hekateros::HekSpec Class Reference

Robotic specification. More...

#include <hekSpec.h>

Public Member Functions
	HekSpec ()
	Constructor.
	~HekSpec ()
	Destructor.
int	set (int eProdId, uint_t uHwVer)
	Set product fixed specification. More...
void	clear ()
	Clear product fixed specification.
int	getProdFamily ()
	Get specification's product family id. More...
int	getProdId ()
	Get specification's product id. More...
uint_t	getProdHwVer ()
	Get specification's product hardware version number. More...
int	getNumLinks ()
	Get specification's number of links. More...
int	getDoF ()
	Get specification's degrees of freedom. More...
int	getNumOpticalLimits ()
	Get specification's number of optical limits. More...
int	getNumServos ()
	Get specification's number of servos. More...
HekSpecLink_T *	getLinkSpecAt (int index)
	Get link spec at the given index. More...
HekSpecJoint_T *	getJointSpecAt (int index)
	Get joint spec at the given index. More...
HekSpecJoint_T *	getJointSpec (std::string &strName)
	Get joint spec associated joint name. More...
HekSpecJoint_T *	getJointSpec (int nServoId)
	Get joint spec associated with servo id. More...
HekSpecServo_T *	getServoSpecAt (int index)
	Get servo spec at the given index. More...
HekSpecServo_T *	getServoSpec (int nServoId)
	Get servo spec associated with servo id. More...
bool	hasServo (int nServoId)
	Test if servo id is in the servo specifications. More...

Protected Attributes
int	m_eProdFamily
	product family
int	m_eProdId
	product id
uint_t	m_uHwVer
	hardware version
int	m_nNumLinks
	number of links
int	m_nDoF
	degrees of freedom
int	m_nNumOptLimits
	number of optical limits
int	m_nNumServos
	number of servos
std::vector< HekSpecLink_T >	m_vecSpecLinks
	vector of link specs
std::vector< HekSpecJoint_T >	m_vecSpecJoints
	vector of joint specs
std::vector< HekSpecServo_T >	m_vecSpecServos
	vector of servo specs

Friends
class	HekDesc
class	HekRobot

Detailed Description

Robotic specification.

Definition at line 232 of file hekSpec.h.

Member Function Documentation

int hekateros::HekSpec::getDoF ( )

inline

Get specification's degrees of freedom.

Returns

Returns DoF.

Definition at line 303 of file hekSpec.h.

    {
      return m_nDoF;
    }

HekSpecJoint_T* hekateros::HekSpec::getJointSpec

(

std::string &

strName

)

Get joint spec associated joint name.

Parameters

strName

Joint name (primary key).

Returns

If found, returns pointer to spec. Otherwise returns NULL.

HekSpecJoint_T * HekSpec::getJointSpec

(

int

nServoId

)

Get joint spec associated with servo id.

Parameters

nServoId

Servo id (secondary key).

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 275 of file hekSpec.cxx.

{
  vector<HekSpecJoint_T>::iterator    iter;

  for(iter = m_vecSpecJoints.begin(); iter != m_vecSpecJoints.end(); ++iter)
  {
    if( iter->m_nMasterServoId == nServoId )
    {
      return &(*iter);
    }
  }

  return NULL;
}

HekSpecJoint_T* hekateros::HekSpec::getJointSpecAt ( int  index )

inline

Get joint spec at the given index.

Parameters

index

Joint index.

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 347 of file hekSpec.h.

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

    {
      return index < m_vecSpecJoints.size()? &m_vecSpecJoints.at(index): NULL;
    }

HekSpecLink_T* hekateros::HekSpec::getLinkSpecAt ( int  index )

inline

Get link spec at the given index.

Parameters

index

Link index.

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 335 of file hekSpec.h.

    {
      return index < m_vecSpecLinks.size()? &m_vecSpecLinks.at(index): NULL;
    }

int hekateros::HekSpec::getNumLinks ( )

inline

Get specification's number of links.

Returns

Returns number of links.

Definition at line 293 of file hekSpec.h.

    {
      return m_nNumLinks;
    }

int hekateros::HekSpec::getNumOpticalLimits ( )

inline

Get specification's number of optical limits.

Returns

Returns number of optical limits.

Definition at line 313 of file hekSpec.h.

    {
      return m_nNumOptLimits;
    }

int hekateros::HekSpec::getNumServos ( )

inline

Get specification's number of servos.

Returns

Returns number of servos.

Definition at line 323 of file hekSpec.h.

Referenced by hekateros::HekDescEE::getNumServos(), and hekateros::HekDescArm::getNumServos().

    {
      return m_nNumServos;
    }

int hekateros::HekSpec::getProdFamily ( )

inline

Get specification's product family id.

Returns

Returns family id.

Definition at line 263 of file hekSpec.h.

    {
      return m_eProdFamily;
    }

uint_t hekateros::HekSpec::getProdHwVer ( )

inline

Get specification's product hardware version number.

Returns

Returns version number.

Definition at line 283 of file hekSpec.h.

    {
      return m_uHwVer;
    }

int hekateros::HekSpec::getProdId ( )

inline

Get specification's product id.

Returns

Returns product id. See HekProdId.

Definition at line 273 of file hekSpec.h.

    {
      return m_eProdId;
    }

HekSpecServo_T * HekSpec::getServoSpec

(

int

nServoId

)

Get servo spec associated with servo id.

Parameters

nServoId

Servo id (key).

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 290 of file hekSpec.cxx.

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

{
  vector<HekSpecServo_T>::iterator    iter;

  for(iter = m_vecSpecServos.begin(); iter != m_vecSpecServos.end(); ++iter)
  {
    if( iter->m_nServoId == nServoId )
    {
      return &(*iter);
    }
  }

  return NULL;
}

HekSpecServo_T* hekateros::HekSpec::getServoSpecAt ( int  index )

inline

Get servo spec at the given index.

Parameters

index

Servo index.

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 377 of file hekSpec.h.

    {
      return index < m_vecSpecServos.size()? &m_vecSpecServos.at(index): NULL;
    }

bool HekSpec::hasServo

(

int

nServoId

)

Test if servo id is in the servo specifications.

Returns

Returns true or false.

Definition at line 305 of file hekSpec.cxx.

Referenced by hekateros::HekDescEE::hasServo(), and hekateros::HekDescArm::hasServo().

{
  vector<HekSpecServo_T>::iterator iter;

  for(iter = m_vecSpecServos.begin(); iter != m_vecSpecServos.end(); ++iter)
  {
    if( iter->m_nServoId == nServoId )
    {
      return true;
    }
  }
  return false;
}

int HekSpec::set	(	int	eProdId,
		uint_t	uHwVer
	)

Set product fixed specification.

Parameters

eProdId

Definition at line 81 of file hekSpec.cxx.

References HEK_ARM_FAMILY, HEK_VER_MAJOR, HEK_VER_MINOR, HEK_VER_REV, and HEK_VERSION.

{
  const HekSpecLink_T  *pSpecLinks;
  const HekSpecJoint_T *pSpecJoints;
  const HekSpecServo_T *pSpecServos;
  int                   i;

  clear();

  switch( eProdId )
  {
    //
    // Arms
    //
    case HekProdArm5LBetaId: // defunct
      break;
    case HekProdArm4SId:
      break;
    case HekProdArm4LId:
      m_eProdFamily   = HEK_ARM_FAMILY;
      m_nNumLinks     = HekProdArm4LNumLinks;
      m_nDoF          = HekProdArm4LDoF;
      m_nNumOptLimits = HekProdArm4LNumOptLimits;
      m_nNumServos    = HekProdArm4LNumServos;
      if( uHwVer < HEK_VERSION(1, 2, 0) )
      {
        pSpecLinks      = HekProdArm4LSpecLinks;
        pSpecJoints     = HekProdArm4LSpecJoints_1_1;
        pSpecServos     = HekProdArm4LSpecServos_1_1;
      }
      else
      {
        LOGWARN("Unsupported 4L v%u.%u.%u, defaulting to v1.1 specs.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
        pSpecLinks      = HekProdArm4LSpecLinks;
        pSpecJoints     = HekProdArm4LSpecJoints_1_1;
        pSpecServos     = HekProdArm4LSpecServos_1_1;
      }
      LOGDIAG3("Hekateros 4L v%u.%u.%u specification loaded.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
      break;
    case HekProdArm5SId:
      break;
    case HekProdArm5LId:
      m_eProdFamily   = HEK_ARM_FAMILY;
      m_nNumLinks     = HekProdArm5LNumLinks;
      m_nDoF          = HekProdArm5LDoF;
      m_nNumOptLimits = HekProdArm5LNumOptLimits;
      m_nNumServos    = HekProdArm5LNumServos;
      if( uHwVer < HEK_VERSION(1, 2, 0) )
      {
        pSpecLinks      = HekProdArm5LSpecLinks;
        pSpecJoints     = HekProdArm5LSpecJoints_1_1;
        pSpecServos     = HekProdArm5LSpecServos_1_1;
      }
      else if( uHwVer < HEK_VERSION(1, 3, 0) )
      {
        pSpecLinks      = HekProdArm5LSpecLinks;
        pSpecJoints     = HekProdArm5LSpecJoints_1_2;
        pSpecServos     = HekProdArm5LSpecServos_1_2;
      }
      else if( uHwVer < HEK_VERSION(1, 4, 0) )
      {
        if( uHwVer == HEK_VERSION(1, 3, 5) )   // special SIUE arm hybrid
        {
          pSpecLinks      = HekProdArm5LSpecLinks;
          pSpecJoints     = HekProdArm5LSpecJoints_1_3_5;
          pSpecServos     = HekProdArm5LSpecServos_1_3_5;
        }
        else
        {
          pSpecLinks      = HekProdArm5LSpecLinks;
          pSpecJoints     = HekProdArm5LSpecJoints_1_3;
          pSpecServos     = HekProdArm5LSpecServos_1_3;
        }
      }
      else if( uHwVer < HEK_VERSION(1, 5, 0) )
      {
        pSpecLinks      = HekProdArm5LSpecLinks;
        pSpecJoints     = HekProdArm5LSpecJoints_1_4;
        pSpecServos     = HekProdArm5LSpecServos_1_4;
      }
      else if( uHwVer < HEK_VERSION(2, 2, 0) )
      {
        pSpecLinks      = HekProdArm5LSpecLinks;
        pSpecJoints     = HekProdArm5LSpecJoints_2_0;
        pSpecServos     = HekProdArm5LSpecServos_2_0;
      }
      else
      {
        LOGWARN("Unsupported 5L v%u.%u.%u, defaulting to v1.3 specs.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
        pSpecLinks      = HekProdArm5LSpecLinks;
        pSpecJoints     = HekProdArm5LSpecJoints_1_3;
        pSpecServos     = HekProdArm5LSpecServos_1_3;
      }
      LOGDIAG3("Hekateros 5L v%u.%u.%u specification loaded.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
      break;

    //
    // End Effectors
    //
    case HekProdEEGraboidId:
      m_eProdFamily   = HekProdEEGraboidFamily;
      m_nNumLinks     = HekProdEEGraboidNumLinks;
      m_nDoF          = HekProdEEGraboidDoF;
      m_nNumOptLimits = HekProdEEGraboidNumOptLimits;
      m_nNumServos    = HekProdEEGraboidNumServos;
      if( uHwVer < HEK_VERSION(1, 1, 0) )
      {
        pSpecLinks      = HekProdEEGraboidSpecLinks;
        pSpecJoints     = HekProdEEGraboidSpecJoints_1_0;
        pSpecServos     = HekProdEEGraboidSpecServos_1_0;
      }
      else if( uHwVer < HEK_VERSION(1, 2, 0) )
      {
        pSpecLinks      = HekProdEEGraboidSpecLinks;
        pSpecJoints     = HekProdEEGraboidSpecJoints_1_1;
        pSpecServos     = HekProdEEGraboidSpecServos_1_1;
      }
      else
      {
        LOGWARN("Unsupported Graboid EE v%u.%u.%u, "
                "defaulting to v1.1 specs.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
        pSpecLinks      = HekProdEEGraboidSpecLinks;
        pSpecJoints     = HekProdEEGraboidSpecJoints_1_1;
        pSpecServos     = HekProdEEGraboidSpecServos_1_1;
      }
      LOGDIAG3("Graboid EE v%u.%u.%u specification loaded.",
          HEK_VER_MAJOR(uHwVer), HEK_VER_MINOR(uHwVer), HEK_VER_REV(uHwVer)); 
      break;

    // error
    default:
      LOGERROR("0x%08x: Unknown or unsupported product id.", eProdId);
      return -HEK_ECODE_BAD_VAL;
  }

  if( pSpecLinks != NULL )
  {
    for(i=0; i<m_nNumLinks; ++i)
    {
      m_vecSpecLinks.push_back(pSpecLinks[i]);
    }
  }

  if( pSpecJoints != NULL )
  {
    for(i=0; i<m_nDoF; ++i)
    {
      m_vecSpecJoints.push_back(pSpecJoints[i]);
    }
  }

  if( pSpecServos != NULL )
  {
    for(i=0; i<m_nNumServos; ++i)
    {
      m_vecSpecServos.push_back(pSpecServos[i]);
    }
  }

  m_eProdId     = eProdId;
  m_uHwVer      = uHwVer;

  return HEK_OK;
}

---

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

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