ArmController Class Reference
Listens to control commands coming in from the command port for remotely controlling the arm. More...
#include <ArmController.h>
Detailed Description
Listens to control commands coming in from the command port for remotely controlling the arm.
The communication protocol is a very simple binary format, shared with WalkControllerBehavior. Each command is sent as a 5-byte group. The first byte is a command selector, and the following 4 bytes are a floating point argument:
- <
char:command indicator> - <
float:value>
The valid values for command indicator are given by CMD_shoulder, CMD_elbow, or CMD_wrist ('s', 'e', or 'w' respectively).
Definition at line 31 of file ArmController.h.
Static Public Member Functions | |
| static int | mechacmd_callback (char *buf, int bytes) |
| called by wireless when there's new data | |
Static Public Attributes | |
| static ArmController * | theOne = NULL |
Protected Types | |
| enum | DisplayMode_t { pitchAndYaw = 0, yawOnly, pitchOnly } |
Protected Attributes | |
| MotionManager::MC_ID | arm_id |
| the ArmMC to use | |
| MotionManager::MC_ID | pidMCID |
| HandEyeGripper | GripperControl |
| KinematicJoint * | gripperFrameKJ |
| KinematicJoint * | KJjoints [NumArmJoints] |
| float | horScale |
| float | verScale |
| enum ArmController::DisplayMode_t | displayMode |
Command Bytes | |
|
| |
| float | theta |
| float | verZ |
| fmat::Column< 3 > | horToBase |
| fmat::Column< 3 > | verToBase |
| float | speed |
| unsigned int | OriJoint |
| int | linksToDisplay |
| char | armConfig [NumArmJoints] |
| float | qOffset [NumArmJoints] |
| float | yawCoords [NumArmJoints][2] |
| float | pitchCoords [NumArmJoints][2] |
| int | numYawJoints |
| int | numPitchJoints |
| ArmController * | theLastOne |
| Socket * | cmdsock |
| The input command stream socket. | |
| static const char | CMD_unrelax = 'u' |
| static const char | CMD_relax = 'v' |
| static const char | CMD_gripper = 'w' |
| static const char | CMD_point = 'x' |
| static const char | CMD_speed = 'y' |
| static const char | CMD_connect = 'z' |
| static std::string | getClassDescription () |
| void | runCommand (unsigned char *command) |
| Executes a command. Called by mechacmd_callback. | |
| void | doEvent () |
| void | cmdConnect () |
| void | cmdPointPicker (float param, float param2, float param3, int cmdno) |
| void | cmdGripper (float param, int cmdno) |
| void | cmdRelax () |
| void | cmdUnrelax () |
| void | setJoint (unsigned int joint, float param) |
| ArmController (const ArmController &) | |
| don't call | |
| ArmController | operator= (const ArmController &) |
| don't call | |
| ArmController () | |
| constructor | |
| virtual | ~ArmController () |
| destructor | |
| virtual void | doStart () |
| Setup the scale and the joints quantity to display. | |
| virtual void | doStop () |
| void | computeCoords () |
| void | sendCoords () |
| virtual std::string | getDescription () const |
Member Enumeration Documentation
enum ArmController::DisplayMode_t [protected] |
Definition at line 48 of file ArmController.h.
Constructor & Destructor Documentation
| ArmController::ArmController | ( | const ArmController & | ) | [protected] |
don't call
| ArmController::ArmController | ( | ) |
constructor
Definition at line 106 of file ArmController.h.
| virtual ArmController::~ArmController | ( | ) | [virtual] |
destructor
Definition at line 121 of file ArmController.h.
Member Function Documentation
| void ArmController::cmdConnect | ( | ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 292 of file ArmController.cc.
Referenced by runCommand().
| void ArmController::cmdGripper | ( | float | param, | |
| int | cmdno | |||
| ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 394 of file ArmController.cc.
Referenced by runCommand().
| void ArmController::cmdPointPicker | ( | float | param, | |
| float | param2, | |||
| float | param3, | |||
| int | cmdno | |||
| ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 339 of file ArmController.cc.
Referenced by runCommand().
| void ArmController::cmdRelax | ( | ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 409 of file ArmController.cc.
Referenced by runCommand().
| void ArmController::cmdUnrelax | ( | ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 417 of file ArmController.cc.
Referenced by runCommand().
| void ArmController::computeCoords | ( | ) |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 463 of file ArmController.cc.
Referenced by cmdConnect(), doEvent(), and setJoint().
| void ArmController::doEvent | ( | ) | [protected, virtual] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Reimplemented from BehaviorBase.
Definition at line 119 of file ArmController.cc.
| void ArmController::doStart | ( | ) | [virtual] |
Setup the scale and the joints quantity to display.
Reimplemented from BehaviorBase.
Definition at line 24 of file ArmController.cc.
| void ArmController::doStop | ( | ) | [virtual] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Reimplemented from BehaviorBase.
Definition at line 109 of file ArmController.cc.
| static std::string ArmController::getClassDescription | ( | ) | [static] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Reimplemented from BehaviorBase.
Definition at line 135 of file ArmController.h.
Referenced by getDescription().
| virtual std::string ArmController::getDescription | ( | ) | const [virtual] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Reimplemented from BehaviorBase.
Definition at line 140 of file ArmController.h.
| int ArmController::mechacmd_callback | ( | char * | buf, | |
| int | bytes | |||
| ) | [static] |
called by wireless when there's new data
Definition at line 151 of file ArmController.cc.
Referenced by doStart().
| ArmController ArmController::operator= | ( | const ArmController & | ) | [protected] |
don't call
| void ArmController::runCommand | ( | unsigned char * | command | ) | [protected] |
Executes a command. Called by mechacmd_callback.
Definition at line 197 of file ArmController.cc.
Referenced by mechacmd_callback().
| void ArmController::sendCoords | ( | ) |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 513 of file ArmController.cc.
Referenced by cmdConnect(), doEvent(), and setJoint().
| void ArmController::setJoint | ( | unsigned int | joint, | |
| float | param | |||
| ) | [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 424 of file ArmController.cc.
Referenced by runCommand().
Member Data Documentation
MotionManager::MC_ID ArmController::arm_id [protected] |
the ArmMC to use
Definition at line 41 of file ArmController.h.
Referenced by doStart(), doStop(), and setJoint().
char ArmController::armConfig[NumArmJoints] [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 71 of file ArmController.h.
Referenced by ArmController(), cmdConnect(), computeCoords(), and doStart().
const char ArmController::CMD_connect = 'z' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 60 of file ArmController.h.
Referenced by runCommand().
const char ArmController::CMD_gripper = 'w' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 57 of file ArmController.h.
Referenced by runCommand().
const char ArmController::CMD_point = 'x' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 58 of file ArmController.h.
Referenced by runCommand().
const char ArmController::CMD_relax = 'v' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 56 of file ArmController.h.
Referenced by runCommand().
const char ArmController::CMD_speed = 'y' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 59 of file ArmController.h.
Referenced by runCommand().
const char ArmController::CMD_unrelax = 'u' [static, protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 55 of file ArmController.h.
Referenced by runCommand().
Socket* ArmController::cmdsock [protected] |
The input command stream socket.
Definition at line 86 of file ArmController.h.
Referenced by cmdConnect(), cmdGripper(), cmdPointPicker(), doEvent(), doStart(), doStop(), sendCoords(), and setJoint().
enum ArmController::DisplayMode_t ArmController::displayMode [protected] |
Referenced by cmdConnect(), doEvent(), sendCoords(), and setJoint().
HandEyeGripper ArmController::GripperControl [protected] |
Definition at line 43 of file ArmController.h.
KinematicJoint* ArmController::gripperFrameKJ [protected] |
Definition at line 44 of file ArmController.h.
Referenced by ArmController(), cmdPointPicker(), computeCoords(), doStart(), and ~ArmController().
float ArmController::horScale [protected] |
Definition at line 46 of file ArmController.h.
Referenced by cmdConnect(), cmdPointPicker(), doEvent(), doStart(), sendCoords(), and setJoint().
fmat::Column<3> ArmController::horToBase [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 64 of file ArmController.h.
Referenced by cmdPointPicker(), and doStart().
KinematicJoint* ArmController::KJjoints[NumArmJoints] [protected] |
Definition at line 45 of file ArmController.h.
Referenced by cmdPointPicker(), computeCoords(), doStart(), and setJoint().
int ArmController::linksToDisplay [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 68 of file ArmController.h.
Referenced by cmdConnect(), cmdPointPicker(), computeCoords(), and doStart().
int ArmController::numPitchJoints [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 76 of file ArmController.h.
Referenced by cmdConnect(), computeCoords(), doEvent(), doStart(), sendCoords(), and setJoint().
int ArmController::numYawJoints [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 75 of file ArmController.h.
Referenced by cmdConnect(), computeCoords(), doEvent(), doStart(), sendCoords(), and setJoint().
unsigned int ArmController::OriJoint [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 67 of file ArmController.h.
Referenced by cmdConnect().
MotionManager::MC_ID ArmController::pidMCID [protected] |
Definition at line 42 of file ArmController.h.
Referenced by cmdRelax(), cmdUnrelax(), doStart(), and doStop().
float ArmController::pitchCoords[NumArmJoints][2] [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 74 of file ArmController.h.
Referenced by cmdConnect(), computeCoords(), doEvent(), sendCoords(), and setJoint().
float ArmController::qOffset[NumArmJoints] [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 72 of file ArmController.h.
float ArmController::speed [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 66 of file ArmController.h.
Referenced by runCommand(), and setJoint().
ArmController* ArmController::theLastOne [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 83 of file ArmController.h.
Referenced by doStart(), doStop(), and ~ArmController().
ArmController * ArmController::theOne = NULL [static] |
Points to the one ArmController object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized.
Definition at line 37 of file ArmController.h.
Referenced by doStart(), doStop(), and ~ArmController().
float ArmController::theta [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 62 of file ArmController.h.
Referenced by cmdPointPicker(), and doStart().
float ArmController::verScale [protected] |
Definition at line 46 of file ArmController.h.
Referenced by cmdConnect(), cmdPointPicker(), doEvent(), doStart(), sendCoords(), and setJoint().
fmat::Column<3> ArmController::verToBase [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 65 of file ArmController.h.
Referenced by cmdPointPicker(), and doStart().
float ArmController::verZ [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 63 of file ArmController.h.
Referenced by cmdPointPicker().
float ArmController::yawCoords[NumArmJoints][2] [protected] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 73 of file ArmController.h.
Referenced by cmdConnect(), computeCoords(), doEvent(), sendCoords(), and setJoint().
The documentation for this class was generated from the following files:
