DebugMotionControl Class Reference

A MotionControl module for debugging purposes. More...

#include <DebugMotionControl.h>

Inheritance diagram for DebugMotionControl:

[legend]Collaboration diagram for DebugMotionControl:

[legend]List of all members.

Public Member Functions
	DebugMotionControl (const MotionControlInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
Protected Member Functions
void	executeStayAsForced (const SensorData &sensorData, JointData &jointData)
	write sensorData back to jointData for joints with invalidValue to disable any motion (=stay as forced)
void	setStayAsForcedValue (const SensorData &sensorData, JointData &jointData, SensorData::sensors sensor, JointData::JointID joint, long tolerance)
void	clip ()
	Clips the set joint values to allowed values.
Protected Attributes
JointDataSequencer	sequencer
	the JointDataSequencer
JointData	stayAsForcedOldValue
	old values for stay as forced mode

---

Detailed Description

A MotionControl module for debugging purposes.

It ignores MotionRequest but processes and executes JointDataSequence debug messages.

Author:

Max Risler

Definition at line 26 of file DebugMotionControl.h.

---

Constructor & Destructor Documentation

DebugMotionControl::DebugMotionControl (  const MotionControlInterfaces &  interfaces  )  [inline]

Constructor. Parameters: interfaces  The paramters of the MotionControl module. Definition at line 33 of file DebugMotionControl.h.

---

Member Function Documentation

void DebugMotionControl::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 11 of file DebugMotionControl.cpp. References clip(), JointData::data, executeStayAsForced(), JointDataBuffer::frame, JointDataSequencer::isRunning(), SensorDataBuffer::lastFrame(), and JointDataSequencer::nextSequenceData().

Here is the call graph for this function:

bool DebugMotionControl::handleMessage (  InMessage &  message  )  [virtual]

Called from a MessageQueue to distribute messages. Use message.getMessageID to decide if the message is relavant for the MesssageHandler derivate. Use message.bin, message.text or message.config as In streams to get the data from. Parameters: message  The message that can be read. Returns: true if the message was read (handled). Reimplemented from Module. Definition at line 46 of file DebugMotionControl.cpp. References InMessage::bin, InMessage::getMessageID(), idJointDataSequence, and JointDataSequencer::start().

Here is the call graph for this function:

void DebugMotionControl::executeStayAsForced (  const SensorData &  sensorData, JointData &  jointData )  [protected]

write sensorData back to jointData for joints with invalidValue to disable any motion (=stay as forced) Definition at line 89 of file DebugMotionControl.cpp. References SET_STAYASFORCED. Referenced by execute().

void DebugMotionControl::setStayAsForcedValue (  const SensorData &  sensorData, JointData &  jointData, SensorData::sensors  sensor, JointData::JointID  joint, long  tolerance )  [protected]

Definition at line 112 of file DebugMotionControl.cpp. References SensorData::data, JointData::data, and stayAsForcedOldValue.

void DebugMotionControl::clip (   )  [protected]

Clips the set joint values to allowed values. Definition at line 63 of file DebugMotionControl.cpp. References CLIP, JointData::data, JointDataBuffer::frame, and toMicroRad(). Referenced by execute().

Here is the call graph for this function:

---

Member Data Documentation

JointDataSequencer DebugMotionControl::sequencer [protected]

the JointDataSequencer Definition at line 53 of file DebugMotionControl.h.

JointData DebugMotionControl::stayAsForcedOldValue [protected]

old values for stay as forced mode Definition at line 72 of file DebugMotionControl.h. Referenced by setStayAsForcedValue().

---

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

• Modules/MotionControl/DebugMotionControl.h
• Modules/MotionControl/DebugMotionControl.cpp

---