hekateros::HekDesc Class Reference

Hekateros robotic manipulator full description class. More...

#include <hekDesc.h>

Public Member Functions
	HekDesc ()
	~HekDesc ()
void	setArmDesc (int eProdId, const std::string &strProdName="", const std::string &strProdBrief="", const std::string &strHwVer="1.0.0", int nDoF=0, int eProdSize=HekProdSizeUnknown)
void	setEEDesc (int eEEProdId, const std::string &strProdName="", const std::string &strProdBrief="", const std::string &strHwVer="1.0.0", int nDoF=0, int eProdSize=HekProdSizeUnknown)
void	resetDesc ()
	Reset Hekateros description to the "unitialized" values.
int	markAsDescribed ()
	Mark Hekateros hardware as fully described. More...
bool	isDescribed ()
	Test if required descriptions are described. More...
HekDescArm *	getArmDesc ()
	Get the Hekateros base product description. More...
HekDescEE *	getEEDesc ()
	Get the Hekateros end effector product description. More...
int	getProdId ()
	Convenience function to get this Hekateros description's base product id. More...
std::string	getFullProdBrief ()
	Get the Hekateros full brief descirption. More...
bool	hasEndEffector ()
	Check if this Hekateros description has an end effector description. More...
int	getDoF ()
	Get this Hekateros description's total degrees of freedom. More...
int	getNumServos ()
	Get the number of expected and required servos. More...
bool	hasServo (int nServoId)
	Test if servo id is in the list of servos. More...

Protected Attributes
bool	m_bIsDescribed
	Hekateros is [not] fully described
HekDescArm	m_descArm
	Hekateros robotic arm
HekDescEE	m_descEE
	Hekateros end effector tool
std::string	m_strFullBrief
	product with accessories full brief

Friends
class	HekRobot

Detailed Description

Hekateros robotic manipulator full description class.

The description is determined from the XML etc configuration file. From those description components, the compiled specifications are assigned.

Definition at line 75 of file hekDesc.h.

Constructor & Destructor Documentation

hekateros::HekDesc::HekDesc ( )

inline

Default constructor.

Definition at line 82 of file hekDesc.h.

    {
    }

hekateros::HekDesc::~HekDesc ( )

inline

Destructor.

Definition at line 89 of file hekDesc.h.

References hekateros::HekProdSizeUnknown, m_descArm, m_descEE, markAsDescribed(), and resetDesc().

    {
    }

Member Function Documentation

HekDescArm* hekateros::HekDesc::getArmDesc ( )

inline

Get the Hekateros base product description.

Returns

Returns pointer to robotic base description.

Definition at line 177 of file hekDesc.h.

References m_descArm.

Referenced by hekateros::HekRobot::getProdId(), hekateros::HekRobot::getProdName(), hekateros::HekRobot::getVersion(), hekateros::HekRobot::getVersionNum(), and hekateros::HekXmlCfg::setHekDescFromDOM().

    {
      return &m_descArm;
    }

int hekateros::HekDesc::getDoF ( )

inline

Get this Hekateros description's total degrees of freedom.

Returns

Returns DoF.

Definition at line 228 of file hekDesc.h.

References hekateros::HekDescEE::getDoF(), hekateros::HekDescArm::getDoF(), m_descArm, and m_descEE.

    {
      return m_descArm.getDoF() + m_descEE.getDoF();
    }

HekDescEE* hekateros::HekDesc::getEEDesc ( )

inline

Get the Hekateros end effector product description.

Returns

Returns pointer to end effector description.

Definition at line 187 of file hekDesc.h.

References m_descEE.

Referenced by hekateros::HekXmlCfg::setHekDescFromDOM().

    {
      return &m_descEE;
    }

std::string hekateros::HekDesc::getFullProdBrief ( )

inline

Get the Hekateros full brief descirption.

Returns

Returns string.

Definition at line 208 of file hekDesc.h.

References m_strFullBrief.

Referenced by hekateros::HekRobot::getFullProdBrief().

    {
      return m_strFullBrief;
    }

int hekateros::HekDesc::getNumServos ( )

inline

Get the number of expected and required servos.

Returns

Returns number of servos.

Definition at line 238 of file hekDesc.h.

References hekateros::HekDescEE::getNumServos(), hekateros::HekDescArm::getNumServos(), hasServo(), m_descArm, and m_descEE.

    {
      return m_descArm.getNumServos() + m_descEE.getNumServos();
    }

int hekateros::HekDesc::getProdId ( )

inline

Convenience function to get this Hekateros description's base product id.

Returns

Returns product id. See HekProdId.

Definition at line 198 of file hekDesc.h.

References hekateros::HekDescArm::getProdId(), and m_descArm.

    {
      return m_descArm.getProdId();
    }

bool hekateros::HekDesc::hasEndEffector ( )

inline

Check if this Hekateros description has an end effector description.

Returns

Returns true or false.

Definition at line 218 of file hekDesc.h.

References hekateros::HekDescEE::getProdId(), hekateros::HekProdIdUnknown, and m_descEE.

    {
      return m_descEE.getProdId() != HekProdIdUnknown? true: false;
    }

bool HekDesc::hasServo

(

int

nServoId

)

Test if servo id is in the list of servos.

Returns

Returns true or false.

Definition at line 97 of file hekDesc.cxx.

Referenced by getNumServos().

{
  if( m_descArm.hasServo(nServoId) )
  {
    return true;
  }
  else if( m_descEE.hasServo(nServoId) )
  {
  }
  else
  {
    return false;
  }
}

bool hekateros::HekDesc::isDescribed ( )

inline

Test if required descriptions are described.

Returns

Returns true or false.

Definition at line 165 of file hekDesc.h.

References hekateros::HekDescEE::getProdId(), hekateros::HekDescArm::getProdId(), hekateros::HekProdIdUnknown, m_bIsDescribed, m_descArm, and m_descEE.

Referenced by hekateros::HekRobot::isDescribed().

    {
      return  m_bIsDescribed &&
             (m_descArm.getProdId() != HekProdIdUnknown) &&
             (m_descEE.getProdId()  != HekProdIdUnknown)? true: false;
    }

int HekDesc::markAsDescribed

(

)

Mark Hekateros hardware as fully described.

The calling application context determines this state.

Returns

On success, HEK_OK is returned.
On error, the appropriate < 0 negated Hekateros Error Code is returned.

Definition at line 74 of file hekDesc.cxx.

Referenced by ~HekDesc().

{
  if( !m_descArm.isDescribed() )
  {
    LOGERROR("Hekateros base description is undefined.");
    return -HEK_ECODE_BAD_OP;
  }

  if( !m_descEE.isDescribed() )
  {
    LOGERROR("Hekateros end effector description is undefined.");
    return -HEK_ECODE_BAD_OP;
  }

  m_strFullBrief =  m_descArm.getProdBrief() +
                    " with " +
                    m_descEE.getProdBrief();

  m_bIsDescribed = true;

  return HEK_OK;
}

---

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

• include/Hekateros/hekDesc.h
• sw/libhekateros/hekDesc.cxx