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sawRobotIO1394::osaRobot1394 Class Reference

#include <osaRobot1394.h>

Public Member Functions

Lifecycle
 osaRobot1394 (const osaRobot1394Configuration &config, const size_t maxConsecutiveCurrentSafetyViolations=100, const size_t maxConsecutivePotsToEncodersViolations=200)
 
void Configure (const osaRobot1394Configuration &config)
 
void SetBoards (const std::vector< osaActuatorMapping > &actuatorBoards, const std::vector< osaBrakeMapping > &brakeBoards)
 
State Update Functions

} These functions interact with the lower-level hardware to query information only and update this class' members.

void PollValidity (void)
 
void PollState (void)
 
void ConvertState (void)
 
void CheckState (void)
 
Command Functions

} These functions interact with the lower-level hardware when called to change its state in some way. Note that these functions do not have any side-effects in the class.

void EnablePower (void)
 Power / Safety Control. More...
 
void EnableBoardsPower (void)
 
void DisablePower (void)
 
void DisableBoardPower (void)
 
void WriteSafetyRelay (const bool &enabled)
 
void SetWatchdogPeriod (const double &periodInSeconds)
 
void SetActuatorPower (const bool &enabled)
 
void SetActuatorPower (const vctBoolVec &enabled)
 
void SetBrakePower (const bool &enabled)
 
void SetBrakePower (const vctBoolVec &enabled)
 
void SetEncoderPosition (const vctDoubleVec &pos)
 Encoder Control. More...
 
void SetEncoderPositionBits (const vctIntVec &bits)
 
void SetSingleEncoderPosition (const int index, const double pos=0)
 
void SetSingleEncoderPositionBits (const int index, const int bits=0)
 
void SetJointEffort (const vctDoubleVec &efforts)
 Actuator Control. More...
 
void SetActuatorEffort (const vctDoubleVec &efforts)
 
void SetActuatorCurrent (const vctDoubleVec &currents)
 
void SetActuatorCurrentBits (const vctIntVec &bits)
 
void UsePotsForSafetyCheck (const bool &usePotsForSafetyCheck)
 Use potentiometers for safety. More...
 
void SetPotsToEncodersTolerance (const vctDoubleVec &tolerances)
 
void SetBrakeCurrent (const vctDoubleVec &currents)
 Brake Control. More...
 
void SetBrakeCurrentBits (const vctIntVec &bits)
 
void BrakeRelease (void)
 
void BrakeEngage (void)
 
State Accessors

} These accessors only access data which is contained in this class, i.e. they do not interact with the lower-level hardware. To update these data from the lower-level system, you must call poll_state.

bool Valid (void) const
 
bool PowerStatus (void) const
 
bool SafetyRelay (void) const
 
bool WatchdogStatus (void) const
 
const vctBoolVec & ActuatorPowerStatus (void) const
 
const vctBoolVec & BrakePowerStatus (void) const
 
const vctDoubleVec & ActuatorCurrentFeedback (void) const
 
const vctDoubleVec & BrakeCurrentFeedback (void) const
 
const vctDoubleVec & PotPosition (void) const
 
const vctDoubleVec & ActuatorTimeStamp (void) const
 
const vctDoubleVec & BrakeTimeStamp (void) const
 
const vctDoubleVec & EncoderPosition (void) const
 
const vctDoubleVec & EncoderVelocity (void) const
 
const vctDoubleVec & EncoderVelocitySoftware (void) const
 
Parameter Accessors

}

osaRobot1394Configuration GetConfiguration (void) const
 
std::string Name (void) const
 
size_t NumberOfJoints (void) const
 
size_t NumberOfActuators (void) const
 
size_t SerialNumber (void) const
 
size_t NumberOfBrakes (void) const
 
void GetJointTypes (prmJointTypeVec &jointTypes) const
 
void GetJointEffortCommandLimits (vctDoubleVec &limits) const
 
void GetActuatorEffortCommandLimits (vctDoubleVec &limits) const
 
void GetActuatorCurrentCommandLimits (vctDoubleVec &limits) const
 
Bias Calibration Functions

}

void CalibrateEncoderOffsetsFromPots (void)
 

Static Public Attributes

static const size_t WATCHDOG_MS_TO_COUNT = 192
 Watchdog counts per ms (note counter width, e.g. 16 bits) More...
 

Conversion Functions

} These functions convert data between units for various purposes. They have no side-effects.

typedef std::map< int, AmpIO * >
::iterator 		unique_board_iterator
 
typedef std::map< int, AmpIO * >
::const_iterator 		unique_board_const_iterator
 
std::vector< osaActuatorMapping > mActuatorInfo
 Board Objects. More...
 
std::vector< osaBrakeMapping > mBrakeInfo
 
std::map< int, AmpIO * > mUniqueBoards
 
osaRobot1394Configuration mConfiguration
 Robot Configuration. More...
 
std::string mName
 
size_t mNumberOfActuators
 
size_t mNumberOfJoints
 
size_t mNumberOfBrakes
 
size_t mSerialNumber
 
bool mBrakeReleasing
 
vctDoubleVec mBrakeReleasingTimer
 
vctIntVec mCountsPerTurn
 Vectors of actuator properties. More...
 
vctDoubleVec mEffortToCurrentScales
 
vctDoubleVec mActuatorCurrentToBitsScales
 
vctDoubleVec mBrakeCurrentToBitsScales
 
vctDoubleVec mActuatorCurrentToBitsOffsets
 
vctDoubleVec mBrakeCurrentToBitsOffsets
 
vctDoubleVec mActuatorBitsToCurrentScales
 
vctDoubleVec mBrakeBitsToCurrentScales
 
vctDoubleVec mActuatorBitsToCurrentOffsets
 
vctDoubleVec mBrakeBitsToCurrentOffsets
 
vctDoubleVec mBitsToPositionScales
 
vctDoubleVec mBitsToPositionOffsets
 
vctDoubleVec mBitsToDPositionScales
 
vctDoubleVec mBitsToDPositionOffsets
 
vctDoubleVec mBitsToDTimeScales
 
vctDoubleVec mBitsToDTimeOffsets
 
vctDoubleVec mBitsToVecocityScales
 
vctDoubleVec mBitsToVelocityOffsets
 
vctDoubleVec mBitsToVoltageScales
 
vctDoubleVec mBitsToVoltageOffsets
 
vctDoubleVec mVoltageToPositionScales
 
vctDoubleVec mVoltageToPositionOffsets
 
vctDoubleVec mJointEffortCommandLimits
 
vctDoubleVec mActuatorEffortCommandLimits
 
vctDoubleVec mActuatorCurrentCommandLimits
 
vctDoubleVec mBrakeCurrentCommandLimits
 
vctDoubleVec mActuatorCurrentFeedbackLimits
 
vctDoubleVec mBrakeCurrentFeedbackLimits
 
vctDoubleVec mPotsToEncodersTolerance
 
prmJointTypeVec mJointType
 Robot type. More...
 
osaPot1394Location mPotType
 
bool mUsePotsForSafetyCheck
 
bool mValid
 State Members. More...
 
bool mPowerStatus
 
bool mPreviousPowerStatus
 
bool mWatchdogStatus
 
bool mPreviousWatchdogStatus
 
bool mIsAllBoardsFirmWareFour
 
unsigned short mSafetyRelay
 
vctBoolVec mActuatorPowerStatus
 
vctBoolVec mBrakePowerStatus
 
vctBoolVec mActuatorPowerEnabled
 
vctBoolVec mPotsToEncodersErrorFlag
 
vctBoolVec mBrakePowerEnabled
 
vctBoolVec mPreviousEncoderOverflow
 
vctBoolVec mEncoderOverflow
 
vctBoolVec mDigitalInputs
 
vctBoolVec mEncoderChannelsA
 
vctIntVec mPotBits
 
vctIntVec mEncoderPositionBits
 
vctIntVec mEncoderPositionBitsPrev
 
vctIntVec mEncoderVelocityBits
 
vctIntVec mEncoderVelocityBitsNow
 
vctIntVec mEncoderDPositionBits
 
vctIntVec mEncoderDTimeBits
 
vctIntVec mActuatorCurrentBitsCommand
 
vctIntVec mBrakeCurrentBitsCommand
 
vctIntVec mActuatorCurrentBitsFeedback
 
vctIntVec mBrakeCurrentBitsFeedback
 
vctDoubleVec mActuatorTimestamp
 
vctDoubleVec mActuatorTimestampChange
 
vctDoubleVec mVelocitySlopeToZero
 
vctDoubleVec mBrakeTimestamp
 
vctDoubleVec mPotVoltage
 
vctDoubleVec mPotPosition
 
vctDoubleVec mEncoderPosition
 
vctDoubleVec mEncoderPositionPrev
 
vctDoubleVec mEncoderVelocity
 
vctDoubleVec mEncoderVelocityDxDt
 
vctDoubleVec mEncoderDPosition
 
vctDoubleVec mEncoderDTime
 
vctDoubleVec mEncoderVelocitySoftware
 
vctDoubleVec mJointPosition
 
vctDoubleVec mJointVelocity
 
vctDoubleVec mJointTorque
 
vctDoubleVec mActuatorCurrentCommand
 
vctDoubleVec mBrakeCurrentCommand
 
vctDoubleVec mActuatorEffortCommand
 
vctDoubleVec mActuatorCurrentFeedback
 
vctDoubleVec mPotsToEncodersError
 
vctDoubleVec mBrakeCurrentFeedback
 
vctDoubleVec mActuatorEffortFeedback
 
vctDoubleVec mActuatorTemperature
 
vctDoubleVec mBrakeTemperature
 
vctDoubleVec mBrakeReleaseCurrent
 
vctDoubleVec mBrakeReleaseTime
 
vctDoubleVec mBrakeReleasedCurrent
 
vctDoubleVec mBrakeEngagedCurrent
 
size_t mCurrentSafetyViolationsCounter
 
size_t mCurrentSafetyViolationsMaximum
 
size_t mPotsToEncodersViolationsCounter
 
size_t mPotsToEncodersViolationsMaximum
 
void EncoderPositionToBits (const vctDoubleVec &pos, vctIntVec &bits) const
 Conversions for encoders. More...
 
void EncoderBitsToPosition (const vctIntVec &bits, vctDoubleVec &pos) const
 
void EncoderBitsToDPosition (const vctIntVec &bits, vctDoubleVec &dpos) const
 
void EncoderBitsToDTime (const vctIntVec &bits, vctDoubleVec &dt) const
 
void EncoderBitsToVelocity (const vctIntVec &bits, vctDoubleVec &vel) const
 
void ActuatorEffortToCurrent (const vctDoubleVec &efforts, vctDoubleVec &currents) const
 Conversions for actuator current commands and measurements. More...
 
void ActuatorCurrentToBits (const vctDoubleVec &currents, vctIntVec &bits) const
 
void ActuatorBitsToCurrent (const vctIntVec &bits, vctDoubleVec &currents) const
 
void ActuatorCurrentToEffort (const vctDoubleVec &currents, vctDoubleVec &efforts) const
 
void BrakeCurrentToBits (const vctDoubleVec &currents, vctIntVec &bits) const
 Conversions for brake commands. More...
 
void BrakeBitsToCurrent (const vctIntVec &bits, vctDoubleVec &currents) const
 
void PotBitsToVoltage (const vctIntVec &bits, vctDoubleVec &voltages) const
 Conversions for potentiometers. More...
 
void PotVoltageToPosition (const vctDoubleVec &voltages, vctDoubleVec &pos) const
 
void ClipActuatorEffort (vctDoubleVec &efforts)
 
void ClipActuatorCurrent (vctDoubleVec &currents)
 
void ClipBrakeCurrent (vctDoubleVec &currents)
 

Detailed Description

IO1394 Robot Abstraction Layer This class is responsible for robot-level actuation and unit conversion as well as safety monitoring for the QLA robot control architecture.

Member Typedef Documentation

typedef std::map<int, AmpIO*>::const_iterator sawRobotIO1394::osaRobot1394::unique_board_const_iterator
protected
typedef std::map<int, AmpIO*>::iterator sawRobotIO1394::osaRobot1394::unique_board_iterator
protected

Constructor & Destructor Documentation

sawRobotIO1394::osaRobot1394::osaRobot1394 ( const osaRobot1394Configuration &  config,
const size_t  maxConsecutiveCurrentSafetyViolations = 100,
const size_t  maxConsecutivePotsToEncodersViolations = 200 
)

Member Function Documentation

void sawRobotIO1394::osaRobot1394::ActuatorBitsToCurrent ( const vctIntVec &  bits,
vctDoubleVec &  currents 
) const
const vctDoubleVec& sawRobotIO1394::osaRobot1394::ActuatorCurrentFeedback ( void  ) const
void sawRobotIO1394::osaRobot1394::ActuatorCurrentToBits ( const vctDoubleVec &  currents,
vctIntVec &  bits 
) const
void sawRobotIO1394::osaRobot1394::ActuatorCurrentToEffort ( const vctDoubleVec &  currents,
vctDoubleVec &  efforts 
) const
void sawRobotIO1394::osaRobot1394::ActuatorEffortToCurrent ( const vctDoubleVec &  efforts,
vctDoubleVec &  currents 
) const

Conversions for actuator current commands and measurements.

const vctBoolVec& sawRobotIO1394::osaRobot1394::ActuatorPowerStatus ( void  ) const
const vctDoubleVec& sawRobotIO1394::osaRobot1394::ActuatorTimeStamp ( void  ) const
void sawRobotIO1394::osaRobot1394::BrakeBitsToCurrent ( const vctIntVec &  bits,
vctDoubleVec &  currents 
) const
const vctDoubleVec& sawRobotIO1394::osaRobot1394::BrakeCurrentFeedback ( void  ) const
void sawRobotIO1394::osaRobot1394::BrakeCurrentToBits ( const vctDoubleVec &  currents,
vctIntVec &  bits 
) const

Conversions for brake commands.

void sawRobotIO1394::osaRobot1394::BrakeEngage ( void  )
const vctBoolVec& sawRobotIO1394::osaRobot1394::BrakePowerStatus ( void  ) const
void sawRobotIO1394::osaRobot1394::BrakeRelease ( void  )
const vctDoubleVec& sawRobotIO1394::osaRobot1394::BrakeTimeStamp ( void  ) const
void sawRobotIO1394::osaRobot1394::CalibrateEncoderOffsetsFromPots ( void  )
void sawRobotIO1394::osaRobot1394::CheckState ( void  )
void sawRobotIO1394::osaRobot1394::ClipActuatorCurrent ( vctDoubleVec &  currents)
protected
void sawRobotIO1394::osaRobot1394::ClipActuatorEffort ( vctDoubleVec &  efforts)
protected

}

void sawRobotIO1394::osaRobot1394::ClipBrakeCurrent ( vctDoubleVec &  currents)
protected
void sawRobotIO1394::osaRobot1394::Configure ( const osaRobot1394Configuration &  config)
void sawRobotIO1394::osaRobot1394::ConvertState ( void  )
void sawRobotIO1394::osaRobot1394::DisableBoardPower ( void  )
void sawRobotIO1394::osaRobot1394::DisablePower ( void  )
void sawRobotIO1394::osaRobot1394::EnableBoardsPower ( void  )
void sawRobotIO1394::osaRobot1394::EnablePower ( void  )

Power / Safety Control.

void sawRobotIO1394::osaRobot1394::EncoderBitsToDPosition ( const vctIntVec &  bits,
vctDoubleVec &  dpos 
) const
void sawRobotIO1394::osaRobot1394::EncoderBitsToDTime ( const vctIntVec &  bits,
vctDoubleVec &  dt 
) const
void sawRobotIO1394::osaRobot1394::EncoderBitsToPosition ( const vctIntVec &  bits,
vctDoubleVec &  pos 
) const
void sawRobotIO1394::osaRobot1394::EncoderBitsToVelocity ( const vctIntVec &  bits,
vctDoubleVec &  vel 
) const
const vctDoubleVec& sawRobotIO1394::osaRobot1394::EncoderPosition ( void  ) const
void sawRobotIO1394::osaRobot1394::EncoderPositionToBits ( const vctDoubleVec &  pos,
vctIntVec &  bits 
) const

Conversions for encoders.

const vctDoubleVec& sawRobotIO1394::osaRobot1394::EncoderVelocity ( void  ) const
const vctDoubleVec& sawRobotIO1394::osaRobot1394::EncoderVelocitySoftware ( void  ) const
void sawRobotIO1394::osaRobot1394::GetActuatorCurrentCommandLimits ( vctDoubleVec &  limits) const
void sawRobotIO1394::osaRobot1394::GetActuatorEffortCommandLimits ( vctDoubleVec &  limits) const
osaRobot1394Configuration sawRobotIO1394::osaRobot1394::GetConfiguration ( void  ) const
void sawRobotIO1394::osaRobot1394::GetJointEffortCommandLimits ( vctDoubleVec &  limits) const
void sawRobotIO1394::osaRobot1394::GetJointTypes ( prmJointTypeVec &  jointTypes) const
std::string sawRobotIO1394::osaRobot1394::Name ( void  ) const
size_t sawRobotIO1394::osaRobot1394::NumberOfActuators ( void  ) const
size_t sawRobotIO1394::osaRobot1394::NumberOfBrakes ( void  ) const
size_t sawRobotIO1394::osaRobot1394::NumberOfJoints ( void  ) const
void sawRobotIO1394::osaRobot1394::PollState ( void  )
void sawRobotIO1394::osaRobot1394::PollValidity ( void  )
void sawRobotIO1394::osaRobot1394::PotBitsToVoltage ( const vctIntVec &  bits,
vctDoubleVec &  voltages 
) const

Conversions for potentiometers.

const vctDoubleVec& sawRobotIO1394::osaRobot1394::PotPosition ( void  ) const
void sawRobotIO1394::osaRobot1394::PotVoltageToPosition ( const vctDoubleVec &  voltages,
vctDoubleVec &  pos 
) const
bool sawRobotIO1394::osaRobot1394::PowerStatus ( void  ) const
bool sawRobotIO1394::osaRobot1394::SafetyRelay ( void  ) const
size_t sawRobotIO1394::osaRobot1394::SerialNumber ( void  ) const
void sawRobotIO1394::osaRobot1394::SetActuatorCurrent ( const vctDoubleVec &  currents)
void sawRobotIO1394::osaRobot1394::SetActuatorCurrentBits ( const vctIntVec &  bits)
void sawRobotIO1394::osaRobot1394::SetActuatorEffort ( const vctDoubleVec &  efforts)
void sawRobotIO1394::osaRobot1394::SetActuatorPower ( const bool &  enabled)
void sawRobotIO1394::osaRobot1394::SetActuatorPower ( const vctBoolVec &  enabled)
void sawRobotIO1394::osaRobot1394::SetBoards ( const std::vector< osaActuatorMapping > &  actuatorBoards,
const std::vector< osaBrakeMapping > &  brakeBoards 
)
void sawRobotIO1394::osaRobot1394::SetBrakeCurrent ( const vctDoubleVec &  currents)

Brake Control.

void sawRobotIO1394::osaRobot1394::SetBrakeCurrentBits ( const vctIntVec &  bits)
void sawRobotIO1394::osaRobot1394::SetBrakePower ( const bool &  enabled)
void sawRobotIO1394::osaRobot1394::SetBrakePower ( const vctBoolVec &  enabled)
void sawRobotIO1394::osaRobot1394::SetEncoderPosition ( const vctDoubleVec &  pos)

Encoder Control.

void sawRobotIO1394::osaRobot1394::SetEncoderPositionBits ( const vctIntVec &  bits)
void sawRobotIO1394::osaRobot1394::SetJointEffort ( const vctDoubleVec &  efforts)

Actuator Control.

void sawRobotIO1394::osaRobot1394::SetPotsToEncodersTolerance ( const vctDoubleVec &  tolerances)
void sawRobotIO1394::osaRobot1394::SetSingleEncoderPosition ( const int  index,
const double  pos = 0 
)
void sawRobotIO1394::osaRobot1394::SetSingleEncoderPositionBits ( const int  index,
const int  bits = 0 
)
void sawRobotIO1394::osaRobot1394::SetWatchdogPeriod ( const double &  periodInSeconds)
void sawRobotIO1394::osaRobot1394::UsePotsForSafetyCheck ( const bool &  usePotsForSafetyCheck)

Use potentiometers for safety.

bool sawRobotIO1394::osaRobot1394::Valid ( void  ) const
bool sawRobotIO1394::osaRobot1394::WatchdogStatus ( void  ) const
void sawRobotIO1394::osaRobot1394::WriteSafetyRelay ( const bool &  enabled)

Member Data Documentation

vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorBitsToCurrentOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorBitsToCurrentScales
protected
vctIntVec sawRobotIO1394::osaRobot1394::mActuatorCurrentBitsCommand
protected
vctIntVec sawRobotIO1394::osaRobot1394::mActuatorCurrentBitsFeedback
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentCommand
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentCommandLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentFeedback
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentFeedbackLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentToBitsOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorCurrentToBitsScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorEffortCommand
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorEffortCommandLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorEffortFeedback
protected
std::vector<osaActuatorMapping> sawRobotIO1394::osaRobot1394::mActuatorInfo
protected

Board Objects.

vctBoolVec sawRobotIO1394::osaRobot1394::mActuatorPowerEnabled
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mActuatorPowerStatus
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorTemperature
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorTimestamp
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mActuatorTimestampChange
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToDPositionOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToDPositionScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToDTimeOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToDTimeScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToPositionOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToPositionScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToVecocityScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToVelocityOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToVoltageOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBitsToVoltageScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeBitsToCurrentOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeBitsToCurrentScales
protected
vctIntVec sawRobotIO1394::osaRobot1394::mBrakeCurrentBitsCommand
protected
vctIntVec sawRobotIO1394::osaRobot1394::mBrakeCurrentBitsFeedback
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentCommand
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentCommandLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentFeedback
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentFeedbackLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentToBitsOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeCurrentToBitsScales
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeEngagedCurrent
protected
std::vector<osaBrakeMapping> sawRobotIO1394::osaRobot1394::mBrakeInfo
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mBrakePowerEnabled
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mBrakePowerStatus
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeReleaseCurrent
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeReleasedCurrent
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeReleaseTime
protected
bool sawRobotIO1394::osaRobot1394::mBrakeReleasing
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeReleasingTimer
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeTemperature
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mBrakeTimestamp
protected
osaRobot1394Configuration sawRobotIO1394::osaRobot1394::mConfiguration
protected

Robot Configuration.

vctIntVec sawRobotIO1394::osaRobot1394::mCountsPerTurn
protected

Vectors of actuator properties.

size_t sawRobotIO1394::osaRobot1394::mCurrentSafetyViolationsCounter
protected
size_t sawRobotIO1394::osaRobot1394::mCurrentSafetyViolationsMaximum
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mDigitalInputs
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEffortToCurrentScales
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mEncoderChannelsA
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderDPosition
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderDPositionBits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderDTime
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderDTimeBits
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mEncoderOverflow
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderPosition
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderPositionBits
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderPositionBitsPrev
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderPositionPrev
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderVelocity
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderVelocityBits
protected
vctIntVec sawRobotIO1394::osaRobot1394::mEncoderVelocityBitsNow
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderVelocityDxDt
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mEncoderVelocitySoftware
protected
bool sawRobotIO1394::osaRobot1394::mIsAllBoardsFirmWareFour
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mJointEffortCommandLimits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mJointPosition
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mJointTorque
protected
prmJointTypeVec sawRobotIO1394::osaRobot1394::mJointType
protected

Robot type.

vctDoubleVec sawRobotIO1394::osaRobot1394::mJointVelocity
protected
std::string sawRobotIO1394::osaRobot1394::mName
protected
size_t sawRobotIO1394::osaRobot1394::mNumberOfActuators
protected
size_t sawRobotIO1394::osaRobot1394::mNumberOfBrakes
protected
size_t sawRobotIO1394::osaRobot1394::mNumberOfJoints
protected
vctIntVec sawRobotIO1394::osaRobot1394::mPotBits
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mPotPosition
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mPotsToEncodersError
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mPotsToEncodersErrorFlag
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mPotsToEncodersTolerance
protected
size_t sawRobotIO1394::osaRobot1394::mPotsToEncodersViolationsCounter
protected
size_t sawRobotIO1394::osaRobot1394::mPotsToEncodersViolationsMaximum
protected
osaPot1394Location sawRobotIO1394::osaRobot1394::mPotType
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mPotVoltage
protected
bool sawRobotIO1394::osaRobot1394::mPowerStatus
protected
vctBoolVec sawRobotIO1394::osaRobot1394::mPreviousEncoderOverflow
protected
bool sawRobotIO1394::osaRobot1394::mPreviousPowerStatus
protected
bool sawRobotIO1394::osaRobot1394::mPreviousWatchdogStatus
protected
unsigned short sawRobotIO1394::osaRobot1394::mSafetyRelay
protected
size_t sawRobotIO1394::osaRobot1394::mSerialNumber
protected
std::map<int, AmpIO*> sawRobotIO1394::osaRobot1394::mUniqueBoards
protected
bool sawRobotIO1394::osaRobot1394::mUsePotsForSafetyCheck
protected
bool sawRobotIO1394::osaRobot1394::mValid
protected

State Members.

vctDoubleVec sawRobotIO1394::osaRobot1394::mVelocitySlopeToZero
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mVoltageToPositionOffsets
protected
vctDoubleVec sawRobotIO1394::osaRobot1394::mVoltageToPositionScales
protected
bool sawRobotIO1394::osaRobot1394::mWatchdogStatus
protected
const size_t sawRobotIO1394::osaRobot1394::WATCHDOG_MS_TO_COUNT = 192
static

Watchdog counts per ms (note counter width, e.g. 16 bits)

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