39 const PndCommandPtr
operator[](
size_t index)
const;
52 void setPosition(
const std::vector<float> &position);
67 void setVelocity(
const std::vector<float> &velocity);
82 void setCurrent(
const std::vector<float> &effort);
90 void enable(
const std::vector<float> &status);
97 void reboot(
const std::vector<bool> &flag);
104 void getError(
const std::vector<bool> &flag);
111 void clearError(
const std::vector<bool> &flag);
143 void setTrapTraj(
const std::vector<TrapTraj *> &config);
150 void saveConfig(
const std::vector<bool> &flag);
166 void setLatencyTest(
const std::vector<bool> &flag);
169 void setInputPositionPt(
const std::vector<PosPtInfo> ¶m);
171 void setInputVelocityPt(
const std::vector<float> ¶m);
173 void setInputTorquePt(
const std::vector<float> ¶m);
182 void RcuPower(
const std::vector<bool> &status);
183 void RcuAV5VPower(
const std::vector<bool> &status);
184 void RcuV5VPower(
const std::vector<bool> &status);
185 void RcuV5VAPower(
const std::vector<bool> &status);
186 void RcuV5VBPower(
const std::vector<bool> &status);
187 void Rcu12VPower(
const std::vector<bool> &status);
188 void RcuFan12VPower(
const std::vector<bool> &status);
189 void Rcu19VPower(
const std::vector<bool> &status);
191 void RcuBrakeCmd(
const std::vector<RcuBrake> ¶m);
192 void RcuAdcOffset(
const std::vector<float> ¶m);
196 void getEncoderAngle(
const std::vector<float> ¶m);
214 std::vector<PndCommandPtr> commands_;
A list of Command objects appropriate for sending to a Group of modules; the size() must match the nu...
Definition groupCommand.hpp:14
void setVelocity(const std::vector< float > &velocity)
Convenience function for setting velocity commands from vectors.
Definition groupCommand.cpp:37
PndCommandPtr operator[](size_t index)
Access the command for an individual module.
Definition groupCommand.cpp:16
void setMotorConfig(const std::vector< MotorConfig * > &config)
Convenience function for setting setMotorConfig commands from vectors.
Definition groupCommand.cpp:107
void RcuPower(const std::vector< bool > &status)
Convenience function for setting ctrlBoxEnable commands from vectors.
Definition groupCommand.cpp:182
void enable(const std::vector< float > &status)
Convenience function for setting enable commands from vectors.
Definition groupCommand.cpp:59
void setTrapezoidalMove(const std::vector< float > &val)
Convenience function for setting TrapezoidalMove commands from vectors.
Definition groupCommand.cpp:30
void resetLinearCount(const std::vector< float > &linearCount)
Convenience function for setting resetLinearCount commands from vectors.
Definition groupCommand.cpp:91
void setTrapTraj(const std::vector< TrapTraj * > &config)
Convenience function for setting setTrapTraj commands from vectors.
Definition groupCommand.cpp:115
void setMotionCtrlConfig(const std::vector< MotionControllerConfig * > &config)
Convenience function for setting setMotionCtrlConfig commands from vectors.
Definition groupCommand.cpp:99
void saveConfig(const std::vector< bool > &flag)
Convenience function for setting saveConfig commands from vectors.
Definition groupCommand.cpp:123
void setVelocityRamp(const std::vector< float > &velocity)
Convenience function for setting velocity ramp commands from vectors.
Definition groupCommand.cpp:44
PndGroupCommandPtr internal_
Definition groupCommand.hpp:203
void setCurrent(const std::vector< float > &effort)
Convenience function for setting current commands from vectors.
Definition groupCommand.cpp:51
void setPosition(const std::vector< float > &position)
Convenience function for setting position commands from vectors.
Definition groupCommand.cpp:22
void getMotorRotorAbsPos(const std::vector< bool > &flag)
Get Motor rotor absolute position.
Definition groupCommand.cpp:139
size_t size() const
Returns the number of module commands in this group command.
Definition groupCommand.cpp:14
const size_t number_of_modules_
Definition groupCommand.hpp:208
~GroupCommand() noexcept
Destructor cleans up group command object as necessary.
Definition groupCommand.cpp:10
void clear()
Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time o...
Definition groupCommand.cpp:20
void getError(const std::vector< bool > &flag)
Convenience function for setting getError commands from vectors.
Definition groupCommand.cpp:75
void reboot(const std::vector< bool > &flag)
Convenience function for setting reboot commands from vectors.
Definition groupCommand.cpp:67
void setNetworkSetting(const std::vector< NetworkSetting * > &config)
Convenience function for setting setNetworkSetting commands from vectors.
Definition groupCommand.cpp:131
void clearError(const std::vector< bool > &flag)
Convenience function for setting clearError commands from vectors.
Definition groupCommand.cpp:83