MotorCommandsSender Class Reference

This class implements a sender for motor commands. More...

#include <MotorCommandsSender.h>

Inheritance diagram for MotorCommandsSender:

[legend]Collaboration diagram for MotorCommandsSender:

[legend]List of all members.

Public Member Functions
	MotorCommandsSender (PlatformProcess *process, bool blocking)
	The constructor.
	~MotorCommandsSender ()
	Destructor.
Protected Member Functions
virtual void	preparePackage ()
	The function prepares a package.
virtual void	setPackage (const ObserverID &receiver)
	The functions sets a package for a receiver.
virtual void	freePackage ()
	The function frees the package.
Static Private Member Functions
const char *	getPrimitiveJointName (int i)
	Returns OPENR Primitive Joint Name.
const char *	getPrimitiveLEDName (int i)
	Return OPENR Primitive LED Name.
Private Attributes
OPrimitiveID	jointId [JointData::numOfJoint]
	The Open-R IDs of all joints.
bool	jointGainsSet
	A flag that states whether the joint gains were initialized.
MemoryRegionID	memID
	The memory region of the only package instance.
OCommandVectorData *	cmdVec
	A pointer to the data in the package.
RCRegion *	package
	The only instance of a package.
PIDData	lastPidData
	The last joint gains sent.
int	numOfLED
	The number of LEDs of the robot.

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Detailed Description

This class implements a sender for motor commands.

Definition at line 19 of file MotorCommandsSender.h.

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Constructor & Destructor Documentation

MotorCommandsSender::MotorCommandsSender (  PlatformProcess *  process, bool  blocking )

The constructor. Parameters: process  The process this sender is associated with. blocking  Decides whether this sender blocks the execution of the next frame until all connected receivers have requested a new package. Definition at line 9 of file MotorCommandsSender.cpp. References cmdVec, getPrimitiveJointName(), getPrimitiveLEDName(), SystemCall::getRobotDesign(), jointId, memID, numOfLED, and VERIFY.

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MotorCommandsSender::~MotorCommandsSender (   )

Destructor. Definition at line 57 of file MotorCommandsSender.cpp. References memID, and VERIFY.

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Member Function Documentation

const char* MotorCommandsSender::getPrimitiveJointName (  int  i  )  [inline, static, private]

Returns OPENR Primitive Joint Name. Definition at line 33 of file MotorCommandsSender.h. References SystemCall::getRobotDesign(). Referenced by MotorCommandsSender().

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const char* MotorCommandsSender::getPrimitiveLEDName (  int  i  )  [inline, static, private]

Return OPENR Primitive LED Name. Definition at line 91 of file MotorCommandsSender.h. References SystemCall::getRobotDesign(). Referenced by MotorCommandsSender().

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void MotorCommandsSender::preparePackage (   )  [protected, virtual]

The function prepares a package. Reimplemented from SenderBase< MotorCommands >. Definition at line 62 of file MotorCommandsSender.cpp. References SystemCall::getRobotDesign(), and package.

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void MotorCommandsSender::setPackage (  const ObserverID &  receiver  )  [protected, virtual]

The functions sets a package for a receiver. Parameters: receiver  The receive the package will be sent to. Reimplemented from SenderBase< MotorCommands >. Definition at line 152 of file MotorCommandsSender.cpp. References package, and VERIFY.

void MotorCommandsSender::freePackage (   )  [protected, virtual]

The function frees the package. Reimplemented from SenderBase< MotorCommands >. Definition at line 157 of file MotorCommandsSender.cpp.

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Member Data Documentation

OPrimitiveID MotorCommandsSender::jointId[JointData::numOfJoint] [private]

The Open-R IDs of all joints. Definition at line 22 of file MotorCommandsSender.h. Referenced by MotorCommandsSender().

bool MotorCommandsSender::jointGainsSet [private]

A flag that states whether the joint gains were initialized. Definition at line 23 of file MotorCommandsSender.h.

MemoryRegionID MotorCommandsSender::memID [private]

The memory region of the only package instance. Definition at line 24 of file MotorCommandsSender.h. Referenced by MotorCommandsSender(), and ~MotorCommandsSender().

OCommandVectorData* MotorCommandsSender::cmdVec [private]

A pointer to the data in the package. Definition at line 25 of file MotorCommandsSender.h. Referenced by MotorCommandsSender().

RCRegion* MotorCommandsSender::package [private]

The only instance of a package. Definition at line 26 of file MotorCommandsSender.h. Referenced by preparePackage(), and setPackage().

PIDData MotorCommandsSender::lastPidData [private]

The last joint gains sent. Definition at line 27 of file MotorCommandsSender.h.

int MotorCommandsSender::numOfLED [private]

The number of LEDs of the robot. Definition at line 28 of file MotorCommandsSender.h. Referenced by MotorCommandsSender().

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

• Platform/Aperios1.3.2/MotorCommandsSender.h
• Platform/Aperios1.3.2/MotorCommandsSender.cpp

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