kuon::KuonJointStatePoint Class Reference

Joint state point class. More...

#include <kuonJoint.h>

Public Member Functions
	KuonJointStatePoint ()
	Default constructor.
	KuonJointStatePoint (const KuonJointStatePoint &src)
	Copy constructor.
	~KuonJointStatePoint ()
	Destructor.
KuonJointStatePoint	operator= (const KuonJointStatePoint &rhs)
	Assignment operator. More...
std::string	getKinematicChainName ()
	Get the kinematic chain name. More...
void	setKinematicChainName (std::string strKinName)
	Set the kinematic chain name. More...
size_t	getNumPoints ()
	Get the number of joint states in joint state point. More...
bool	hasJoint (const std::string &strJointName)
	Test if joint is a member of the joint state. More...
void	append (const KuonJointState &jointState)
	Append joint state to end of joint state point. More...
KuonJointState &	operator[] (const size_t i)
	Subscript operator to get reference to joint point at the given index. More...
KuonJointState &	operator[] (const std::string &strJointName)
	Key subscript operator to get reference to joint point at the given index. More...
void	clear ()
	Clear all state data.

Protected Attributes
std::string	m_strKinName
	name of kinematic chain
std::vector< KuonJointState >	m_jointState
	vector of joint states

Detailed Description

Joint state point class.

This class encapsulates the current state of all joints in a kinematic chain.

A joint state point (J0, J1, ..., Jn-1) specifies the current dynamic state of a set of joints (kinematic chain) Ji, i=0,n-1.

Definition at line 217 of file kuonJoint.h.

Member Function Documentation

void kuon::KuonJointStatePoint::append ( const KuonJointState &  jointState )

inline

Append joint state to end of joint state point.

Parameters

jointState

Joint state to append.

Definition at line 302 of file kuonJoint.h.

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

    {
      m_jointState.push_back(jointState);
    }

std::string kuon::KuonJointStatePoint::getKinematicChainName ( )

inline

Get the kinematic chain name.

Returns

String.

Definition at line 263 of file kuonJoint.h.

    {
      return m_strKinName;
    }

size_t kuon::KuonJointStatePoint::getNumPoints ( )

inline

Get the number of joint states in joint state point.

Returns

Number of points.

Definition at line 283 of file kuonJoint.h.

    {
      return m_jointState.size();
    }

bool KuonJointStatePoint::hasJoint

(

const std::string &

strJointName

)

Test if joint is a member of the joint state.

Parameters

strJointName

Joint name.

Returns

Returns true or false.

Definition at line 193 of file kuonJoint.cxx.

{
  vector<KuonJointState>::iterator iter;

  for(iter = m_jointState.begin(); iter != m_jointState.end(); ++iter)
  {
    if( iter->m_strName == strJointName )
    {
      return true;
    }
  }
  return false;
}

KuonJointStatePoint kuon::KuonJointStatePoint::operator= ( const KuonJointStatePoint &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 250 of file kuonJoint.h.

References m_jointState, and m_strKinName.

    {
      m_strKinName = rhs.m_strKinName;
      m_jointState = rhs.m_jointState;

      return *this;
    }

KuonJointState& kuon::KuonJointStatePoint::operator[] ( const size_t  i )

inline

Subscript operator to get reference to joint point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

i

Index.

Returns

Joint state.

Definition at line 317 of file kuonJoint.h.

    {
      return m_jointState[i];
    }

KuonJointState& kuon::KuonJointStatePoint::operator[]

(

const std::string &

strJointName

)

Key subscript operator to get reference to joint point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

strJointName

Joint name.

Returns

Joint state.

void kuon::KuonJointStatePoint::setKinematicChainName ( std::string  strKinName )

inline

Set the kinematic chain name.

Parameters

String.

Definition at line 273 of file kuonJoint.h.

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

    {
      m_strKinName = strKinName;
    }

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

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