#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 override
void	DeSerializeRaw (std::istream &inputStream) override
	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)
mtsGenericObject &	operator= (const mtsGenericObject &other)
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
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 CISST_THROW(std
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

◆ BaseType

typedef mtsGenericObject prmActuatorParameters::BaseType

◆ size_type

typedef unsigned int prmActuatorParameters::size_type

◆ ThisType

typedef prmActuatorParameters prmActuatorParameters::ThisType

Constructor & Destructor Documentation

◆ prmActuatorParameters() [1/2]

prmActuatorParameters::prmActuatorParameters ( )

inline

default constructor

◆ prmActuatorParameters() [2/2]

prmActuatorParameters::prmActuatorParameters ( size_type size )

inline

◆ ~prmActuatorParameters()

virtual prmActuatorParameters::~prmActuatorParameters ( )

inlinevirtual

destructor

Member Function Documentation

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [1/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	int	,
		AxisSign	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [2/17]

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.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [3/17]

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.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [4/17]

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.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [5/17]

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.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [6/17]

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.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [7/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	mtsLongVec	,
		ReverseLimit	)

Set and Get methods for negative limit.

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [8/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Counts_per_mm	)

Set and Get methods for counts to mm conversion

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [9/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		FA	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [10/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		FV	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [11/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		IL	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [12/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Kd	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [13/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Ki	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [14/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		Kp	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [15/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueLimit	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [16/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueLimitPeak	)

◆ CMN_DECLARE_MEMBER_AND_ACCESSORS() [17/17]

prmActuatorParameters::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		TorqueOffset	)

◆ DeSerializeRaw()

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

overridevirtual

Binary deserialization

Reimplemented from mtsGenericObject.

◆ SerializeRaw()

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