OutputCmd Class Reference

This object holds all the information needed to control a single output. More...

#include <OutputCmd.h>

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Detailed Description

This object holds all the information needed to control a single output.

Definition at line 6 of file OutputCmd.h.

List of all members.

Public Member Functions
	OutputCmd ()
	Constructor.
	OutputCmd (float v)
	Constructor (provides implicit conversion from float).
	OutputCmd (float v, float w)
	Constructor.
	OutputCmd (const OutputCmd &a, const OutputCmd &b, float w)
	Constructor, see set(a,b,w).
OutputCmd &	operator= (const OutputCmd &oc)
	assignment from another OutputCmd (just copy everything, straightforward)
OutputCmd &	operator= (float v)
	assignment from a float, set weight to 1
void	set (float v, float w=1)
	sets the value to v and weight to w
void	set (const OutputCmd &a, const OutputCmd &b, float w)
	sets the value to a weighted average of a and b (higher w, more a)
void	unset ()
	sets value and weight to 0
bool	operator== (const OutputCmd &c) const
	tests for equality of weight and value
bool	operator!= (const OutputCmd &c) const
	tests for inequality of weight and value
Public Attributes
float	value
	value of the output
float	weight
	weight to be used in averaging, 0 to "fall through"
Static Public Attributes
static OutputCmd	unused
	handy sometimes for returning a reference to a 0,0 cmd

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Constructor & Destructor Documentation

OutputCmd::OutputCmd

(

)

Constructor.

Definition at line 9 of file OutputCmd.h.

OutputCmd::OutputCmd

(

float

v

)

Constructor (provides implicit conversion from float).

Definition at line 10 of file OutputCmd.h.

OutputCmd::OutputCmd	(	float	v,
		float	w
	)

Constructor.

Definition at line 11 of file OutputCmd.h.

OutputCmd::OutputCmd	(	const OutputCmd &	a,
		const OutputCmd &	b,
		float	w
	)

Constructor, see set(a,b,w).

Definition at line 12 of file OutputCmd.h.

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Member Function Documentation

bool OutputCmd::operator!=

(

const OutputCmd &

c

)

const

tests for inequality of weight and value

Definition at line 23 of file OutputCmd.h.

OutputCmd& OutputCmd::operator=

(

float

v

)

assignment from a float, set weight to 1

Definition at line 17 of file OutputCmd.h.

OutputCmd& OutputCmd::operator=

(

const OutputCmd &

oc

)

assignment from another OutputCmd (just copy everything, straightforward)

Definition at line 15 of file OutputCmd.h.

bool OutputCmd::operator==

(

const OutputCmd &

c

)

const

tests for equality of weight and value

Definition at line 22 of file OutputCmd.h.

void OutputCmd::set	(	const OutputCmd &	a,
		const OutputCmd &	b,
		float	w
	)

sets the value to a weighted average of a and b (higher w, more a)

Definition at line 20 of file OutputCmd.h.

void OutputCmd::set	(	float	v,
		float	w = 1
	)

sets the value to v and weight to w

Definition at line 19 of file OutputCmd.h.

Referenced by MotionSequenceEngine::calcOutput(), EmergencyStopMC::freezeJoints(), MotionCommand::interpolate(), PostureEngine::loadLine(), PostureEngine::setAverage(), PostureEngine::setCombine(), TailWagMC::setTilt(), TailWagMC::updateOutputs(), and EmergencyStopMC::updateOutputs().

void OutputCmd::unset

(

)

sets value and weight to 0

Definition at line 21 of file OutputCmd.h.

Referenced by MotionSequenceEngine::getOutputCmd(), and TailWagMC::unsetTilt().

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Member Data Documentation

OutputCmd OutputCmd::unused [static]

handy sometimes for returning a reference to a 0,0 cmd

Definition at line 27 of file OutputCmd.h.

float OutputCmd::value

value of the output

Definition at line 25 of file OutputCmd.h.

Referenced by PostureEngine::avgdiff(), PostureEngine::diff(), Grasper::PlanArmDeliver::doStart(), Grasper::PlanArmApproach::doStart(), EmergencyStopMC::freezeJoints(), MotionManager::getOutputs(), SineMC::getPosition(), TailWagMC::getTilt(), MotionCommand::interpolate(), PostureMC::isAlive(), PostureEngine::maxdiff(), operator!=(), operator=(), operator==(), MotionSequenceEngine::resume(), set(), PostureEngine::setAverage(), PostureEngine::setCombine(), PostureMC::setDirty(), HeadPointerMC::setDirty(), ArmMC::setDirty(), MotionManager::setOutput(), PostureMC::setOutputCmd(), ArmMC::setOutputCmd(), MotionSequenceEngine::setTime(), unset(), SineMC::updateOutputs(), PostureMC::updateOutputs(), HeadPointerMC::updateOutputs(), EmergencyStopMC::updateOutputs(), and ArmMC::updateOutputs().

float OutputCmd::weight

weight to be used in averaging, 0 to "fall through"

Definition at line 26 of file OutputCmd.h.

Referenced by PostureEngine::avgdiff(), MotionSequenceEngine::compress(), PostureEngine::diff(), EmergencyStopMC::freezeJoints(), PostureEngine::getBinSize(), MotionManager::getOutputs(), SineMC::getWeight(), MotionCommand::interpolate(), PostureEngine::loadLine(), PostureEngine::maxdiff(), operator!=(), operator=(), operator==(), MotionSequenceEngine::overlayMotion(), PostureEngine::saveBuffer(), set(), PostureEngine::setAverage(), PostureEngine::setCombine(), MotionSequenceEngine::setNextFrameTime(), MotionManager::setOutput(), ArmMC::setOutputCmd(), PostureEngine::setOverlay(), SineMC::setParams(), MotionSequenceEngine::setPose(), MotionSequenceEngine::setTime(), SineMC::setWeight(), ArmMC::setWeight(), SineMC::syncAll(), unset(), TailWagMC::updateOutputs(), and SineMC::updateOutputs().

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

• OutputCmd.h
• OutputCmd.cc