hekateros::HekDescArm Class Reference

Hekateros robotic arm (manipulator) description class. More...

#include <hekDescArm.h>

Public Member Functions
	HekDescArm ()
	~HekDescArm ()
void	setDesc (int eProdId, const std::string &strProdName="", const std::string &strProdBrief="", const std::string &strHwVer="1.0.0", int nDoF=0, int eProdSize=HekProdSizeUnknown)
void	resetDesc ()
	Reset base description to the "unitialized" values.
bool	isDescribed ()
	Test if required base description is adequately described. More...
int	getProdId ()
	Get this base description's base product id. More...
std::string	getProdName ()
	Get this base description's name. More...
std::string	getProdBrief ()
	Get this base description's brief. More...
std::string	getProdHwVer ()
	Get this base description's hardware version. More...
int	getProdSize ()
	Get this base description's size. More...
int	getDoF ()
	Get this base description's 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...

Static Public Member Functions
static const char *	getProdName (int eProdId)
	Get the Hekateros product name string given the product id. More...
static const char *	getProdBrief (int eProdId)
	Get the Hekateros product one-line brief description string given the product id. More...
static int	getProdSize (int eProdId)
	Get the Hekateros base size given the product id. More...
static int	getDoF (int eProdId)
	Get the Hekateros base degrees of freedom given the product id. More...

Protected Attributes
int	m_eProdId
	base product id
std::string	m_strProdName
	product name
std::string	m_strProdBrief
	product brief
std::string	m_strProdHwVer
	product hardware version string
uint_t	m_uProdHwVer
	product hardware version number
int	m_eProdSize
	product size code
int	m_nDoF
	degrees of freedom
HekSpec	m_spec
	fixed specification

Friends
class	HekDesc
class	HekRobot

Detailed Description

Hekateros robotic arm (manipulator) description class.

Definition at line 77 of file hekDescArm.h.

Constructor & Destructor Documentation

HekDescArm::HekDescArm

(

)

Default constructor.

Definition at line 70 of file hekDescArm.cxx.

References hekateros::strToVersion().

{
  m_eProdId     = HekProdIdUnknown;
  m_eProdSize   = HekProdSizeUnknown; 
  m_uProdHwVer  = 0;
  m_nDoF        = 0;
}

hekateros::HekDescArm::~HekDescArm ( )

inline

Destructor.

Definition at line 89 of file hekDescArm.h.

References hekateros::HekProdSizeUnknown, and resetDesc().

    {
    }

Member Function Documentation

int hekateros::HekDescArm::getDoF ( )

inline

Get this base description's degrees of freedom.

Returns

Returns DoF.

Definition at line 185 of file hekDescArm.h.

References m_nDoF.

Referenced by hekateros::HekDesc::getDoF(), and hasServo().

    {
      return m_nDoF;
    }

int HekDescArm::getDoF ( int  eProdId )

static

Get the Hekateros base degrees of freedom given the product id.

Parameters

eProdId

Supported product id. See HekProdId.

Returns

Returns the degrees of freedom.

Definition at line 165 of file hekDescArm.cxx.

{
  switch( eProdId )
  {
    case HekProdArm4SId:
    case HekProdArm4LId:
      return 4;
    case HekProdArm5LBetaId:
    case HekProdArm5SId:
    case HekProdArm5LId:
      return 5;
    default:
      return 0;
  }
}

int hekateros::HekDescArm::getNumServos ( )

inline

Get the number of expected and required servos.

Returns

Returns number of servos.

Definition at line 195 of file hekDescArm.h.

References hekateros::HekSpec::getNumServos(), and m_spec.

Referenced by hekateros::HekDesc::getNumServos().

    {
      return m_spec.getNumServos();
    }

std::string hekateros::HekDescArm::getProdBrief ( )

inline

Get this base description's brief.

Returns

Returns string.

Definition at line 155 of file hekDescArm.h.

References m_strProdBrief.

Referenced by hasServo().

    {
      return m_strProdBrief;
    }

const char * HekDescArm::getProdBrief ( int  eProdId )

static

Get the Hekateros product one-line brief description string given the product id.

Parameters

eProdId

Supported product id. See HekProdId.

Returns

Returns product description string. An unidentified product id returns "".

Definition at line 130 of file hekDescArm.cxx.

{
  switch( eProdId )
  {
    case HekProdArm4SId:
      return "RoadNarrows Hekateros 4DOF short robotic manipulator";
    case HekProdArm4LId:
      return "RoadNarrows Hekateros 4DOF long robotic manipulator";
    case HekProdArm5SId:
      return "RoadNarrows Hekateros 5DOF short robotic manipulator";
    case HekProdArm5LBetaId:
      return "RoadNarrows Hekateros 5DOF long beta robotic manipulator";
    case HekProdArm5LId:
      return "RoadNarrows Hekateros 5DOF long robotic manipulator";
    default:
      return "";
  }
}

std::string hekateros::HekDescArm::getProdHwVer ( )

inline

Get this base description's hardware version.

Returns

Returns string.

Definition at line 165 of file hekDescArm.h.

References m_strProdHwVer.

Referenced by hekateros::HekRobot::getVersion(), and hekateros::HekRobot::getVersionNum().

    {
      return m_strProdHwVer;
    }

int hekateros::HekDescArm::getProdId ( )

inline

Get this base description's base product id.

Returns

Returns product id. See HekProdId.

Definition at line 135 of file hekDescArm.h.

References m_eProdId.

Referenced by hekateros::HekDesc::getProdId(), hekateros::HekRobot::getProdId(), and hekateros::HekDesc::isDescribed().

    {
      return m_eProdId;
    }

std::string hekateros::HekDescArm::getProdName ( )

inline

Get this base description's name.

Returns

Returns string.

Definition at line 145 of file hekDescArm.h.

References m_strProdName.

Referenced by hekateros::HekRobot::getProdName(), and hasServo().

    {
      return m_strProdName;
    }

const char * HekDescArm::getProdName ( int  eProdId )

static

Get the Hekateros product name string given the product id.

Parameters

eProdId

Supported product id. See HekProdId.

Returns

Returns product name string. An unidentified product id returns "".

Definition at line 111 of file hekDescArm.cxx.

{
  switch( eProdId )
  {
    case HekProdArm4SId:
      return "Hekateros-4S";
    case HekProdArm4LId:
      return "Hekateros-4L";
    case HekProdArm5SId:
      return "Hekateros-5S";
    case HekProdArm5LBetaId:
      return "Hekateros-5LBeta";
    case HekProdArm5LId:
      return "Hekateros-5L";
    default:
      return "";
  }
}

int hekateros::HekDescArm::getProdSize ( )

inline

Get this base description's size.

Returns

Returns product size. See HekProdSize.

Definition at line 175 of file hekDescArm.h.

References m_eProdSize.

Referenced by hasServo().

    {
      return m_eProdSize;
    }

int HekDescArm::getProdSize ( int  eProdId )

static

Get the Hekateros base size given the product id.

Parameters

eProdId

Supported product id. See HekProdId.

Returns

Returns product size value. An unidentified product id returns HekProdSizeUknown.

Definition at line 149 of file hekDescArm.cxx.

{
  switch( eProdId )
  {
    case HekProdArm4SId:
    case HekProdArm5SId:
      return HekProdSizeShort;
    case HekProdArm4LId:
    case HekProdArm5LBetaId:
    case HekProdArm5LId:
      return HekProdSizeLong;
    default:
      return HekProdSizeUnknown;
  }
}

bool hekateros::HekDescArm::hasServo ( int  nServoId )

inline

Test if servo id is in the list of servos.

Parameters

nServoId

Servo id.

Returns

Returns true or false.

Definition at line 207 of file hekDescArm.h.

References getDoF(), getProdBrief(), getProdName(), getProdSize(), hekateros::HekSpec::hasServo(), and m_spec.

    {
      return m_spec.hasServo(nServoId);
    }

bool hekateros::HekDescArm::isDescribed ( )

inline

Test if required base description is adequately described.

Returns

Returns true or false.

Definition at line 125 of file hekDescArm.h.

References hekateros::HekProdIdUnknown, and m_eProdId.

    {
      return (m_eProdId != HekProdIdUnknown)? true: false;
    }

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

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