#include <prmActuatorParameters.h>

Inheritance diagram for prmActuatorParameters:

Public Types
typedef prmActuatorParameters	ThisType

typedef mtsGenericObject	BaseType

typedef unsigned int	size_type

Public Member Functions
	prmActuatorParameters ()

	prmActuatorParameters (size_type size)

void	SetSize (size_type size)

virtual	~prmActuatorParameters ()

void	SerializeRaw (std::ostream &outputStream) const

void	DeSerializeRaw (std::istream &inputStream)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, ForwardLimit)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, ReverseLimit)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxVelocity)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxAcceleration)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, MaxDeceleration)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (mtsLongVec, LimitSwitchDeccelaration)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Counts_per_mm)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (int, AxisSign)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Kp)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Kd)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, Ki)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, IL)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, FV)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, FA)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueLimit)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueLimitPeak)


	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, TorqueOffset)

Public Member Functions inherited from mtsGenericObject
	mtsGenericObject (void)

	mtsGenericObject (double timestamp, bool automaticTimestamp, bool valid)

	mtsGenericObject (const mtsGenericObject &other)

virtual	~mtsGenericObject (void)

bool	SetTimestampIfAutomatic (double timestamp)

virtual void	ToStream (std::ostream &outputStream) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

size_t	ScalarNumber (void) const

bool	ScalarNumberIsFixed (void) const

double	Scalar (const size_t index) const throw (std::out_of_range)

std::string	ScalarDescription (const size_t index, const std::string &userDescription="") const throw (std::out_of_range)

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Detailed Description

So far all the memebers are public for sake of convenience Only use getters unless you know what you are doing.

TODO: add internal size to specify the size of each member in this class so the user does not have to have a this is not a great software engineering approach but for now it might be the most usefull cisst vector of this class caused compilation errors it is possible to resize each memeber so it is better to test each member for size this is by contract but does not have to be so...more discussion required

using mtsVectors here because prm lib does not define Long Vectors galil position is in counts...so

Member Typedef Documentation

typedef mtsGenericObject prmActuatorParameters::BaseType

typedef unsigned int prmActuatorParameters::size_type

typedef prmActuatorParameters prmActuatorParameters::ThisType

Constructor & Destructor Documentation

prmActuatorParameters::prmActuatorParameters ( )

inline

default constructor

prmActuatorParameters::prmActuatorParameters ( size_type size )

inline

virtual prmActuatorParameters::~prmActuatorParameters ( )

inlinevirtual

destructor

Member Function Documentation

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		ForwardLimit
	)

Set and Get methods for actuator settings Can use this in order to reset the position These should be queried only, but for sake of convenience they have setterse here

Set and Get methods for postive limit.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		ReverseLimit
	)

Set and Get methods for negative limit.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxVelocity
	)

Set and Get methods for velocity limit, use accelerationMax to accelerate until this limit. Can used this in velocity control mode.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxAcceleration
	)

Set and Get methods for Acceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		MaxDeceleration
	)

Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		LimitSwitchDeccelaration
	)

Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Counts_per_mm
	)

Set and Get methods for counts to mm conversion

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	int	,
		AxisSign
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Kp
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Kd
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Ki
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		IL
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		FV
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		FA
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueLimit
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueLimitPeak
	)

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueOffset
	)

void prmActuatorParameters::DeSerializeRaw ( std::istream & inputStream )

virtual

Binary deserialization

Reimplemented from mtsGenericObject.

void prmActuatorParameters::SerializeRaw ( std::ostream & outputStream ) const

virtual

Binary serialization

Reimplemented from mtsGenericObject.

void prmActuatorParameters::SetSize ( size_type size )

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmActuatorParameters.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation