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pnd-cpp-sdk 1.5.1
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A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group. More...
#include <groupCommand.hpp>
Public Member Functions | |
| GroupCommand (size_t number_of_modules) | |
| Create a group command with the specified number of modules. | |
| ~GroupCommand () noexcept | |
| Destructor cleans up group command object as necessary. | |
| size_t | size () const |
| Returns the number of module commands in this group command. | |
| PndCommandPtr | operator[] (size_t index) |
| Access the command for an individual module. | |
| const PndCommandPtr | operator[] (size_t index) const |
| Access the command for an individual module. | |
| void | clear () |
| Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time of creation. | |
| void | setPosition (const std::vector< float > &position) |
| Convenience function for setting position commands from vectors. | |
| void | setTrapezoidalMove (const std::vector< float > &val) |
| Convenience function for setting TrapezoidalMove commands from vectors. | |
| void | setVelocity (const std::vector< float > &velocity) |
| Convenience function for setting velocity commands from vectors. | |
| void | setVelocityRamp (const std::vector< float > &velocity) |
| Convenience function for setting velocity ramp commands from vectors. | |
| void | setCurrent (const std::vector< float > &effort) |
| Convenience function for setting current commands from vectors. | |
| void | enable (const std::vector< float > &status) |
| Convenience function for setting enable commands from vectors. | |
| void | reboot (const std::vector< bool > &flag) |
| Convenience function for setting reboot commands from vectors. | |
| void | getError (const std::vector< bool > &flag) |
| Convenience function for setting getError commands from vectors. | |
| void | clearError (const std::vector< bool > &flag) |
| Convenience function for setting clearError commands from vectors. | |
| void | resetLinearCount (const std::vector< float > &linearCount) |
| Convenience function for setting resetLinearCount commands from vectors. | |
| void | setMotionCtrlConfig (const std::vector< MotionControllerConfig * > &config) |
| Convenience function for setting setMotionCtrlConfig commands from vectors. | |
| void | setMotorConfig (const std::vector< MotorConfig * > &config) |
| Convenience function for setting setMotorConfig commands from vectors. | |
| void | setTrapTraj (const std::vector< TrapTraj * > &config) |
| Convenience function for setting setTrapTraj commands from vectors. | |
| void | saveConfig (const std::vector< bool > &flag) |
| Convenience function for setting saveConfig commands from vectors. | |
| void | setNetworkSetting (const std::vector< NetworkSetting * > &config) |
| Convenience function for setting setNetworkSetting commands from vectors. | |
| void | getMotorRotorAbsPos (const std::vector< bool > &flag) |
| Get Motor rotor absolute position. | |
| void | setLatencyTest (const std::vector< bool > &flag) |
| void | setInputPositionPt (const std::vector< PosPtInfo > ¶m) |
| void | setInputVelocityPt (const std::vector< float > ¶m) |
| void | setInputTorquePt (const std::vector< float > ¶m) |
| void | RcuPower (const std::vector< bool > &status) |
| Convenience function for setting ctrlBoxEnable commands from vectors. | |
| void | RcuAV5VPower (const std::vector< bool > &status) |
| void | RcuV5VPower (const std::vector< bool > &status) |
| void | RcuV5VAPower (const std::vector< bool > &status) |
| void | RcuV5VBPower (const std::vector< bool > &status) |
| void | Rcu12VPower (const std::vector< bool > &status) |
| void | RcuFan12VPower (const std::vector< bool > &status) |
| void | Rcu19VPower (const std::vector< bool > &status) |
| void | RcuBrakeCmd (const std::vector< RcuBrake > ¶m) |
| void | RcuAdcOffset (const std::vector< float > ¶m) |
| void | RcuFwUpgrade () |
| void | getEncoderAngle (const std::vector< float > ¶m) |
Public Attributes | |
| PndGroupCommandPtr | internal_ |
| const size_t | number_of_modules_ |
A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group.
| void Pnd::GroupCommand::clearError | ( | const std::vector< bool > & | flag | ) |
Convenience function for setting clearError commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::enable | ( | const std::vector< float > & | status | ) |
Convenience function for setting enable commands from vectors.
Note that if the vector is not the correct link, no action is taken. enable is (nan continue, 0 disable, 1 enable),so choose float type.
| void Pnd::GroupCommand::getError | ( | const std::vector< bool > & | flag | ) |
Convenience function for setting getError commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::RcuPower | ( | const std::vector< bool > & | status | ) |
Convenience function for setting ctrlBoxEnable commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::reboot | ( | const std::vector< bool > & | flag | ) |
Convenience function for setting reboot commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::resetLinearCount | ( | const std::vector< float > & | linearCount | ) |
Convenience function for setting resetLinearCount commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::saveConfig | ( | const std::vector< bool > & | flag | ) |
Convenience function for setting saveConfig commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setCurrent | ( | const std::vector< float > & | effort | ) |
Convenience function for setting current commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setMotionCtrlConfig | ( | const std::vector< MotionControllerConfig * > & | config | ) |
Convenience function for setting setMotionCtrlConfig commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setMotorConfig | ( | const std::vector< MotorConfig * > & | config | ) |
Convenience function for setting setMotorConfig commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setNetworkSetting | ( | const std::vector< NetworkSetting * > & | config | ) |
Convenience function for setting setNetworkSetting commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setPosition | ( | const std::vector< float > & | position | ) |
Convenience function for setting position commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setTrapezoidalMove | ( | const std::vector< float > & | val | ) |
Convenience function for setting TrapezoidalMove commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setTrapTraj | ( | const std::vector< TrapTraj * > & | config | ) |
Convenience function for setting setTrapTraj commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setVelocity | ( | const std::vector< float > & | velocity | ) |
Convenience function for setting velocity commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| void Pnd::GroupCommand::setVelocityRamp | ( | const std::vector< float > & | velocity | ) |
Convenience function for setting velocity ramp commands from vectors.
Note that if the vector is not the correct link, no action is taken.
| PndGroupCommandPtr Pnd::GroupCommand::internal_ |
C-style group command object. NOTE: this should not be used except by library functions!
| const size_t Pnd::GroupCommand::number_of_modules_ |
The number of modules in this group command.