kuon::KuonRobotJoint Class Reference

Operational robotic joint class. More...

#include <kuonJoint.h>

Public Member Functions
	KuonRobotJoint ()
	Default constructor.
	KuonRobotJoint (const KuonRobotJoint &src)
	Copy constructor.
	~KuonRobotJoint ()
	Destructor.
KuonRobotJoint	operator= (const KuonRobotJoint &rhs)
	Assignment operator. More...
std::string	getJointName () const
	Get joint name. More...
int	getMotorId () const
	Get motor id. More...

Protected Attributes
std::string	m_strName
	joint name
int	m_nMotorId
	motor id
int	m_nMotorCtlrId
	motor controller id
int	m_nMotorIndex
	motor controller unique motor index
int	m_nMotorDir
	motor normalized direction
int	m_eJointType
	joint type
double	m_fGearRatio
	joint gear ratio
double	m_fTireRadius
	tire radius
double	m_fTicksPerMotorRad
	encoder/odom. ticks per motor radian
double	m_fTicksPerWheelRad
	encoder/odom. ticks per wheel radian

Friends
class	KuonRobot

Detailed Description

Operational robotic joint class.

This class contains all of the data necessary to control the operation of an robotic joint.

Definition at line 83 of file kuonJoint.h.

Member Function Documentation

std::string kuon::KuonRobotJoint::getJointName ( ) const

inline

Get joint name.

Returns

String.

Definition at line 115 of file kuonJoint.h.

References m_strName.

    {
      return m_strName;
    }

int kuon::KuonRobotJoint::getMotorId ( ) const

inline

Get motor id.

Returns

Returns motor id.

Definition at line 125 of file kuonJoint.h.

References m_nMotorId.

    {
      return m_nMotorId;
    }

KuonRobotJoint KuonRobotJoint::operator=

(

const KuonRobotJoint &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 111 of file kuonJoint.cxx.

References m_eJointType, m_fGearRatio, m_fTicksPerMotorRad, m_fTicksPerWheelRad, m_nMotorCtlrId, m_nMotorDir, m_nMotorId, m_nMotorIndex, and m_strName.

Referenced by kuon::KuonJointState::~KuonJointState().

{
  // (derived) specification
  m_strName             = rhs.m_strName;
  m_nMotorId            = rhs.m_nMotorId;
  m_nMotorCtlrId        = rhs.m_nMotorCtlrId;
  m_nMotorIndex         = rhs.m_nMotorIndex;
  m_nMotorDir           = rhs.m_nMotorDir;
  m_eJointType          = rhs.m_eJointType;
  m_fGearRatio          = rhs.m_fGearRatio;
  m_fTicksPerMotorRad   = rhs.m_fTicksPerMotorRad;
  m_fTicksPerWheelRad   = rhs.m_fTicksPerWheelRad;

  // discovered limits and positions

  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