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RemoteControllerMC Class Reference

#include <RemoteControllerMC.h>

Inheritance diagram for RemoteControllerMC:

Inheritance graph
[legend]
List of all members.

Detailed Description

This class is used for setting all PIDJoints to a certain set of values (not the gains, just the joint positions).

Definition at line 10 of file RemoteControllerMC.h.

Public Member Functions

 RemoteControllerMC ()
 constructor, defaults to active, all joints at 0

virtual ~RemoteControllerMC ()
 destructor

void setDirty ()
 sets dirty flag to true

Inherited:
Updates all PIDJoint values

virtual int updateOutputs ()
 is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager

virtual int isDirty ()
 true if a change has been made since the last updateJointCmds() and we're active

virtual int isAlive ()
 always true


Public Attributes

float cmds [NumPIDJoints]
 current vector of positions


Protected Attributes

bool dirty
 true if a change has been made since last call to updateJointCmds()

bool active
 set by accessor functions, defaults to true


Constructor & Destructor Documentation

RemoteControllerMC::RemoteControllerMC  )  [inline]
 

constructor, defaults to active, all joints at 0

Definition at line 13 of file RemoteControllerMC.h.

References active, cmds, dirty, and ERS210Info::NumPIDJoints.

virtual RemoteControllerMC::~RemoteControllerMC  )  [inline, virtual]
 

destructor

Definition at line 17 of file RemoteControllerMC.h.


Member Function Documentation

virtual int RemoteControllerMC::isAlive  )  [inline, virtual]
 

always true

Implements MotionCommand.

Definition at line 30 of file RemoteControllerMC.h.

virtual int RemoteControllerMC::isDirty  )  [inline, virtual]
 

true if a change has been made since the last updateJointCmds() and we're active

Implements MotionCommand.

Definition at line 29 of file RemoteControllerMC.h.

References active, and dirty.

void RemoteControllerMC::setDirty  )  [inline]
 

sets dirty flag to true

Definition at line 33 of file RemoteControllerMC.h.

References dirty.

virtual int RemoteControllerMC::updateOutputs  )  [inline, virtual]
 

is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager

Returns:
zero if no changes were made, non-zero otherwise
See also:
RobotInfo::NumFrames

RobotInfo::FrameTime

Implements MotionCommand.

Definition at line 21 of file RemoteControllerMC.h.

References cmds, dirty, isDirty(), motman, ERS210Info::NumPIDJoints, ERS210Info::PIDJointOffset, and MotionManager::setOutput().


Member Data Documentation

bool RemoteControllerMC::active [protected]
 

set by accessor functions, defaults to true

Definition at line 38 of file RemoteControllerMC.h.

float RemoteControllerMC::cmds[NumPIDJoints]
 

current vector of positions

Definition at line 34 of file RemoteControllerMC.h.

bool RemoteControllerMC::dirty [protected]
 

true if a change has been made since last call to updateJointCmds()

Definition at line 37 of file RemoteControllerMC.h.


The documentation for this class was generated from the following file:
Tekkotsu v1.4
Generated Sat Jul 19 00:09:08 2003 by Doxygen 1.3.2