hekateros::SyncMoveMsgs Class Reference

Container class to hold Dynamixel synchronous messages data. More...

#include <hekKinJoint.h>

Public Member Functions
	SyncMoveMsgs ()
	Default constructor.
virtual	~SyncMoveMsgs ()
	Destructor.
void	clear ()
	Clear sync messages.
int	addSpeed (int nServoId, int nServoSpeed)
	Add servo speed to speed tuple array. More...
int	addOdPos (int nServoId, int nServoPos)
	Add servo position to position tuple array. More...
uint_t	getSpeedTupleCount ()
	Get the number of added speed tuples to speed tuple array. More...
DynaSpeedTuple_T *	getSpeedTuples ()
	Get the speed tuple array. More...
uint_t	getOdPosTupleCount ()
	Get the number of added position tuples to position tuple array. More...
DynaPosTuple_T *	getOdPosTuples ()
	Get the position tuple array. More...

Protected Attributes
DynaSpeedTuple_T	m_tupSpeed [DYNA_ID_NUMOF]
	speed tuple array
uint_t	m_uSpeedTupCount
	speed tuple count
DynaPosTuple_T	m_tupOdPos [DYNA_ID_NUMOF]
	position tuple array
uint_t	m_uOdPosTupCount
	positon tuple count

Detailed Description

Container class to hold Dynamixel synchronous messages data.

Definition at line 93 of file hekKinJoint.h.

Member Function Documentation

int SyncMoveMsgs::addOdPos	(	int	nServoId,
		int	nServoPos
	)

Add servo position to position tuple array.

Parameters

nServoId	Servo id.
nServoPos	Servo position (odometer ticks).

Returns

On success, returns index of added tuple of position tuple array. On failures, -1.

Definition at line 125 of file hekKinJoint.cxx.

Referenced by hekateros::HekKinJoint::addServoMsgEntries(), and ~SyncMoveMsgs().

{
  int   index;

  if( m_uOdPosTupCount < DYNA_ID_NONE )
  {
    index = (int)m_uOdPosTupCount++;
    m_tupOdPos[index].m_nServoId  = nServoId;
    m_tupOdPos[index].m_nPos      = nServoPos;
  }
  else
  {
    index = -1;
  }

  return index;
}

int SyncMoveMsgs::addSpeed	(	int	nServoId,
		int	nServoSpeed
	)

Add servo speed to speed tuple array.

Parameters

nServoId	Servo id.
nServoSpeed	Servo speed (raw unitless).

Returns

On success, returns index of added tuple of speed tuple array. On failures, -1.

Definition at line 107 of file hekKinJoint.cxx.

Referenced by hekateros::HekKinJoint::addServoMsgEntries(), and ~SyncMoveMsgs().

{
  int   index;

  if( m_uSpeedTupCount < DYNA_ID_NONE )
  {
    index = (int)m_uSpeedTupCount++;
    m_tupSpeed[index].m_nServoId  = nServoId;
    m_tupSpeed[index].m_nSpeed    = nServoSpeed;
  }
  else
  {
    index = -1;
  }

  return index;
}

uint_t hekateros::SyncMoveMsgs::getOdPosTupleCount ( )

inline

Get the number of added position tuples to position tuple array.

Returns

Count.

Definition at line 162 of file hekKinJoint.h.

References m_uOdPosTupCount.

    {
      return m_uOdPosTupCount;
    }

DynaPosTuple_T* hekateros::SyncMoveMsgs::getOdPosTuples ( )

inline

Get the position tuple array.

Returns

Pointer.

Definition at line 172 of file hekKinJoint.h.

References m_tupOdPos.

    {
      return m_tupOdPos;
    }

uint_t hekateros::SyncMoveMsgs::getSpeedTupleCount ( )

inline

Get the number of added speed tuples to speed tuple array.

Returns

Count.

Definition at line 142 of file hekKinJoint.h.

References m_uSpeedTupCount.

    {
      return m_uSpeedTupCount;
    }

DynaSpeedTuple_T* hekateros::SyncMoveMsgs::getSpeedTuples ( )

inline

Get the speed tuple array.

Returns

Pointer.

Definition at line 152 of file hekKinJoint.h.

References m_tupSpeed.

    {
      return m_tupSpeed;
    }

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

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