ArmController Class Reference

Listens to control commands coming in from the command port for remotely controlling the arm. More...

#include <ArmController.h>

Inheritance diagram for ArmController:

Detailed Description

Listens to control commands coming in from the command port for remotely controlling the arm.

The communication protocol is a very simple binary format, shared with WalkControllerBehavior. Each command is sent as a 5-byte group. The first byte is a command selector, and the following 4 bytes are a floating point argument:

<char: command indicator>
<float: value>

The valid values for command indicator are given by CMD_shoulder, CMD_elbow, or CMD_wrist ('s', 'e', or 'w' respectively).

Definition at line 31 of file ArmController.h.

List of all members.

Static Public Member Functions
static int	mechacmd_callback (char *buf, int bytes)
	called by wireless when there's new data
Static Public Attributes
static ArmController *	theOne = NULL
	Points to the one ArmController object that the input command stream is talking to.
Protected Types
enum	DisplayMode_t { pitchAndYaw = 0, yawOnly, pitchOnly }
	Controls whether we have one or two Point Pickers, and which kind. More...
Protected Attributes
MotionManager::MC_ID	armMCID
	The ArmMC, for moving individual joints.
MotionManager::MC_ID	pidMCID
	The PIDMC.
MotionManager::MC_ID	seqMCID
	Used to run motion sequences for smooth paths to points picked in the ArmGUI.
KinematicJoint *	gripperFrameKJ
	Kinematic Joint for the Gripper Frame.
KinematicJoint *	successJ
	To test for valid points, we use a separate kinematic chain.
KinematicJoint *	KJjoints [NumArmJoints]
	All of the joints in the arm.
float	horScale
	Horizontal scaling factor for the Point Picker.
float	verScale
	Vertical scaling factor for the Point Picker.
unsigned int	numSteps
	Number of interpolation steps to take when moving from one point to the next.
std::queue< fmat::Column< 3 > >	steps
	Interpolation steps: every time we receive a joint update, we fire another.
enum ArmController::DisplayMode_t	displayMode
	Controls whether we have one or two Point Pickers, and which kind.
Command Bytes

float	theta
	Angle between base horizontal joint and gripper, as from a bird's eye view.
float	z
	Height of point picked.
fmat::Column< 3 >	horToBase
	First horizontal joint location, relative to base.
fmat::Column< 3 >	verToBase
	First vertical joint location, relative to base.
float	speed
	Maximum speed for every joint.
fmat::Quaternion	orientation [2]
	Target arm orientations for IKSolver.
int	orientationIndex
	Currently selected orientation (0 - side, 1 - overhead).
unsigned int	numYawJoints
	Number of yaw joints.
unsigned int	numPitchJoints
	Number of pitch joints.
unsigned int	linksToDisplay
	Total number of links to display (numYawJoints + numPitchJoints).
TimeET	reachablePointsDelay
	Delay between sending reachable points.
char	armConfig [NumArmJoints]
	Whether each joint is horizontal or vertical.
float	yawCoords [NumArmJoints][2]
	Horizontal joint coordinates.
float	pitchCoords [NumArmJoints][2]
	Vertical joint coordinates.
ArmController *	theLastOne
	The last HPCB object that was theOne.
Socket *	cmdsock
	The input command stream socket.
static const char	cmdUnrelax = 'u'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdRelax = 'v'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdGripper = 'w'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdPoint = 'x'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdSpeed = 'y'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdConnect = 'z'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static const char	cmdOrientation = 'o'
	Angle between base horizontal joint and gripper, as from a bird's eye view.
static std::string	getClassDescription ()
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	runCommand (unsigned char *command)
	Executes a command. Called by mechacmd_callback.
void	doEvent ()
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	connect ()
	Possible commands from ArmGUI.
void	pointPicked (float param, float param2, float param3, int cmdno)
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	gripper (float param, int cmdno)
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	relax ()
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	unrelax ()
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	setJoint (unsigned int joint, float param)
	Angle between base horizontal joint and gripper, as from a bird's eye view.
	ArmController (const ArmController &)
	don't call
ArmController	operator= (const ArmController &)
	don't call
	ArmController ()
	constructor
virtual	~ArmController ()
	destructor
virtual void	doStart ()
	Setup the scale and the joints quantity to display.
virtual void	doStop ()
	Angle between base horizontal joint and gripper, as from a bird's eye view.
void	computeCoords ()
	Compute the joint positions.
void	sendCoords ()
	Send the joint positions to the ArmGUI.
void	sendReachablePoints (DisplayMode_t d)
	Compute and send reachable points w/ given orientation.
virtual std::string	getDescription () const
	Angle between base horizontal joint and gripper, as from a bird's eye view.

Member Enumeration Documentation

enum ArmController::DisplayMode_t [protected]

Controls whether we have one or two Point Pickers, and which kind.

Enumerator:

pitchAndYaw
yawOnly
pitchOnly

Definition at line 71 of file ArmController.h.

Constructor & Destructor Documentation

ArmController::ArmController ( const ArmController & ) [protected]

don't call

ArmController::ArmController ( )

constructor

Definition at line 158 of file ArmController.h.

virtual ArmController::~ArmController ( ) [virtual]

destructor

Definition at line 199 of file ArmController.h.

Member Function Documentation

void ArmController::computeCoords ( )

Compute the joint positions.

Definition at line 558 of file ArmController.cc.

Referenced by connect(), doEvent(), pointPicked(), and setJoint().

void ArmController::connect ( ) [protected]

Possible commands from ArmGUI.

Definition at line 294 of file ArmController.cc.

Referenced by runCommand().

void ArmController::doEvent ( ) [protected, virtual]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Reimplemented from BehaviorBase.

Definition at line 124 of file ArmController.cc.

void ArmController::doStart ( ) [virtual]

Setup the scale and the joints quantity to display.

Reimplemented from BehaviorBase.

Definition at line 25 of file ArmController.cc.

void ArmController::doStop ( ) [virtual]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Reimplemented from BehaviorBase.

Definition at line 113 of file ArmController.cc.

static std::string ArmController::getClassDescription ( ) [static]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Reimplemented from BehaviorBase.

Definition at line 221 of file ArmController.h.

Referenced by getDescription().

virtual std::string ArmController::getDescription ( ) const [virtual]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Reimplemented from BehaviorBase.

Definition at line 227 of file ArmController.h.

void ArmController::gripper	(	float	param,
		int	cmdno
	)			`[protected]`

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 477 of file ArmController.cc.

Referenced by runCommand().

int ArmController::mechacmd_callback	(	char *	buf,
		int	bytes
	)			`[static]`

called by wireless when there's new data

Definition at line 147 of file ArmController.cc.

Referenced by doStart().

ArmController ArmController::operator= ( const ArmController & ) [protected]

don't call

void ArmController::pointPicked	(	float	param,
		float	param2,
		float	param3,
		int	cmdno
	)			`[protected]`

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 363 of file ArmController.cc.

Referenced by runCommand().

void ArmController::relax ( ) [protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 500 of file ArmController.cc.

Referenced by runCommand().

void ArmController::runCommand ( unsigned char * command ) [protected]

Executes a command. Called by mechacmd_callback.

Definition at line 193 of file ArmController.cc.

Referenced by mechacmd_callback().

void ArmController::sendCoords ( )

Send the joint positions to the ArmGUI.

Definition at line 609 of file ArmController.cc.

Referenced by connect(), doEvent(), pointPicked(), and setJoint().

void ArmController::sendReachablePoints ( DisplayMode_t d )

Compute and send reachable points w/ given orientation.

Only applicable for robots with vertical joints. param = 1.0 for horizontal and 2.0 for vertical.

Definition at line 625 of file ArmController.cc.

Referenced by connect(), pointPicked(), and runCommand().

void ArmController::setJoint	(	unsigned int	joint,
		float	param
	)			`[protected]`

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 515 of file ArmController.cc.

Referenced by runCommand().

void ArmController::unrelax ( ) [protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 508 of file ArmController.cc.

Referenced by runCommand().

Member Data Documentation

char ArmController::armConfig[NumArmJoints] [protected]

Whether each joint is horizontal or vertical.

Definition at line 122 of file ArmController.h.

Referenced by ArmController(), computeCoords(), connect(), and doStart().

MotionManager::MC_ID ArmController::armMCID [protected]

The ArmMC, for moving individual joints.

Definition at line 41 of file ArmController.h.

Referenced by doStart(), doStop(), and setJoint().

const char ArmController::cmdConnect = 'z' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 83 of file ArmController.h.

Referenced by runCommand().

const char ArmController::cmdGripper = 'w' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 80 of file ArmController.h.

Referenced by runCommand().

const char ArmController::cmdOrientation = 'o' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 84 of file ArmController.h.

Referenced by runCommand().

const char ArmController::cmdPoint = 'x' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 81 of file ArmController.h.

Referenced by runCommand().

const char ArmController::cmdRelax = 'v' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 79 of file ArmController.h.

Referenced by runCommand().

Socket* ArmController::cmdsock [protected]

The input command stream socket.

Definition at line 139 of file ArmController.h.

Referenced by connect(), doEvent(), doStart(), doStop(), gripper(), pointPicked(), sendCoords(), sendReachablePoints(), and setJoint().

const char ArmController::cmdSpeed = 'y' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 82 of file ArmController.h.

Referenced by runCommand().

const char ArmController::cmdUnrelax = 'u' [static, protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 78 of file ArmController.h.

Referenced by runCommand().

enum ArmController::DisplayMode_t ArmController::displayMode [protected]

Controls whether we have one or two Point Pickers, and which kind.

Referenced by computeCoords(), connect(), doEvent(), pointPicked(), runCommand(), sendCoords(), and setJoint().

KinematicJoint* ArmController::gripperFrameKJ [protected]

Kinematic Joint for the Gripper Frame.

Definition at line 50 of file ArmController.h.

Referenced by ArmController(), computeCoords(), doStart(), pointPicked(), and ~ArmController().

float ArmController::horScale [protected]

Horizontal scaling factor for the Point Picker.

Definition at line 59 of file ArmController.h.

Referenced by connect(), doEvent(), doStart(), pointPicked(), sendCoords(), sendReachablePoints(), and setJoint().

fmat::Column<3> ArmController::horToBase [protected]

First horizontal joint location, relative to base.

Definition at line 95 of file ArmController.h.

Referenced by doStart(), pointPicked(), and sendReachablePoints().

KinematicJoint* ArmController::KJjoints[NumArmJoints] [protected]

All of the joints in the arm.

Definition at line 56 of file ArmController.h.

Referenced by computeCoords(), doStart(), pointPicked(), sendReachablePoints(), and setJoint().

unsigned int ArmController::linksToDisplay [protected]

Total number of links to display (numYawJoints + numPitchJoints).

Definition at line 116 of file ArmController.h.

Referenced by computeCoords(), doStart(), and pointPicked().

unsigned int ArmController::numPitchJoints [protected]

Number of pitch joints.

Definition at line 113 of file ArmController.h.

Referenced by computeCoords(), connect(), doEvent(), doStart(), pointPicked(), sendCoords(), and setJoint().

unsigned int ArmController::numSteps [protected]

Number of interpolation steps to take when moving from one point to the next.

Definition at line 65 of file ArmController.h.

unsigned int ArmController::numYawJoints [protected]

Number of yaw joints.

Definition at line 110 of file ArmController.h.

Referenced by computeCoords(), connect(), doEvent(), doStart(), pointPicked(), sendCoords(), and setJoint().

fmat::Quaternion ArmController::orientation[2] [protected]

Target arm orientations for IKSolver.

Definition at line 104 of file ArmController.h.

Referenced by ArmController(), pointPicked(), and sendReachablePoints().

int ArmController::orientationIndex [protected]

Currently selected orientation (0 - side, 1 - overhead).

Definition at line 107 of file ArmController.h.

Referenced by pointPicked(), runCommand(), and sendReachablePoints().

MotionManager::MC_ID ArmController::pidMCID [protected]

The PIDMC.

Definition at line 44 of file ArmController.h.

Referenced by doStart(), doStop(), relax(), and unrelax().

float ArmController::pitchCoords[NumArmJoints][2] [protected]

Vertical joint coordinates.

Definition at line 128 of file ArmController.h.

Referenced by computeCoords(), connect(), doEvent(), pointPicked(), sendCoords(), and setJoint().

TimeET ArmController::reachablePointsDelay [protected]

Delay between sending reachable points.

Definition at line 119 of file ArmController.h.

Referenced by pointPicked().

MotionManager::MC_ID ArmController::seqMCID [protected]

Used to run motion sequences for smooth paths to points picked in the ArmGUI.

Definition at line 47 of file ArmController.h.

Referenced by doStart(), doStop(), pointPicked(), and setJoint().

float ArmController::speed [protected]

Maximum speed for every joint.

Definition at line 101 of file ArmController.h.

Referenced by pointPicked(), runCommand(), and setJoint().

std::queue<fmat::Column<3> > ArmController::steps [protected]

Interpolation steps: every time we receive a joint update, we fire another.

Definition at line 68 of file ArmController.h.

KinematicJoint* ArmController::successJ [protected]

To test for valid points, we use a separate kinematic chain.

Definition at line 53 of file ArmController.h.

Referenced by ArmController(), and sendReachablePoints().

ArmController* ArmController::theLastOne [protected]

The last HPCB object that was theOne.

So we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.

Definition at line 136 of file ArmController.h.

Referenced by doStart(), doStop(), and ~ArmController().

ArmController * ArmController::theOne = NULL [static]

Points to the one ArmController object that the input command stream is talking to.

A kludge. Dunno how you're going to make sure you're not using this uninitialized.

Definition at line 36 of file ArmController.h.

Referenced by doStart(), doStop(), and ~ArmController().

float ArmController::theta [protected]

Angle between base horizontal joint and gripper, as from a bird's eye view.

To be kept constant between point picks.

Definition at line 88 of file ArmController.h.

Referenced by doStart(), pointPicked(), and sendReachablePoints().