kuon::KuonJointState Class Reference

Joint state class. More...

#include <kuonJoint.h>

Public Member Functions
	KuonJointState ()
	Default constructor.
	KuonJointState (const KuonJointState &src)
	Copy constructor.
	~KuonJointState ()
	Destructor.
KuonJointState	operator= (const KuonJointState &rhs)
	Assignment operator. More...

Public Attributes
std::string	m_strName
	motor joint name
int	m_nMotorId
	motor id
double	m_fPosition
	current joint position (radians)
double	m_fVelocity
	current joint velocity (radians/second)
double	m_fEffort
	current joint torque (N-m)
double	m_fOdometer
	current wheel odometer reading (meters)
int	m_nEncoder
	current motor encoder position (ticks)
double	m_fVelocityMps
	current wheel velocity (meters/second)
int	m_nSpeed
	current raw speed
double	m_fPe
	current motor input electrical power (W)
double	m_fPm
	current motor output mechanical power (W)
float	m_fBrake
	current motor braking (normalized)
float	m_fSlew
	current motor power slewing (normalized)

Detailed Description

Joint state class.

This class encapsulates the current state of one joint.

Definition at line 159 of file kuonJoint.h.

Member Function Documentation

KuonJointState KuonJointState::operator=

(

const KuonJointState &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 167 of file kuonJoint.cxx.

References m_fBrake, m_fEffort, m_fOdometer, m_fPe, m_fPm, m_fPosition, m_fSlew, m_fVelocity, m_fVelocityMps, m_nEncoder, m_nMotorId, m_nSpeed, and m_strName.

{
  m_strName         = rhs.m_strName;
  m_nMotorId        = rhs.m_nMotorId;
  m_fPosition       = rhs.m_fPosition;
  m_fVelocity       = rhs.m_fVelocity;
  m_fEffort         = rhs.m_fEffort;
  m_fOdometer       = rhs.m_fOdometer;
  m_nEncoder        = rhs.m_nEncoder;
  m_fVelocityMps    = rhs.m_fVelocityMps;
  m_nSpeed          = rhs.m_nSpeed;
  m_fPe             = rhs.m_fPe;
  m_fPm             = rhs.m_fPm;
  m_fBrake          = rhs.m_fBrake;
  m_fSlew           = rhs.m_fSlew;

  return *this;
}

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

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