hekateros::HekJointStatePoint Class Reference

Joint state point class. More...

#include <hekJoint.h>

Public Member Functions
	HekJointStatePoint ()
	Default constructor.
	HekJointStatePoint (const HekJointStatePoint &src)
	Copy constructor.
	~HekJointStatePoint ()
	Destructor.
HekJointStatePoint	operator= (const HekJointStatePoint &rhs)
	Assignment operator. More...
std::string	getKinematicChainName ()
	Get the kinematic chain name. More...
void	setKinematicChainName (std::string strKinName)
	Set the kinematic chain name. More...
size_t	getNumPoints ()
	Get the number of joint states in joint state point. More...
bool	hasJoint (const std::string &strJointName)
	Test if joint is a member of the joint state. More...
void	append (const HekJointState &jointState)
	Append joint state to end of joint state point. More...
HekJointState &	operator[] (const size_t i)
	Subscript operator to get reference to joint point at the given index. More...
HekJointState &	operator[] (const std::string &strJointName)
	Key subscript operator to get reference to joint point at the given index. More...
void	clear ()
	Clear all state data.

Protected Attributes
std::string	m_strKinName
	name of kinematic chain
std::vector< HekJointState >	m_jointState
	vector of joint states

Detailed Description

Joint state point class.

This class encapsulates the current state of all joints in a kinematic chain.

A joint state point (J0, J1, ..., Jn-1) specifies the current dynamic state of a set of joints (kinematic chain) Ji, i=0,n-1.

Definition at line 344 of file hekJoint.h.

Member Function Documentation

void hekateros::HekJointStatePoint::append ( const HekJointState &  jointState )

inline

Append joint state to end of joint state point.

Parameters

jointState

Joint state to append.

Definition at line 429 of file hekJoint.h.

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

    {
      m_jointState.push_back(jointState);
    }

std::string hekateros::HekJointStatePoint::getKinematicChainName ( )

inline

Get the kinematic chain name.

Returns

String.

Definition at line 390 of file hekJoint.h.

    {
      return m_strKinName;
    }

size_t hekateros::HekJointStatePoint::getNumPoints ( )

inline

Get the number of joint states in joint state point.

Returns

Number of points.

Definition at line 410 of file hekJoint.h.

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

    {
      return m_jointState.size();
    }

bool HekJointStatePoint::hasJoint

(

const std::string &

strJointName

)

Test if joint is a member of the joint state.

Parameters

strJointName

Joint name.

Returns

Returns true or false.

Definition at line 287 of file hekJoint.cxx.

{
  vector<HekJointState>::iterator iter;

  for(iter = m_jointState.begin(); iter != m_jointState.end(); ++iter)
  {
    if( iter->m_strName == strJointName )
    {
      return true;
    }
  }
  return false;
}

HekJointStatePoint hekateros::HekJointStatePoint::operator= ( const HekJointStatePoint &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 377 of file hekJoint.h.

References m_jointState, and m_strKinName.

    {
      m_strKinName = rhs.m_strKinName;
      m_jointState = rhs.m_jointState;

      return *this;
    }

HekJointState& hekateros::HekJointStatePoint::operator[] ( const size_t  i )

inline

Subscript operator to get reference to joint point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

i

Index.

Returns

Joint state.

Definition at line 444 of file hekJoint.h.

    {
      return m_jointState[i];
    }

HekJointState& hekateros::HekJointStatePoint::operator[]

(

const std::string &

strJointName

)

Key subscript operator to get reference to joint point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

strJointName

Joint name.

Returns

Joint state.

void hekateros::HekJointStatePoint::setKinematicChainName ( std::string  strKinName )

inline

Set the kinematic chain name.

Parameters

String.

Definition at line 400 of file hekJoint.h.

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

    {
      m_strKinName = strKinName;
    }

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

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