hekateros::HekDescEE Class Reference

Hekateros end effector tool description class. More...

#include <hekDescEE.h>

Public Member Functions
	HekDescEE ()
virtual	~HekDescEE ()
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 end effector description's product id. More...
std::string	getProdName ()
	Get this end effector description's name. More...
std::string	getProdBrief ()
	Get this end effector description's brief. More...
std::string	getProdHwVer ()
	Get this end effector description's hardware version. More...
int	getProdSize ()
	Get this end effector description's size. More...
int	getDoF ()
	Get this end effector 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 end effector product name string given the product id. More...
static const char *	getProdBrief (int eProdId)
	Get the Hekateros end effector product one-line brief description string given the product id. More...
static int	getProdSize (int eProdId)
	Get the Hekateros end effector size given the product id. More...
static int	getDoF (int eProdId)
	Get the Hekateros end effector degrees of freedom given the product id. More...

Protected Attributes
int	m_eProdId
	end effector product id
std::string	m_strProdName
	product name
std::string	m_strProdBrief
	product brief
std::string	m_strProdHwVer
	product hardware version
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 end effector tool description class.

Definition at line 71 of file hekDescEE.h.

Constructor & Destructor Documentation

HekDescEE::HekDescEE

(

)

Default constructor.

Definition at line 69 of file hekDescEE.cxx.

References hekateros::strToVersion().

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

virtual hekateros::HekDescEE::~HekDescEE ( )

inlinevirtual

Destructor.

Definition at line 83 of file hekDescEE.h.

References hekateros::HekProdSizeUnknown, and resetDesc().

    {
    }

Member Function Documentation

int hekateros::HekDescEE::getDoF ( )

inline

Get this end effector description's degrees of freedom.

Returns

Returns DoF.

Definition at line 180 of file hekDescEE.h.

References m_nDoF.

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

    {
      return m_nDoF;
    }

int HekDescEE::getDoF ( int  eProdId )

static

Get the Hekateros end effector degrees of freedom given the product id.

Parameters

eProdId

Supported product id. See HekEEProdId.

Returns

Returns the degrees of freedom.

Definition at line 148 of file hekDescEE.cxx.

{
  switch( eProdId )
  {
    case HekProdEEFixedId:
      return 0;
    case HekProdEEGraboidId:
      return 1;
    default:
      return 0;
  }
}

int hekateros::HekDescEE::getNumServos ( )

inline

Get the number of expected and required servos.

Returns

Returns number of servos.

Definition at line 190 of file hekDescEE.h.

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

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

    {
      return m_spec.getNumServos();
    }

std::string hekateros::HekDescEE::getProdBrief ( )

inline

Get this end effector description's brief.

Returns

Returns string.

Definition at line 150 of file hekDescEE.h.

References m_strProdBrief.

Referenced by hasServo().

    {
      return m_strProdBrief;
    }

const char * HekDescEE::getProdBrief ( int  eProdId )

static

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

Parameters

eProdId

Supported product id. See HekEEProdId.

Returns

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

Definition at line 123 of file hekDescEE.cxx.

{
  switch( eProdId )
  {
    case HekProdEEFixedId:
      return "Fixed end effector";
    case HekProdEEGraboidId:
      return "RoadNarrows Graboid 1DOF simple end effector";
    default:
      return "";
  }
}

std::string hekateros::HekDescEE::getProdHwVer ( )

inline

Get this end effector description's hardware version.

Returns

Returns string.

Definition at line 160 of file hekDescEE.h.

References m_strProdHwVer.

    {
      return m_strProdHwVer;
    }

int hekateros::HekDescEE::getProdId ( )

inline

Get this end effector description's product id.

Returns

Returns product id. See HekEEProdId.

Definition at line 130 of file hekDescEE.h.

References m_eProdId.

Referenced by hekateros::HekDesc::hasEndEffector(), and hekateros::HekDesc::isDescribed().

    {
      return m_eProdId;
    }

std::string hekateros::HekDescEE::getProdName ( )

inline

Get this end effector description's name.

Returns

Returns string.

Definition at line 140 of file hekDescEE.h.

References m_strProdName.

Referenced by hasServo().

    {
      return m_strProdName;
    }

const char * HekDescEE::getProdName ( int  eProdId )

static

Get the Hekateros end effector product name string given the product id.

Parameters

eProdId

Supported product id. See HekEEProdId.

Returns

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

Definition at line 110 of file hekDescEE.cxx.

{
  switch( eProdId )
  {
    case HekProdEEFixedId:
      return "Fixed";
    case HekProdEEGraboidId:
      return "Graboid";
    default:
      return "";
  }
}

int hekateros::HekDescEE::getProdSize ( )

inline

Get this end effector description's size.

Returns

Returns product size. See HekProdSize.

Definition at line 170 of file hekDescEE.h.

References m_eProdSize.

Referenced by hasServo().

    {
      return m_eProdSize;
    }

int HekDescEE::getProdSize ( int  eProdId )

static

Get the Hekateros end effector size given the product id.

Parameters

eProdId

Supported product id. See HekEEProdId.

Returns

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

Definition at line 136 of file hekDescEE.cxx.

{
  switch( eProdId )
  {
    case HekProdEEFixedId:
    case HekProdEEGraboidId:
      return HekProdSizeStd;
    default:
      return HekProdSizeUnknown;
  }
}

bool hekateros::HekDescEE::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 202 of file hekDescEE.h.

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

    {
      return m_spec.hasServo(nServoId);
    }

bool hekateros::HekDescEE::isDescribed ( )

inline

Test if required base description is adequately described.

Returns

Returns true or false.

Definition at line 120 of file hekDescEE.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/hekDescEE.h
• sw/libhekateros/hekDescEE.cxx