sawRobotIO1394 Namespace Reference

Classes
class	osaRuntimeError1394
	Exceptions for error handling. More...
struct	osaDrive1394Configuration
struct	osaEncoder1394Configuration
struct	osaPot1394Configuration
struct	osaAnalogBrake1394Configuration
struct	osaActuator1394Configuration
struct	osaRobot1394Configuration
struct	osaDigitalInput1394Configuration
struct	osaDigitalOutput1394Configuration
struct	osaPort1394Configuration
struct	osaActuatorMapping
struct	osaBrakeMapping
class	osaDigitalInput1394
class	osaDigitalOutput1394
class	osaPort1394
class	osaRobot1394

Enumerations
enum	osaPot1394Location { POTENTIOMETER_UNDEFINED, POTENTIOMETER_ON_ACTUATORS, POTENTIOMETER_ON_JOINTS }
	Defines where the potentiometers are positioned, if any. More...

Functions
template<typename _elementType >
bool	osaXML1394GetValue (cmnXMLPath &path, const std::string &context, const std::string &XPath, _elementType &value, bool required=true)
void	osaXML1394ConfigurePort (const std::string &filename, osaPort1394Configuration &config)
bool	osaXML1394ConfigureRobot (cmnXMLPath &xmlConfig, const int robotIndex, osaRobot1394Configuration &robot)
bool	osaXML1394ConfigureCoupling (cmnXMLPath &xmlConfig, const int robotIndex, osaRobot1394Configuration &robot)
bool	osaXML1394ConfigureCouplingMatrix (cmnXMLPath &xmlConfig, const int robotIndex, const char *couplingString, int numRows, int numCols, vctDoubleMat &resultMatrix)
bool	osaXML1394ConfigureDigitalInput (cmnXMLPath &xmlConfig, const int inputIndex, osaDigitalInput1394Configuration &digitalInput)
bool	osaXML1394ConfigureDigitalOutput (cmnXMLPath &xmlConfig, const int outputIndex, osaDigitalOutput1394Configuration &digitalOutput)

Variables
const size_t	MAX_BOARDS = 16
const size_t	MAX_AXES = 4

Enumeration Type Documentation

enum sawRobotIO1394::osaPot1394Location

Defines where the potentiometers are positioned, if any.

Enumerator
POTENTIOMETER_UNDEFINED
POTENTIOMETER_ON_ACTUATORS
POTENTIOMETER_ON_JOINTS

Function Documentation

bool sawRobotIO1394::osaXML1394ConfigureCoupling	(	cmnXMLPath &	xmlConfig,
		const int	robotIndex,
		osaRobot1394Configuration &	robot
	)

bool sawRobotIO1394::osaXML1394ConfigureCouplingMatrix	(	cmnXMLPath &	xmlConfig,
		const int	robotIndex,
		const char *	couplingString,
		int	numRows,
		int	numCols,
		vctDoubleMat &	resultMatrix
	)

bool sawRobotIO1394::osaXML1394ConfigureDigitalInput	(	cmnXMLPath &	xmlConfig,
		const int	inputIndex,
		osaDigitalInput1394Configuration &	digitalInput
	)

bool sawRobotIO1394::osaXML1394ConfigureDigitalOutput	(	cmnXMLPath &	xmlConfig,
		const int	outputIndex,
		osaDigitalOutput1394Configuration &	digitalOutput
	)

void sawRobotIO1394::osaXML1394ConfigurePort	(	const std::string &	filename,
		osaPort1394Configuration &	config
	)

bool sawRobotIO1394::osaXML1394ConfigureRobot	(	cmnXMLPath &	xmlConfig,
		const int	robotIndex,
		osaRobot1394Configuration &	robot
	)

template<typename _elementType >

bool sawRobotIO1394::osaXML1394GetValue	(	cmnXMLPath &	path,
		const std::string &	context,
		const std::string &	XPath,
		_elementType &	value,
		bool	required = true
	)

Variable Documentation

const size_t sawRobotIO1394::MAX_AXES = 4

const size_t sawRobotIO1394::MAX_BOARDS = 16