mtsIntuitiveResearchKitConsole::Arm Class Reference

#include <mtsIntuitiveResearchKitConsole.h>

Public Types
enum	ArmType {   ARM_UNDEFINED, ARM_MTM, ARM_PSM, ARM_ECM,   ARM_SUJ, ARM_MTM_GENERIC, ARM_PSM_GENERIC, ARM_MTM_DERIVED,   ARM_PSM_DERIVED }

Public Member Functions
	Arm (const std::string &name, const std::string &ioComponentName)
void	ConfigurePID (const std::string &configFile, const double &periodInSeconds=0.0 *cmn_ms)
void	ConfigureArm (const ArmType armType, const std::string &configFile, const double &periodInSeconds=0.5 *cmn_ms, mtsComponent *existingArm=0)
bool	Connect (void)
const std::string &	Name (void) const
const std::string &	IOComponentName (void) const
const std::string &	PIDComponentName (void) const

Protected Member Functions
void	SUJClutchEventHandlerFromIO (const prmEventButton &button)

Protected Attributes
std::string	mName
ArmType	mType
std::string	mIOComponentName
std::string	mIOConfigurationFile
std::string	mPIDComponentName
std::string	mPIDConfigurationFile
std::string	mArmConfigurationFile
std::string	mBaseFrameComponentName
std::string	mBaseFrameInterfaceName
mtsFunctionWrite	SetRobotControlState
mtsInterfaceRequired *	IOInterfaceRequired
mtsInterfaceRequired *	PIDInterfaceRequired
mtsInterfaceRequired *	ArmInterfaceRequired
mtsInterfaceRequired *	SUJInterfaceRequiredFromIO
mtsInterfaceRequired *	SUJInterfaceRequiredToSUJ
mtsFunctionWrite	SUJClutch

Friends
class	mtsIntuitiveResearchKitConsole
class	mtsIntuitiveResearchKitConsoleQt
class	dvrk::console

Member Enumeration Documentation

enum mtsIntuitiveResearchKitConsole::Arm::ArmType

Enumerator
ARM_UNDEFINED
ARM_MTM
ARM_PSM
ARM_ECM
ARM_SUJ
ARM_MTM_GENERIC
ARM_PSM_GENERIC
ARM_MTM_DERIVED
ARM_PSM_DERIVED

Constructor & Destructor Documentation

mtsIntuitiveResearchKitConsole::Arm::Arm	(	const std::string &	name,
		const std::string &	ioComponentName
	)

Member Function Documentation

void mtsIntuitiveResearchKitConsole::Arm::ConfigureArm	(	const ArmType	armType,
		const std::string &	configFile,
		const double &	periodInSeconds = 0.5 *cmn_ms,
		mtsComponent *	existingArm = 0
	)

Create and configure the robot arm.

void mtsIntuitiveResearchKitConsole::Arm::ConfigurePID	(	const std::string &	configFile,
		const double &	periodInSeconds = 0.0 *cmn_ms
	)

Create a new PID component and connect it to the proper RobotIO interface. If the period in seconds is zero, the PID will be tied to IO using the ExecIn/ExecOut interfaces.

bool mtsIntuitiveResearchKitConsole::Arm::Connect

(

void

)

Connect all interfaces specific to this arm.

const std::string& mtsIntuitiveResearchKitConsole::Arm::IOComponentName

(

void

)

const

const std::string& mtsIntuitiveResearchKitConsole::Arm::Name

(

void

)

const

Accessors

const std::string& mtsIntuitiveResearchKitConsole::Arm::PIDComponentName

(

void

)

const

void mtsIntuitiveResearchKitConsole::Arm::SUJClutchEventHandlerFromIO ( const prmEventButton &  button )

inlineprotected

Friends And Related Function Documentation

friend class dvrk::console

friend

friend class mtsIntuitiveResearchKitConsole

friend

friend class mtsIntuitiveResearchKitConsoleQt

friend

Member Data Documentation

mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::Arm::ArmInterfaceRequired

protected

mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::Arm::IOInterfaceRequired

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mArmConfigurationFile

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mBaseFrameComponentName

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mBaseFrameInterfaceName

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mIOComponentName

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mIOConfigurationFile

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mName

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mPIDComponentName

protected

std::string mtsIntuitiveResearchKitConsole::Arm::mPIDConfigurationFile

protected

ArmType mtsIntuitiveResearchKitConsole::Arm::mType

protected

mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::Arm::PIDInterfaceRequired

protected

mtsFunctionWrite mtsIntuitiveResearchKitConsole::Arm::SetRobotControlState

protected

mtsFunctionWrite mtsIntuitiveResearchKitConsole::Arm::SUJClutch

protected

mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::Arm::SUJInterfaceRequiredFromIO

protected

mtsInterfaceRequired* mtsIntuitiveResearchKitConsole::Arm::SUJInterfaceRequiredToSUJ

protected

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

• /home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKitConsole.h