Fawkes API
Fawkes Development Version
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LinearGotoMessage Fawkes BlackBoard Interface Message. More...
#include <>>
Classes | |
struct | LinearGotoMessage_data_t |
Internal data storage, do NOT modify! More... | |
Public Member Functions | |
LinearGotoMessage (const float ini_theta_error, const float ini_offset_xy, const bool ini_straight, const char *ini_trans_frame, const char *ini_rot_frame, 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. | |
LinearGotoMessage () | |
Constructor. | |
~LinearGotoMessage () | |
Destructor. | |
LinearGotoMessage (const LinearGotoMessage *m) | |
Copy constructor. | |
float | theta_error () const |
Get theta_error value. | |
void | set_theta_error (const float new_theta_error) |
Set theta_error value. | |
size_t | maxlenof_theta_error () const |
Get maximum length of theta_error value. | |
float | offset_xy () const |
Get offset_xy value. | |
void | set_offset_xy (const float new_offset_xy) |
Set offset_xy value. | |
size_t | maxlenof_offset_xy () const |
Get maximum length of offset_xy value. | |
bool | is_straight () const |
Get straight value. | |
void | set_straight (const bool new_straight) |
Set straight value. | |
size_t | maxlenof_straight () const |
Get maximum length of straight value. | |
char * | trans_frame () const |
Get trans_frame value. | |
void | set_trans_frame (const char *new_trans_frame) |
Set trans_frame value. | |
size_t | maxlenof_trans_frame () const |
Get maximum length of trans_frame value. | |
char * | rot_frame () const |
Get rot_frame value. | |
void | set_rot_frame (const char *new_rot_frame) |
Set rot_frame value. | |
size_t | maxlenof_rot_frame () const |
Get maximum length of rot_frame value. | |
float | x () const |
Get x value. | |
void | set_x (const float new_x) |
Set x value. | |
size_t | maxlenof_x () const |
Get maximum length of x value. | |
float | y () const |
Get y value. | |
void | set_y (const float new_y) |
Set y value. | |
size_t | maxlenof_y () const |
Get maximum length of y value. | |
float | z () const |
Get z value. | |
void | set_z (const float new_z) |
Set z value. | |
size_t | maxlenof_z () const |
Get maximum length of z value. | |
float | phi () const |
Get phi value. | |
void | set_phi (const float new_phi) |
Set phi value. | |
size_t | maxlenof_phi () const |
Get maximum length of phi value. | |
float | theta () const |
Get theta value. | |
void | set_theta (const float new_theta) |
Set theta value. | |
size_t | maxlenof_theta () const |
Get maximum length of theta value. | |
float | psi () const |
Get psi value. | |
void | set_psi (const float new_psi) |
Set psi value. | |
size_t | maxlenof_psi () const |
Get maximum length of psi value. | |
virtual Message * | clone () const |
Clone this message. |
LinearGotoMessage Fawkes BlackBoard Interface Message.
fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage | ( | const float | ini_theta_error, |
const float | ini_offset_xy, | ||
const bool | ini_straight, | ||
const char * | ini_trans_frame, | ||
const char * | ini_rot_frame, | ||
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.
ini_theta_error | initial value for theta_error |
ini_offset_xy | initial value for offset_xy |
ini_straight | initial value for straight |
ini_trans_frame | initial value for trans_frame |
ini_rot_frame | initial value for rot_frame |
ini_x | initial value for x |
ini_y | initial value for y |
ini_z | initial value for z |
ini_phi | initial value for phi |
ini_theta | initial value for theta |
ini_psi | initial value for psi |
Definition at line 961 of file KatanaInterface.cpp.
References fawkes::Message::data_size, fawkes::Message::data_ptr, fawkes::Message::data_ts, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::theta_error, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::offset_xy, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::straight, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::trans_frame, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::rot_frame, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::x, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::y, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::z, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::phi, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::theta, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::psi, fawkes::Message::add_fieldinfo(), fawkes::IFT_FLOAT, fawkes::IFT_BOOL, and fawkes::IFT_STRING.
fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage | ( | ) |
Constructor.
Definition at line 992 of file KatanaInterface.cpp.
References fawkes::Message::data_size, fawkes::Message::data_ptr, fawkes::Message::data_ts, fawkes::Message::add_fieldinfo(), fawkes::IFT_FLOAT, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::theta_error, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::offset_xy, fawkes::IFT_BOOL, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::straight, fawkes::IFT_STRING, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::trans_frame, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::rot_frame, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::x, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::y, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::z, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::phi, fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::theta, and fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t::psi.
fawkes::KatanaInterface::LinearGotoMessage::~LinearGotoMessage | ( | ) |
Destructor.
Definition at line 1013 of file KatanaInterface.cpp.
References fawkes::Interface::data_ptr.
fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage | ( | const LinearGotoMessage * | m | ) |
Copy constructor.
m | message to copy from |
Definition at line 1021 of file KatanaInterface.cpp.
References fawkes::Message::data_size, fawkes::Message::data_ptr, and fawkes::Message::data_ts.
Message * fawkes::KatanaInterface::LinearGotoMessage::clone | ( | ) | const [virtual] |
Clone this message.
Produces a message of the same type as this message and copies the data to the new message.
Reimplemented from fawkes::Message.
Definition at line 1379 of file KatanaInterface.cpp.
bool fawkes::KatanaInterface::LinearGotoMessage::is_straight | ( | ) | const |
Get straight value.
Move in a straight line?
Definition at line 1098 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_offset_xy | ( | ) | const |
Get maximum length of offset_xy value.
Definition at line 1078 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_phi | ( | ) | const |
Get maximum length of phi value.
Definition at line 1298 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_psi | ( | ) | const |
Get maximum length of psi value.
Definition at line 1358 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_rot_frame | ( | ) | const |
Get maximum length of rot_frame value.
Definition at line 1171 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_straight | ( | ) | const |
Get maximum length of straight value.
Definition at line 1108 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_theta | ( | ) | const |
Get maximum length of theta value.
Definition at line 1328 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_theta_error | ( | ) | const |
Get maximum length of theta_error value.
Definition at line 1047 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_trans_frame | ( | ) | const |
Get maximum length of trans_frame value.
Definition at line 1139 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_x | ( | ) | const |
Get maximum length of x value.
Definition at line 1203 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_y | ( | ) | const |
Get maximum length of y value.
Definition at line 1235 of file KatanaInterface.cpp.
size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_z | ( | ) | const |
Get maximum length of z value.
Definition at line 1267 of file KatanaInterface.cpp.
float fawkes::KatanaInterface::LinearGotoMessage::offset_xy | ( | ) | const |
Get offset_xy value.
Offset to target. Distance in m (on the way to the target)
Definition at line 1068 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::phi | ( | ) | const |
Get phi value.
DEPRECATED! Euler angle Phi of tool orientation.
Definition at line 1288 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::phi.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::psi | ( | ) | const |
Get psi value.
DEPRECATED! Euler angle Psi of tool orientation.
Definition at line 1348 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::psi.
Referenced by KatanaActThread::loop().
char * fawkes::KatanaInterface::LinearGotoMessage::rot_frame | ( | ) | const |
Get rot_frame value.
tf frame-id of origin's coordinate system, regarding the rotation. In most cases, this is the robot's base coordinate system.
Definition at line 1161 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
void fawkes::KatanaInterface::LinearGotoMessage::set_offset_xy | ( | const float | new_offset_xy | ) |
Set offset_xy value.
Offset to target. Distance in m (on the way to the target)
new_offset_xy | new offset_xy value |
Definition at line 1088 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::LinearGotoMessage::set_phi | ( | const float | new_phi | ) |
Set phi value.
DEPRECATED! Euler angle Phi of tool orientation.
new_phi | new phi value |
Definition at line 1308 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::phi.
void fawkes::KatanaInterface::LinearGotoMessage::set_psi | ( | const float | new_psi | ) |
Set psi value.
DEPRECATED! Euler angle Psi of tool orientation.
new_psi | new psi value |
Definition at line 1368 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::psi.
void fawkes::KatanaInterface::LinearGotoMessage::set_rot_frame | ( | const char * | new_rot_frame | ) |
Set rot_frame value.
tf frame-id of origin's coordinate system, regarding the rotation. In most cases, this is the robot's base coordinate system.
new_rot_frame | new rot_frame value |
Definition at line 1182 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::LinearGotoMessage::set_straight | ( | const bool | new_straight | ) |
Set straight value.
Move in a straight line?
new_straight | new straight value |
Definition at line 1118 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::LinearGotoMessage::set_theta | ( | const float | new_theta | ) |
Set theta value.
DEPRECATED! Euler angle Theta of tool orientation.
new_theta | new theta value |
Definition at line 1338 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::theta.
void fawkes::KatanaInterface::LinearGotoMessage::set_theta_error | ( | const float | new_theta_error | ) |
Set theta_error value.
Error range of theta rotation, gives more flexibility for IK-solution searching.
new_theta_error | new theta_error value |
Definition at line 1058 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::LinearGotoMessage::set_trans_frame | ( | const char * | new_trans_frame | ) |
Set trans_frame value.
tf frame-id of origin's coordinate system, regarding the translation
new_trans_frame | new trans_frame value |
Definition at line 1150 of file KatanaInterface.cpp.
void fawkes::KatanaInterface::LinearGotoMessage::set_x | ( | const float | new_x | ) |
Set x value.
DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
new_x | new x value |
Definition at line 1214 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::x.
void fawkes::KatanaInterface::LinearGotoMessage::set_y | ( | const float | new_y | ) |
Set y value.
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
new_y | new y value |
Definition at line 1246 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::y.
void fawkes::KatanaInterface::LinearGotoMessage::set_z | ( | const float | new_z | ) |
Set z value.
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
new_z | new z value |
Definition at line 1278 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::z.
float fawkes::KatanaInterface::LinearGotoMessage::theta | ( | ) | const |
Get theta value.
DEPRECATED! Euler angle Theta of tool orientation.
Definition at line 1318 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::theta.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::theta_error | ( | ) | const |
Get theta_error value.
Error range of theta rotation, gives more flexibility for IK-solution searching.
Definition at line 1037 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
char * fawkes::KatanaInterface::LinearGotoMessage::trans_frame | ( | ) | const |
Get trans_frame value.
tf frame-id of origin's coordinate system, regarding the translation
Definition at line 1129 of file KatanaInterface.cpp.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::x | ( | ) | const |
Get x value.
DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
Definition at line 1193 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::x.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::y | ( | ) | const |
Get y value.
DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
Definition at line 1225 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::y.
Referenced by KatanaActThread::loop().
float fawkes::KatanaInterface::LinearGotoMessage::z | ( | ) | const |
Get z value.
DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
Definition at line 1257 of file KatanaInterface.cpp.
References fawkes::KatanaInterface::KatanaInterface_data_t::z.
Referenced by KatanaActThread::loop().