kuon::KuonDesc Class Reference

Kuon robotic manipulator full description class. More...

#include <kuonDesc.h>

Public Member Functions
	KuonDesc ()
	~KuonDesc ()
void	setDesc (int eProdId, const std::string &strProdName="", const std::string &strProdBrief="", const std::string &strHwVer="1.0.0", double fFrontTireRadius=0.0, double fRearTireRadius=0.0)
void	resetDesc ()
	Reset Kuon description to the "unitialized" values.
int	markAsDescribed ()
	Mark Kuon hardware as fully described. More...
bool	isDescribed ()
	Test if required descriptions are described. More...
KuonDescBase *	getBaseDesc ()
	Get the Kuon base product description. More...
int	getProdId ()
	Convenience function to get this Kuon description's base product id. More...
std::string	getFullProdBrief ()
	Get the Kuon full brief descirption. More...
int	getNumMotors ()
	Get the number of expected and required motors. More...
bool	hasMotor (int nMotorId)
	Test if motor id is in the list of motors. More...

Protected Attributes
bool	m_bIsDescribed
	Kuon is [not] fully described
KuonDescBase	m_descBase
	Kuon robotic arm
std::string	m_strFullBrief
	product with payload full brief

Friends
class	KuonRobot

Detailed Description

Kuon robotic manipulator full description class.

The description is determined from the XML etc configuration file. From those description components, the compiled specifications are assigned.

Definition at line 83 of file kuonDesc.h.

Constructor & Destructor Documentation

kuon::KuonDesc::KuonDesc ( )

inline

Default constructor.

Definition at line 90 of file kuonDesc.h.

    {
    }

kuon::KuonDesc::~KuonDesc ( )

inline

Destructor.

Definition at line 97 of file kuonDesc.h.

References m_descBase, markAsDescribed(), and resetDesc().

    {
    }

Member Function Documentation

KuonDescBase* kuon::KuonDesc::getBaseDesc ( )

inline

Get the Kuon base product description.

Returns

Returns pointer to robotic base description.

Definition at line 156 of file kuonDesc.h.

References m_descBase.

Referenced by kuon::KuonRobot::getProdId(), kuon::KuonRobot::getProdName(), kuon::KuonRobot::getVersion(), and kuon::KuonXmlCfg::setKuonDescFromDOM().

    {
      return &m_descBase;
    }

std::string kuon::KuonDesc::getFullProdBrief ( )

inline

Get the Kuon full brief descirption.

Returns

Returns string.

Definition at line 177 of file kuonDesc.h.

References m_strFullBrief.

Referenced by kuon::KuonRobot::getFullProdBrief().

    {
      return m_strFullBrief;
    }

int kuon::KuonDesc::getNumMotors ( )

inline

Get the number of expected and required motors.

Returns

Returns number of motors.

Definition at line 187 of file kuonDesc.h.

References kuon::KuonDescBase::getNumMotors(), and m_descBase.

    {
      return m_descBase.getNumMotors();
    }

int kuon::KuonDesc::getProdId ( )

inline

Convenience function to get this Kuon description's base product id.

Returns

Returns product id. See KuonProdId.

Definition at line 167 of file kuonDesc.h.

References kuon::KuonDescBase::getProdId(), and m_descBase.

    {
      return m_descBase.getProdId();
    }

bool kuon::KuonDesc::hasMotor ( int  nMotorId )

inline

Test if motor id is in the list of motors.

Returns

Returns true or false.

Definition at line 197 of file kuonDesc.h.

References kuon::KuonSpec::hasMotor(), m_descBase, and kuon::KuonDescBase::m_spec.

    {
      return m_descBase.m_spec.hasMotor(nMotorId);
    }

bool kuon::KuonDesc::isDescribed ( )

inline

Test if required descriptions are described.

Returns

Returns true or false.

Definition at line 145 of file kuonDesc.h.

References kuon::KuonDescBase::getProdId(), kuon::KuonProdIdUnknown, m_bIsDescribed, and m_descBase.

Referenced by kuon::KuonRobot::isDescribed().

    {
      return  m_bIsDescribed && (m_descBase.getProdId() != KuonProdIdUnknown)?
                        true: false;
    }

int KuonDesc::markAsDescribed

(

)

Mark Kuon hardware as fully described.

The calling application context determines this state.

Definition at line 76 of file kuonDesc.cxx.

References kuon::KUON_ECODE_BAD_OP, and kuon::KUON_OK.

Referenced by ~KuonDesc().

{
  if( !m_descBase.isDescribed() )
  {
    LOGERROR("Kuon base platform description is undefined.");
    return -KUON_ECODE_BAD_OP;
  }

  // add payload descriptions when available.
  m_strFullBrief =  m_descBase.getProdBrief();

  m_bIsDescribed = true;

  return KUON_OK;
}

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

• include/Kuon/kuonDesc.h
• sw/libkuon/kuonDesc.cxx