The Hekateros namespace encapsulates all Hekateros related constructs. More...

Classes
class	HekCalib
	Hekateros robotic manipulator calibration abstract base class. More...

class	HekCalibStretch
	Hekateros robotic manipulator calibration by stretching class. More...

class	HekDesc
	Hekateros robotic manipulator full description class. More...

class	HekDescArm
	Hekateros robotic arm (manipulator) description class. More...

class	HekDescEE
	Hekateros end effector tool description class. More...

class	HekJointOptical
	Operational robotic joint optical limits class. More...

class	HekJointState
	Joint state class. More...

class	HekJointStatePoint
	Joint state point class. More...

class	HekJointTraj
	Joint trajectory class. More...

class	HekJointTrajectoryFeedback
	Joint trajectory feedback class. More...

class	HekJointTrajectoryPoint
	Joint trajectory point class. More...

class	HekKinematics

class	HekKinJoint
	Hekateros powered joint dynamics and kinematics control class. More...

class	HekKinJointWristRot
	Special wrist rotation joint kinematics and dynamics class. More...

class	HekMonitor
	*Hekateros* power, joint limits, and alarm monitoring class. More...

struct	HekOpticalLimit_T
	Optical limit switch. More...

class	HekPid

class	HekRobot
	Hekateros robotic manipulator plus accesories class. More...

class	HekRobotJoint
	Operational robotic joint description class. More...

class	HekRobotState
	Robot overall state. More...

class	HekServoHealth
	Robot servo health. More...

class	HekSpec
	Robotic specification. More...

struct	HekSpecJoint_T
	Robotic joint specification. More...

struct	HekSpecLink_T
	Robotic link specification. More...

struct	HekSpecServo_T
	Robotic servo specification. More...

class	HekSysBoard

class	HekTunes
	Hekateros tuning data class. More...

class	HekTunesJoint
	Hekateros tuning per joint data class. More...

class	HekUno

class	HekXmlCfg
	HekXmlCfg *Hekateros* XML configuration class. More...

class	HekXmlTune
	HekXmlTune *Hekateros* XML tuning class. More...

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

class	VelSpeedLookupTbl
	Joint velocity/ servo speed lookup table class. More...

class	VelSpeedTuple
	Joint velocity to servo speed tuple class. More...

Functions
static byte_t	getDarkOpticalLimits (byte_t byBits, byte_t byMask)
	Test if any of the optical limits have been triggered (occluded). More...

static byte_t	getLitOpticalLimits (byte_t byBits, byte_t byMask)
	Test if any of the optical limits are lit (not occluded). More...

uint_t	strToVersion (const std::string &str)
	Convert version dotted string to integer equivalent. More...

const char *	getStrError (const int ecode)
	Get the error string describing the *Hekateros* error code. More...

const char *	boolstr (bool b)
	Boolean to string. More...

double	degToRad (double d)
	Convert degrees to radians. More...

double	radToDeg (double r)
	Convert radians to degrees. More...

int	iabs (int a)
	Integer absolute value. More...

double	fcap (double a, double min, double max)
	Cap value within limits [min, max]. More...

int	cap (int a, int min, int max)
	Cap value within limits [min, max]. More...

double	signof (double a)
	Sign of a. More...

int	signof (int a)
	Sign of a. More...

bool	operator< (const struct timeval &lhs, const struct timeval &rhs)
	Compare operator to test if left hand side time is earlier than the right hand side time. More...

bool	operator== (const struct timeval &lhs, const struct timeval &rhs)
	Compare operator to test if left hand side time equals the right hand side time. More...

bool	operator> (const struct timeval &lhs, const struct timeval &rhs)
	Compare operator to test if left hand side time is later than the right hand side time. More...

struct timeval	operator+ (const struct timeval &op1, const struct timeval &op2)
	Addition operator. More...

struct timeval	operator- (const struct timeval &op1, const struct timeval &op2)
	Subtraction operator. More...

long	dt_usec (struct timeval &t1, struct timeval &t0)
	Calculate delta time in microseconds. More...

double	dt (struct timeval &t1, struct timeval &t0)
	Calculate delta time. More...

bool	operator< (const struct timespec &lhs, const struct timespec &rhs)
	Compare operator to test if left hand side time is earlier than the right hand side time. More...

bool	operator== (const struct timespec &lhs, const struct timespec &rhs)
	Compare operator to test if left hand side time equals the right hand side time. More...

bool	operator> (const struct timespec &lhs, const struct timespec &rhs)
	Compare operator to test if left hand side time is later than the right hand side time. More...

struct timespec	operator+ (const struct timespec &op1, const struct timespec &op2)
	Addition operator. More...

struct timespec	operator- (const struct timespec &op1, const struct timespec &op2)
	Subtraction operator. More...

long long	dt_nsec (struct timespec &t1, struct timespec &t0)
	Calculate delta time in nanoseconds. More...

double	dt (struct timespec &t1, struct timespec &t0)
	Calculate delta time. More...

std::string	getRealDeviceName (const std::string &strDevName)
	Get real device name. More...

std::vector< std::string > &	split (const std::string &s, char delim, std::vector< std::string > &elems)
	Split string at the delimiter character. More...

std::vector< std::string >	split (const std::string &s, char delim)
	Split string at the delimiter character. More...

Detailed Description

The Hekateros namespace encapsulates all Hekateros related constructs.

Function Documentation

const char* hekateros::boolstr ( bool b )

inline

Boolean to string.

Parameters

b	Boolean value.

Returns: Pointer to null-terminated constant character string.

Definition at line 108 of file hekUtils.h.

Referenced by hekateros::HekKinJoint::resetServoOdometer().

   {
     return b? "true": "false";
   }

int hekateros::cap	(	int	a,
		int	min,
		int	max
	)

inline

Cap value within limits [min, max].

Parameters

a	Value.
min	Minimum.
max	Maximum.

Returns: a: min ≤ a ≤ max

Definition at line 177 of file hekUtils.h.

Referenced by hekateros::HekKinJoint::addServoMsgEntries(), hekateros::HekKinJoint::estimateServoTgtSpeedSimple(), hekateros::VelSpeedLookupTbl::hash(), and hekateros::HekKinJoint::moveServo().

   {
     return a<min? min: a>max? max: a;
   }

double hekateros::degToRad ( double d )

inline

Convert degrees to radians.

Parameters

d Degrees.

Returns: Radians.

Definition at line 125 of file hekUtils.h.

References M_TAU.

Referenced by hekateros::HekMonitor::addJointLimitsToMonitor(), hekateros::HekRobot::addRobotJoint(), hekateros::HekCalibStretch::calibByLimitsFinal(), hekateros::HekCalibStretch::calibrateJointByLimits(), hekateros::HekCalibStretch::calibrateJointByTorqueLimits(), hekateros::HekCalibStretch::calibrateJointTopDeadCenter(), hekateros::HekRobot::closeGripper(), hekateros::HekCalibStretch::fineTuneLimit(), hekateros::HekCalibStretch::fineTuneTDC(), hekateros::HekTunes::getPidMaxDeltaV(), hekateros::HekTunes::getToleranceParams(), hekateros::HekRobot::gotoBalancedPos(), hekateros::HekRobot::gotoParkedPos(), hekateros::HekRobot::gotoZeroPtPos(), hekateros::HekKinJoint::HekKinJoint(), hekateros::HekTunes::HekTunes(), hekateros::HekTunesJoint::HekTunesJoint(), hekateros::HekMonitor::monJointLimits(), hekateros::HekRobot::openGripper(), hekateros::HekXmlTune::setGlobalTrajTunes(), hekateros::HekXmlTune::setJointPidTunes(), hekateros::HekXmlTune::setJointTunes(), and testHekRobot().

   {
     return d / 360.0 * M_TAU;
   }

double hekateros::dt	(	struct timeval &	t1,
		struct timeval &	t0
	)

Calculate delta time.

t1 - t0

Parameters

t1	Time 1.
t0	Time 0.

Returns: Returns dt as a double. May be negative.

Referenced by hekateros::HekKinJoint::delta_t(), and signof().

double hekateros::dt	(	struct timespec &	t1,
		struct timespec &	t0
	)

Calculate delta time.

t1 - t0

Parameters

t1	Time 1.
t0	Time 0.

Returns: Returns dt as a double. May be negative.

long long hekateros::dt_nsec	(	struct timespec &	t1,
		struct timespec &	t0
	)

Calculate delta time in nanoseconds.

t1 - t0, t1 ≥ t0

Parameters

t1	Later time.
t0	Earlier time.

Returns: Returns dt in nanoseconds.

Referenced by signof().

long hekateros::dt_usec	(	struct timeval &	t1,
		struct timeval &	t0
	)

Calculate delta time in microseconds.

t1 - t0, t1 ≥ t0

Parameters

t1	Later time.
t0	Earlier time.

Returns: Returns dt in microseconds.

Referenced by signof().

double hekateros::fcap	(	double	a,
		double	min,
		double	max
	)

inline

Cap value within limits [min, max].

Parameters

a	Value.
min	Minimum.
max	Maximum.

Returns: a: min ≤ a ≤ max

Definition at line 163 of file hekUtils.h.

Referenced by hekateros::HekRobot::addRobotJoint(), hekateros::HekKinematics::setHz(), and hekateros::HekPid::toOutput().

   {
     return a<min? min: a>max? max: a;
   }

std::string hekateros::getRealDeviceName ( const std::string & strDevName )

Get real device name.

If the given device name is a symbolic link, then the real device the link references is returned. Otherwise the given device name is returned.

Parameters

strDevName Given device name.

Returns: String.

Referenced by hekateros::HekRobot::connect(), and signof().

const char* hekateros::getStrError ( const int ecode )

Get the error string describing the Hekateros error code.

The absolute value of the error code is taken prior retrieving the string. An unknown or out-of-range error code will be mapped to HEK_ECODE_BADEC.

Parameters

ecode Instance of Hekateros Error Codes.

Returns: Returns the appropriate error code string.

int hekateros::iabs ( int a )

inline

Integer absolute value.

Parameters

a	Integer value.

Returns: |a|

Definition at line 149 of file hekUtils.h.

Referenced by hekateros::HekKinJoint::addServoMsgEntries(), hekateros::HekKinJoint::dejitterServoPos(), hekateros::HekRobot::getRobotState(), hekateros::HekRobot::isInMotion(), hekateros::HekKinJoint::moveServo(), hekateros::HekKinJoint::senseDynamics(), and hekateros::VelSpeedLookupTbl::update().

   {
     return a>=0? a: -a;
   }

struct timeval hekateros::operator+	(	const struct timeval &	op1,
		const struct timeval &	op2
	)

Addition operator.

op1 + op2

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Sum of times.

struct timespec hekateros::operator+	(	const struct timespec &	op1,
		const struct timespec &	op2
	)

Addition operator.

op1 + op2

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Sum of times.

struct timeval hekateros::operator-	(	const struct timeval &	op1,
		const struct timeval &	op2
	)

Subtraction operator.

op1 - op2, op1 ≥ op2.

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Difference of times.

struct timespec hekateros::operator-	(	const struct timespec &	op1,
		const struct timespec &	op2
	)

Subtraction operator.

op1 - op2, op1 ≥ op2.

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Difference of times.

bool hekateros::operator<	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

Compare operator to test if left hand side time is earlier than the right hand side time.

lhs < rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

Referenced by signof().

bool hekateros::operator<	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Compare operator to test if left hand side time is earlier than the right hand side time.

lhs < rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

bool hekateros::operator==	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

Compare operator to test if left hand side time equals the right hand side time.

lhs == rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

Referenced by signof().

bool hekateros::operator==	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Compare operator to test if left hand side time equals the right hand side time.

lhs == rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

bool hekateros::operator>	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

Compare operator to test if left hand side time is later than the right hand side time.

lhs > rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

Referenced by signof().

bool hekateros::operator>	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Compare operator to test if left hand side time is later than the right hand side time.

lhs > rhs

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

double hekateros::radToDeg ( double r )

inline

Convert radians to degrees.

Parameters

r Radians.

Returns: Degrees.

Definition at line 137 of file hekUtils.h.

References M_TAU.

   {
     return r / M_TAU * 360.0;
   }

double hekateros::signof ( double a )

inline

Sign of a.

Returns: Return 1.0 or -1.0.

Definition at line 187 of file hekUtils.h.

Referenced by hekateros::HekKinJoint::estimateServoTgtSpeed().

   {
     return a<0? -1.0: 1.0;
   }

int hekateros::signof ( int a )

inline

Sign of a.

Returns: Return 1 or -1.

Definition at line 197 of file hekUtils.h.

References dt(), dt_nsec(), dt_usec(), getRealDeviceName(), operator<(), operator==(), operator>(), and split().

   {
     return a<0? -1: 1;
   }

std::vector<std::string>& hekateros::split	(	const std::string &	s,
		char	delim,
		std::vector< std::string > &	elems
	)

Split string at the delimiter character.

Parameters

	s	String to split.
	delem	Delimiter character.
[out]	elems	Vector of split strings.

Returns: Reference to vector of split strings.

Referenced by hekateros::HekXmlCfg::load(), hekateros::HekXmlTune::load(), and signof().

std::vector<std::string> hekateros::split	(	const std::string &	s,
		char	delim
	)

Split string at the delimiter character.

Parameters

s	String to split.
delem	Delimiter character.

Returns: Vector of split strings.

uint_t hekateros::strToVersion ( const std::string & str )

Convert version dotted string to integer equivalent.

Parameters

str	Dotted version string "M[.m[.R]]".

Returns: Version number.

Referenced by hekateros::HekRobot::getVersion(), hekateros::HekRobot::getVersionNum(), hekateros::HekDescArm::HekDescArm(), and hekateros::HekDescEE::HekDescEE().

Classes

Functions

Detailed Description

Function Documentation