pnd-cpp-sdk 1.4.4
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Public Member Functions | Public Attributes | List of all members
Pnd::GroupCommand Class Referencefinal

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 setLatencyTest (const std::vector< bool > &flag)
 
void setInputPositionPt (const std::vector< PosPtInfo > &param)
 
void setInputVelocityPt (const std::vector< float > &param)
 
void setInputTorquePt (const std::vector< float > &param)
 
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 > &param)
 
void RcuAdcOffset (const std::vector< float > &param)
 
void RcuFwUpgrade ()
 
void getEncoderAngle (const std::vector< float > &param)
 

Public Attributes

PndGroupCommandPtr internal_
 
const size_t number_of_modules_
 

Detailed Description

A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group.

Member Function Documentation

◆ clearError()

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.

◆ enable()

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.

◆ getError()

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.

◆ RcuPower()

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.

◆ reboot()

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.

◆ resetLinearCount()

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.

◆ saveConfig()

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.

◆ setCurrent()

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.

◆ setMotionCtrlConfig()

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.

◆ setMotorConfig()

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.

◆ setNetworkSetting()

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.

◆ setPosition()

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.

◆ setTrapezoidalMove()

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.

◆ setTrapTraj()

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.

◆ setVelocity()

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.

◆ setVelocityRamp()

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.

Member Data Documentation

◆ internal_

PndGroupCommandPtr Pnd::GroupCommand::internal_

C-style group command object. NOTE: this should not be used except by library functions!

◆ number_of_modules_

const size_t Pnd::GroupCommand::number_of_modules_

The number of modules in this group command.


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