hekateros::HekJointTraj Class Reference

Joint trajectory class. More...

#include <hekTraj.h>

Public Member Functions
	HekJointTraj ()
	Default constructor.
	HekJointTraj (const std::string &strName, const double fPosition, const double fVelocity, const double fAcceleration)
	Initialization constructor. More...
	HekJointTraj (const HekJointTraj &src)
	Copy constructor. More...
	~HekJointTraj ()
	Destructor.
HekJointTraj	operator= (const HekJointTraj &rhs)
	Assignment operator. More...
void	get (std::string &strName, double &fPosition, double &fVelocity, double &fAcceleration)
	Get joint point data. More...

Protected Attributes
std::string	m_strName
	joint name
double	m_fPosition
	joint position (radians)
double	m_fVelocity
	joint velocity (% of maximum)
double	m_fAcceleration
	joint acceleration (not used)

Detailed Description

Joint trajectory class.

A joint trajectory specifies the goal or current position, velocity, and accelleration of one joint.

Definition at line 73 of file hekTraj.h.

Constructor & Destructor Documentation

hekateros::HekJointTraj::HekJointTraj ( const std::string &  strName, const double  fPosition, const double  fVelocity, const double  fAcceleration  )

inline

Initialization constructor.

Parameters

strName	Joint name.
fPosition	Joint position.
fVelocity	Joint velocity.
fAcceleration	Joint acceleration.

Definition at line 94 of file hekTraj.h.

References m_fAcceleration, m_fPosition, m_fVelocity, and m_strName.

    {
      m_strName       = strName;
      m_fPosition     = fPosition;
      m_fVelocity     = fVelocity;
      m_fAcceleration = fAcceleration;
    }

hekateros::HekJointTraj::HekJointTraj ( const HekJointTraj &  src )

inline

Copy constructor.

Parameters

src	Source object.

Definition at line 110 of file hekTraj.h.

References m_fAcceleration, m_fPosition, m_fVelocity, and m_strName.

    {
      m_strName       = src.m_strName;
      m_fPosition     = src.m_fPosition;
      m_fVelocity     = src.m_fVelocity;
      m_fAcceleration = src.m_fAcceleration;
    }

Member Function Documentation

void hekateros::HekJointTraj::get ( std::string &  strName, double &  fPosition, double &  fVelocity, double &  fAcceleration  )

inline

Get joint point data.

Parameters

[out]	strName	Joint name.
[out]	fPosition	Joint position.
[out]	fVelocity	Joint velocity.
[out]	fAcceleration	Joint acceleration.

Definition at line 150 of file hekTraj.h.

References m_fAcceleration, m_fPosition, m_fVelocity, and m_strName.

    {
      strName       = m_strName;
      fPosition     = m_fPosition;
      fVelocity     = m_fVelocity;
      fAcceleration = m_fAcceleration;
    }

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

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 132 of file hekTraj.h.

References m_fAcceleration, m_fPosition, m_fVelocity, and m_strName.

    {
      m_strName       = rhs.m_strName;
      m_fPosition     = rhs.m_fPosition;
      m_fVelocity     = rhs.m_fVelocity;
      m_fAcceleration = rhs.m_fAcceleration;

      return *this;
    }

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

• include/Hekateros/hekTraj.h