hekateros::HekJointState Class Reference

Joint state class. More...

#include <hekJoint.h>

Public Member Functions
	HekJointState ()
	Default constructor.
	HekJointState (const HekJointState &src)
	Copy constructor.
	~HekJointState ()
	Destructor.
HekJointState	operator= (const HekJointState &rhs)
	Assignment operator. More...

Public Attributes
std::string	m_strName
	joint name
HekOpState	m_eOpState
	joint operational state
int	m_nMasterServoId
	master servo id
int	m_nSlaveServoId
	linked slave servo id (if any)
double	m_fPosition
	current joint position (radians)
double	m_fVelocity
	current joint velocity (% of max)
double	m_fEffort
	current joint effort (servo load)
int	m_nOdPos
	current master servo odometer pos (ticks)
int	m_nEncPos
	current master servo encoder pos (ticks)
int	m_nSpeed
	current master servo raw speed (unitless)
HekTriState	m_eOptSwitch [HekOptLimitMaxPerJoint]
	current state of optical switch(es)

Detailed Description

Joint state class.

This class encapsulates the current state of one joint.

Definition at line 287 of file hekJoint.h.

Member Function Documentation

HekJointState HekJointState::operator=

(

const HekJointState &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 259 of file hekJoint.cxx.

References m_eOpState, m_eOptSwitch, m_fEffort, m_fPosition, m_fVelocity, m_nEncPos, m_nMasterServoId, m_nOdPos, m_nSlaveServoId, m_nSpeed, and m_strName.

{
  m_strName         = rhs.m_strName;
  m_eOpState        = rhs.m_eOpState;
  m_nMasterServoId  = rhs.m_nMasterServoId;
  m_nSlaveServoId   = rhs.m_nSlaveServoId;
  m_fPosition       = rhs.m_fPosition;
  m_fVelocity       = rhs.m_fVelocity;
  m_fEffort         = rhs.m_fEffort;
  m_nOdPos          = rhs.m_nOdPos;
  m_nEncPos         = rhs.m_nEncPos;
  m_nSpeed          = rhs.m_nSpeed;

  for(int i=0; i<HekOptLimitMaxPerJoint; ++i)
  {
    m_eOptSwitch[i] = rhs.m_eOptSwitch[i];
  }

  return *this;
}

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

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