Tekkotsu Homepage
Dev. Resources

Grasper::MoveArm Class Reference

Moves the body. More...

Inheritance diagram for Grasper::MoveArm:

Detailed Description

Moves the body.

Executes an arm movement with time delays estimated for hand/eye system

Definition at line 447 of file Grasper.h.

List of all members.

Public Member Functions

 MoveArm (const std::string &nodename, GrasperRequest::GrasperPathType_t _pa)
virtual void doStart ()
 Delegate function for subclasses to be notified when the behavior starts up.
void executeMove (const std::vector< NodeValue_t > &path)
unsigned int advTime (const NodeValue_t &confDif)

Public Attributes

GrasperRequest::GrasperPathType_t pa

Constructor & Destructor Documentation

Grasper::MoveArm::MoveArm ( const std::string &  nodename,
GrasperRequest::GrasperPathType_t  _pa 

Definition at line 449 of file Grasper.h.

Member Function Documentation

unsigned int Grasper::MoveArm::advTime ( const NodeValue_t confDif  ) 

Definition at line 453 of file Grasper.h.

Referenced by executeMove().

void Grasper::MoveArm::doStart (  )  [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

Should be overridden by subclasses to subscribe to events, install motion commands, etc.

doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.

Reimplemented from BehaviorBase.

Definition at line 1064 of file Grasper.cc.

void Grasper::MoveArm::executeMove ( const std::vector< NodeValue_t > &  path  ) 

Definition at line 1086 of file Grasper.cc.

Referenced by doStart().

Member Data Documentation

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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:08 2016 by Doxygen 1.6.3