInterface.h.

◆ SERVO_r_hip_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_hip_roll = 2097152u
static

SERVO_r_hip_roll constant.

Definition at line 61 of file NaoJointPositionInterface.h.

◆ SERVO_r_hip_yaw_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_hip_yaw_pitch = 1048576u
static

SERVO_r_hip_yaw_pitch constant.

Definition at line 60 of file NaoJointPositionInterface.h.

◆ SERVO_r_knee_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_knee_pitch = 8388608u
static

SERVO_r_knee_pitch constant.

Definition at line 63 of file NaoJointPositionInterface.h.

◆ SERVO_r_shoulder_pitch

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_shoulder_pitch = 16384u
static

SERVO_r_shoulder_pitch constant.

Definition at line 54 of file NaoJointPositionInterface.h.

◆ SERVO_r_shoulder_roll

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_shoulder_roll = 32768u
static

SERVO_r_shoulder_roll constant.

Definition at line 55 of file NaoJointPositionInterface.h.

◆ SERVO_r_wrist_yaw

const uint32_t fawkes::NaoJointPositionInterface::SERVO_r_wrist_yaw = 262144u
static

SERVO_r_wrist_yaw constant.

Definition at line 58 of file NaoJointPositionInterface.h.


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