kuon::KuonSpec Class Reference

Robotic specification. More...

#include <kuonSpec.h>

Public Member Functions
	KuonSpec ()
	Constructor.
	~KuonSpec ()
	Destructor.
int	set (int eProdId, uint_t uHwVer, double fFrontTireRadius, double fRearTireRadius)
	Set product fixed specification. More...
void	clear ()
	Clear product fixed specification.
int	getProdId ()
	Get specification's product id. More...
uint_t	getProdHwVer ()
	Get specification's product hardware version number. More...
int	getNumMotors ()
	Get specification's number of motors. More...
KuonSpecMotor_T *	getMotorSpecAt (int index)
	Get motor spec at the given index. More...
KuonSpecMotor_T *	getMotorSpec (const std::string &strName)
	Get motor spec associated motor name. More...
KuonSpecMotor_T *	getMotorSpec (int nMotorId)
	Get motor spec associated with motor id. More...
bool	hasMotor (int nMotorId)
	Test if motor id is in the motor specifications. More...
void	getTireSizes (double &fFrontTireRadius, double &fRearTireRadius)
	Get front and rear tire radii (mm). More...

Protected Attributes
int	m_eProdId
	product id
uint_t	m_uHwVer
	hardware version
int	m_nNumMotors
	number of drive motors
double	m_fFrontTireRadius
	front tire radius (mm)
double	m_fRearTireRadius
	rear tire radius (mm)
std::vector< KuonSpecMotor_T >	m_vecSpecMotors
	vector of motor specs

Friends
class	KuonDesc
class	KuonRobot

Detailed Description

Robotic specification.

Definition at line 151 of file kuonSpec.h.

Member Function Documentation

KuonSpecMotor_T* kuon::KuonSpec::getMotorSpec

(

const std::string &

strName

)

Get motor spec associated motor name.

Parameters

strName

Motor name (primary key).

Returns

If found, returns pointer to spec. Otherwise returns NULL.

KuonSpecMotor_T * KuonSpec::getMotorSpec

(

int

nMotorId

)

Get motor spec associated with motor id.

Parameters

nMotorId

Motor id (secondary key).

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 166 of file kuonSpec.cxx.

{
  vector<KuonSpecMotor_T>::iterator    iter;

  for(iter = m_vecSpecMotors.begin(); iter != m_vecSpecMotors.end(); ++iter)
  {
    if( iter->m_nMotorId == nMotorId )
    {
      return &(*iter);
    }
  }

  return NULL;
}

KuonSpecMotor_T* kuon::KuonSpec::getMotorSpecAt ( int  index )

inline

Get motor spec at the given index.

Parameters

index

Motor index.

Returns

If found, returns pointer to spec. Otherwise returns NULL.

Definition at line 221 of file kuonSpec.h.

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

    {
      return index < m_vecSpecMotors.size()? &m_vecSpecMotors.at(index): NULL;
    }

int kuon::KuonSpec::getNumMotors ( )

inline

Get specification's number of motors.

Returns

Returns number of motors.

Definition at line 209 of file kuonSpec.h.

Referenced by kuon::KuonDescBase::getNumMotors().

    {
      return m_nNumMotors;
    }

uint_t kuon::KuonSpec::getProdHwVer ( )

inline

Get specification's product hardware version number.

Returns

Returns version number.

Definition at line 199 of file kuonSpec.h.

    {
      return m_uHwVer;
    }

int kuon::KuonSpec::getProdId ( )

inline

Get specification's product id.

Returns

Returns product id. See KuonProdId.

Definition at line 189 of file kuonSpec.h.

    {
      return m_eProdId;
    }

void kuon::KuonSpec::getTireSizes	(	double &	fFrontTireRadius,
		double &	fRearTireRadius
	)

Get front and rear tire radii (mm).

Parameters

[out]	fFrontTireRadius	Front tires.
[out]	fRearTireRadius	Rear tires.

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

inline

Test if motor id is in the motor specifications.

Returns

Returns true or false.

Definition at line 249 of file kuonSpec.h.

Referenced by kuon::KuonDescBase::hasMotor(), and kuon::KuonDesc::hasMotor().

    {
      return getMotorSpec(nMotorId) == NULL? false: true;
    }

int KuonSpec::set	(	int	eProdId,
		uint_t	uHwVer,
		double	fFrontTireRadius,
		double	fRearTireRadius
	)

Set product fixed specification.

Parameters

eProdId

Definition at line 80 of file kuonSpec.cxx.

References kuon::KUON_OK, kuon::KuonMotorIdLF, kuon::KuonMotorIdLR, kuon::KuonMotorIdRF, kuon::KuonMotorIdRR, kuon::KuonProdBaseStdNumMotors, kuon::KuonProdBaseStdSpecMotors, kuon::KuonProdIdNarrow, kuon::KuonProdIdStd, and kuon::KuonSpecMotor_T::m_fTireRadius.

Referenced by kuon::KuonDescBase::KuonDescBase().

{
  const KuonSpecMotor_T  *pSpecMotors = NULL;
  int                     i;

  clear();

  switch( eProdId )
  {
    //
    // Standard size Kuon
    //
    case KuonProdIdStd:
      m_nNumMotors  = KuonProdBaseStdNumMotors;
      pSpecMotors   = KuonProdBaseStdSpecMotors;
      break;

    //
    // Narrow size Kuon
    //
    case KuonProdIdNarrow:
      break;
  }

  if( pSpecMotors != NULL )
  {
    for(i=0; i<m_nNumMotors; ++i)
    {
      m_vecSpecMotors.push_back(pSpecMotors[i]);

      if( (pSpecMotors[i].m_nMotorId == KuonMotorIdLF) ||
          (pSpecMotors[i].m_nMotorId == KuonMotorIdRF) )
      {
        m_fFrontTireRadius = pSpecMotors[i].m_fTireRadius;
      }
      else if( (pSpecMotors[i].m_nMotorId == KuonMotorIdLR) ||
               (pSpecMotors[i].m_nMotorId == KuonMotorIdRR) )
      {
        m_fRearTireRadius = pSpecMotors[i].m_fTireRadius;
      }
    }
  }

  m_eProdId     = eProdId;
  m_uHwVer      = uHwVer;

  //
  // Override factory defaults.
  //
  if( fFrontTireRadius > 0.0 )
  {
    m_fFrontTireRadius = fFrontTireRadius;
  }
  if( fRearTireRadius > 0.0 )
  {
    m_fRearTireRadius = fRearTireRadius;
  }

  return KUON_OK;
}

---

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

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