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

LinearGotoMessage Fawkes BlackBoard Interface Message. More...

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Inheritance diagram for fawkes::KatanaInterface::LinearGotoMessage:

List of all members.

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 Messageclone () const
 Clone this message.

Detailed Description


Constructor & Destructor Documentation

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.

Parameters:
ini_theta_errorinitial value for theta_error
ini_offset_xyinitial value for offset_xy
ini_straightinitial value for straight
ini_trans_frameinitial value for trans_frame
ini_rot_frameinitial value for rot_frame
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 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 ( )

Destructor.

Definition at line 1013 of file KatanaInterface.cpp.

References fawkes::Interface::data_ptr.

fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage ( const LinearGotoMessage m)

Copy constructor.

Parameters:
mmessage 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.


Member Function Documentation

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.

Returns:
clone of this 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?

Returns:
straight value

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.

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

Definition at line 1078 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 1298 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 1358 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_rot_frame ( ) const

Get maximum length of rot_frame value.

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

Definition at line 1171 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_straight ( ) const

Get maximum length of straight value.

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

Definition at line 1108 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 1328 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_theta_error ( ) const

Get maximum length of theta_error value.

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

Definition at line 1047 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::maxlenof_trans_frame ( ) const

Get maximum length of trans_frame value.

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

Definition at line 1139 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 1203 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 1235 of file KatanaInterface.cpp.

size_t fawkes::KatanaInterface::LinearGotoMessage::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 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)

Returns:
offset_xy value

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.

Returns:
phi value

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.

Returns:
psi value

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.

Returns:
rot_frame value

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)

Parameters:
new_offset_xynew 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.

Parameters:
new_phinew 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.

Parameters:
new_psinew 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.

Parameters:
new_rot_framenew 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?

Parameters:
new_straightnew 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.

Parameters:
new_thetanew 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.

Parameters:
new_theta_errornew 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

Parameters:
new_trans_framenew 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.

Parameters:
new_xnew 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.

Parameters:
new_ynew 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.

Parameters:
new_znew 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.

Returns:
theta value

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.

Returns:
theta_error value

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

Returns:
trans_frame value

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.

Returns:
x value

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.

Returns:
y value

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.

Returns:
z value

Definition at line 1257 of file KatanaInterface.cpp.

References fawkes::KatanaInterface::KatanaInterface_data_t::z.

Referenced by KatanaActThread::loop().


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