hekateros::HekRobotJoint Class Reference

Operational robotic joint description class. More...

#include <hekJoint.h>

Public Member Functions
	HekRobotJoint ()
	Default constructor.
	HekRobotJoint (const HekRobotJoint &src)
	Copy constructor.
	~HekRobotJoint ()
	Destructor.
HekRobotJoint	operator= (const HekRobotJoint &rhs)
	Assignment operator. More...
std::string	getJointName () const
	Get joint name. More...
int	getMasterServoId () const
	Get master servo id. More...
void	setStopAtLimitsState (bool bStopAtLimits)
	Set auto-stop at joint electronic limits state. More...
bool	doStopAtLimits () const
	Get auto-stop at joint electronic limits state. More...

Protected Attributes
std::string	m_strName
	joint name
int	m_nMasterServoId
	master servo id
int	m_nSlaveServoId
	linked slave servo id (if any)
bool	m_bIsServoContinuous
	servo should [not] be continuous mode
int	m_nMasterServoDir
	master servo normalized direction
int	m_eJointType
	joint type
double	m_fGearRatio
	joint gear ratio
double	m_fTicksPerServoRad
	encoder/odom. ticks per servo radian
double	m_fTicksPerJointRad
	encoder/odom. ticks per joint radian
double	m_fMaxServoRadsPerSec
	maximum servo radians per second
double	m_fMaxJointRadsPerSec
	maximum joint radians per second
double	m_fMinPhyLimitRads
	joint min physical limit (radians)
double	m_fMaxPhyLimitRads
	joint max physical limit (radians)
int	m_nMinPhyLimitOd
	joint min phys limit (odometer ticks)
int	m_nMaxPhyLimitOd
	joint max phys limit (odometer ticks)
double	m_fMinSoftLimitRads
	joint min soft limit (radians)
double	m_fMaxSoftLimitRads
	joint max soft limit (radians)
int	m_nMinSoftLimitOd
	joint min soft limit (odometer ticks)
int	m_nMaxSoftLimitOd
	joint max soft limit (odometer ticks)
double	m_fCalibPosRads
	joint calibrated position (radians)
double	m_fBalPosRads
	joint balanced position (radians)
double	m_fParkPosRads
	joint parked position (radians)
int	m_eLimitTypes
	joint limit types
double	m_fOverTorqueThDft
	joint over torque th default (norm).
byte_t	m_byOptLimitMask [HekOptLimitMaxPerJoint]
	optical limit mask array
HekOpState	m_eOpState
	current operational state
bool	m_bStopAtOptLimits
	do [not] stop at optical limits

Friends
class	HekRobot
class	HekKinJoint
class	HekKinJointWristRot
class	HekMonitor
class	HekCalibStretch
class	HekXmlTune

Detailed Description

Operational robotic joint description class.

This class contains all of the data necessary to control the operation of an Hekateros robotic joint.

Definition at line 80 of file hekJoint.h.

Member Function Documentation

bool hekateros::HekRobotJoint::doStopAtLimits ( ) const

inline

Get auto-stop at joint electronic limits state.

Returns

Returns true or false.

Definition at line 142 of file hekJoint.h.

References m_bStopAtOptLimits.

Referenced by hekateros::HekMonitor::monJointLimits().

    {
      return m_bStopAtOptLimits;
    }

std::string hekateros::HekRobotJoint::getJointName ( ) const

inline

Get joint name.

Returns

String.

Definition at line 112 of file hekJoint.h.

References m_strName.

Referenced by hekateros::HekKinematics::HekKinematics().

    {
      return m_strName;
    }

int hekateros::HekRobotJoint::getMasterServoId ( ) const

inline

Get master servo id.

Returns

Returns servo id.

Definition at line 122 of file hekJoint.h.

References m_nMasterServoId.

Referenced by hekateros::HekKinematics::HekKinematics().

    {
      return m_nMasterServoId;
    }

HekRobotJoint HekRobotJoint::operator=

(

const HekRobotJoint &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 169 of file hekJoint.cxx.

References m_bIsServoContinuous, m_bStopAtOptLimits, m_byOptLimitMask, m_eJointType, m_eLimitTypes, m_eOpState, m_fBalPosRads, m_fCalibPosRads, m_fGearRatio, m_fMaxJointRadsPerSec, m_fMaxPhyLimitRads, m_fMaxServoRadsPerSec, m_fMaxSoftLimitRads, m_fMinPhyLimitRads, m_fMinSoftLimitRads, m_fOverTorqueThDft, m_fParkPosRads, m_fTicksPerJointRad, m_fTicksPerServoRad, m_nMasterServoDir, m_nMasterServoId, m_nMaxPhyLimitOd, m_nMaxSoftLimitOd, m_nMinPhyLimitOd, m_nMinSoftLimitOd, m_nSlaveServoId, and m_strName.

Referenced by hekateros::HekJointState::~HekJointState().

{
  int     i;

  // (derived) specification
  m_strName             = rhs.m_strName;
  m_nMasterServoId      = rhs.m_nMasterServoId;
  m_nSlaveServoId       = rhs.m_nSlaveServoId;
  m_bIsServoContinuous  = rhs.m_bIsServoContinuous;
  m_nMasterServoDir     = rhs.m_nMasterServoDir;
  m_eJointType          = rhs.m_eJointType;
  m_fGearRatio          = rhs.m_fGearRatio;
  m_fTicksPerServoRad   = rhs.m_fTicksPerServoRad;
  m_fTicksPerJointRad   = rhs.m_fTicksPerJointRad;

  // discovered limits and positions
  m_fMaxServoRadsPerSec = rhs.m_fMaxServoRadsPerSec;
  m_fMaxJointRadsPerSec = rhs.m_fMaxJointRadsPerSec;

  m_fMinPhyLimitRads    = rhs.m_fMinPhyLimitRads;
  m_fMaxPhyLimitRads    = rhs.m_fMaxPhyLimitRads;
  m_nMinPhyLimitOd      = rhs.m_nMinPhyLimitOd;
  m_nMaxPhyLimitOd      = rhs.m_nMaxPhyLimitOd;

  m_fMinSoftLimitRads   = rhs.m_fMinSoftLimitRads;
  m_fMaxSoftLimitRads   = rhs.m_fMaxSoftLimitRads;
  m_nMinSoftLimitOd     = rhs.m_nMinSoftLimitOd;
  m_nMaxSoftLimitOd     = rhs.m_nMaxSoftLimitOd;

  m_fCalibPosRads       = rhs.m_fCalibPosRads;
  m_fBalPosRads         = rhs.m_fBalPosRads;
  m_fParkPosRads        = rhs.m_fParkPosRads;

  m_eLimitTypes         = rhs.m_eLimitTypes;
  m_fOverTorqueThDft    = rhs.m_fOverTorqueThDft;

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

  // state
  m_eOpState            = rhs.m_eOpState;
  m_bStopAtOptLimits    = rhs.m_bStopAtOptLimits;

  return *this;
}

void hekateros::HekRobotJoint::setStopAtLimitsState ( bool  bStopAtLimits )

inline

Set auto-stop at joint electronic limits state.

Parameters

bStopAtLimits

Do [not] auto-stop at limits.

Definition at line 132 of file hekJoint.h.

References m_bStopAtOptLimits.

    {
      m_bStopAtOptLimits = bStopAtLimits;
    }

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

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