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OSCAR::RobixInterface Class Reference
[Device]

#include <RobixInterface.h>

Inheritance diagram for OSCAR::RobixInterface:

[legend]List of all members.


Public Methods
	RobixInterface (const unsigned int dof, const int Lpt=1, const int _Irq=7, const String &EiName="defaultEI", const String &RobotName="defaultRobot", OSCARError &err=DUMMY_ERROR(noError))
virtual	~RobixInterface ()
virtual bool	Initialize ()
virtual bool	Close ()
virtual bool	SetHomePos (ArrayI &homePos)
Public Attributes
LimitStatusArray	LimitStatus
Protected Methods
virtual bool	set0Pos (ArrayI &zeroPos)
virtual bool	getPosition (VectorF &jointValues)
virtual bool	setPosition (const VectorF &jointValues)
void	clicksToRad (int clicks[], VectorF &radians, const unsigned int size)
void	radToClicks (const float *radians, int clicks[], const unsigned int size)
Protected Attributes
double	clickPerDeg
int	ErrorVal
int	RobotHandle
int	EiHandle
String	EiName
String	RobotName
int	Lpt
int	Irq
ArrayI	default0Pos
ArrayI	defaultHomePos
Matrix	defaultPosLimits
Static Protected Attributes
int	numRobots

Constructor & Destructor Documentation

OSCAR::RobixInterface::RobixInterface ( const unsigned int dof,

const int Lpt = 1,

const int _Irq = 7,

const String & EiName = "defaultEI",

const String & RobotName = "defaultRobot",

OSCARError & err = DUMMY_ERROR(noError)

)

virtual OSCAR::RobixInterface::~RobixInterface ( ) [virtual]

Member Function Documentation

void OSCAR::RobixInterface::clicksToRad ( int clicks[],

VectorF & radians,

const unsigned int size

) [protected]

virtual bool OSCAR::RobixInterface::Close ( ) [virtual]

Generic close device function, could be overriden and implemented according to specific application in derivative class. This function provides a method to close a device after finishing use it. "isClosed" is false if this function is not executed.

Returns:
true if the device close succeed. false if device close failed. Call GetError() to get detailed error information

See also:
~Device()

Reimplemented from OSCAR::Device.

virtual bool OSCAR::RobixInterface::getPosition ( VectorF & jointValues ) [protected, virtual]

Reimplemented from OSCAR::RobotServoInterface.

virtual bool OSCAR::RobixInterface::Initialize ( ) [virtual]

Generic initialize function, could be overriden and implemented according to specific application in derivative class This function must be called every time after an object is created, otherwise an error will happen which indicates not initialized.
In derived classes, check must be done to see if data member"isInitialized" is true in member functions in order to judge whether initialize has been executed.
Returns:
true if initialization succeeds. false if initialization fails. Call GetError() to get detailed error information

Reimplemented from OSCAR::Device.

void OSCAR::RobixInterface::radToClicks ( const float * radians,

int clicks[],

const unsigned int size

) [protected]

virtual bool OSCAR::RobixInterface::set0Pos ( ArrayI & zeroPos ) [protected, virtual]

virtual bool OSCAR::RobixInterface::SetHomePos ( ArrayI & homePos ) [virtual]

virtual bool OSCAR::RobixInterface::setPosition ( const VectorF & jointValues ) [protected, virtual]

Reimplemented from OSCAR::RobotServoInterface.