hekateros::HekJointTrajectoryFeedback Class Reference

Joint trajectory feedback class. More...

#include <hekTraj.h>

Public Member Functions
	HekJointTrajectoryFeedback ()
	Default constructor.
	HekJointTrajectoryFeedback (const HekJointTrajectoryFeedback &src)
	Copy constructor.
	~HekJointTrajectoryFeedback ()
	Destructor.
HekJointTrajectoryFeedback	operator= (const HekJointTrajectoryFeedback &rhs)
	Assignment operator. More...
uint_t	getTimeFromStart ()
	Get time from start of desired trajectory. More...
size_t	getNumPoints ()
	Get the number of joint points in trajectory. More...
HekJointTrajectoryPoint &	operator[] (const size_t i)
	Subscript operator to get reference to given trajectory. More...
void	clear ()
	Clear data.

Static Public Attributes
static const int	TRAJ_DESIRED = 0
	desired trajectory
static const int	TRAJ_ACTUAL = 1
	actual trajectory
static const int	TRAJ_NUMOF = 2
	number of trajectories

Protected Attributes
HekJointTrajectoryPoint	m_trajectory [TRAJ_NUMOF]

Detailed Description

Joint trajectory feedback class.

The feedback provides informaation about the last issued desired trajectory and the current trajectory.

Definition at line 313 of file hekTraj.h.

Member Function Documentation

size_t hekateros::HekJointTrajectoryFeedback::getNumPoints ( )

inline

Get the number of joint points in trajectory.

Returns

Number of points.

Definition at line 376 of file hekTraj.h.

    {
      return m_trajectory[TRAJ_DESIRED].getNumPoints();
    }

uint_t hekateros::HekJointTrajectoryFeedback::getTimeFromStart ( )

inline

Get time from start of desired trajectory.

Returns

Duration.

Definition at line 366 of file hekTraj.h.

    {
      return m_trajectory[TRAJ_DESIRED].getTimeFromStart();
    }

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

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 352 of file hekTraj.h.

    {
      for(int i = 0; i< TRAJ_NUMOF; ++i)
      {
        m_trajectory[i] = rhs.m_trajectory[i];
      }
      return *this;
    }

HekJointTrajectoryPoint& hekateros::HekJointTrajectoryFeedback::operator[] ( const size_t  i )

inline

Subscript operator to get reference to given trajectory.

Parameters

i	Trajectory point Index.

Returns

Trajectory.

Definition at line 388 of file hekTraj.h.

    {
      return i < TRAJ_NUMOF? m_trajectory[i]: m_trajectory[TRAJ_DESIRED];
    }

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

• include/Hekateros/hekTraj.h