rl::hal::Coach Class Reference

#include <Coach.h>

Inheritance diagram for rl::hal::Coach:

Public Member Functions
	Coach (const ::std::size_t &dof, const ::std::chrono::nanoseconds &updateRate, const ::std::size_t &i=0, const ::std::string &hostname="localhost", const unsigned short int &port=11235)
virtual	~Coach ()
void	close ()
::rl::math::Vector	getJointPosition () const
void	open ()
void	setJointPosition (const ::rl::math::Vector &q)
void	setJointTorque (const ::rl::math::Vector &tau)
void	setJointVelocity (const ::rl::math::Vector &qd)
void	start ()
void	step ()
void	stop ()
Public Member Functions inherited from rl::hal::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
virtual	~CyclicDevice ()
virtual ::std::chrono::nanoseconds	getUpdateRate () const
Public Member Functions inherited from rl::hal::Device
	Device ()
virtual	~Device ()
bool	isConnected () const
bool	isRunning () const
Public Member Functions inherited from rl::hal::JointPositionActuator
	JointPositionActuator (const ::std::size_t &dof)
virtual	~JointPositionActuator ()
Public Member Functions inherited from rl::hal::AxisController
	AxisController (const ::std::size_t &dof)
virtual	~AxisController ()
::std::size_t	getDof () const
Public Member Functions inherited from rl::hal::JointPositionSensor
	JointPositionSensor (const ::std::size_t &dof)
virtual	~JointPositionSensor ()
Public Member Functions inherited from rl::hal::JointTorqueActuator
	JointTorqueActuator (const ::std::size_t &dof)
virtual	~JointTorqueActuator ()
Public Member Functions inherited from rl::hal::JointVelocityActuator
	JointVelocityActuator (const ::std::size_t &dof)
virtual	~JointVelocityActuator ()

Private Attributes
::std::size_t	i
::std::array< char, 1024 >	in
::std::stringstream	out
Socket	socket

Additional Inherited Members
Protected Member Functions inherited from rl::hal::Device
void	setConnected (const bool &connected)
void	setRunning (const bool &running)

Constructor & Destructor Documentation

Coach()

rl::hal::Coach::Coach	(	const ::std::size_t &	dof,
		const ::std::chrono::nanoseconds &	updateRate,
		const ::std::size_t &	i = 0,
		const ::std::string &	hostname = "localhost",
		const unsigned short int &	port = 11235
	)

~Coach()

rl::hal::Coach::~Coach ( )

virtual

Member Function Documentation

close()

void rl::hal::Coach::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

getJointPosition()

rl::math::Vector rl::hal::Coach::getJointPosition ( ) const

virtual

Implements rl::hal::JointPositionSensor.

open()

void rl::hal::Coach::open ( )

virtual

Implements rl::hal::Device.

setJointPosition()

void rl::hal::Coach::setJointPosition ( const ::rl::math::Vector &  q )

virtual

Implements rl::hal::JointPositionActuator.

setJointTorque()

void rl::hal::Coach::setJointTorque ( const ::rl::math::Vector &  tau )

virtual

Implements rl::hal::JointTorqueActuator.

setJointVelocity()

void rl::hal::Coach::setJointVelocity ( const ::rl::math::Vector &  qd )

virtual

Implements rl::hal::JointVelocityActuator.

start()

void rl::hal::Coach::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::Coach::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::Coach::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

i

::std::size_t rl::hal::Coach::i

private

in

::std::array<char, 1024> rl::hal::Coach::in

private

out

::std::stringstream rl::hal::Coach::out

private

socket

Socket rl::hal::Coach::socket

private

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

• rl/hal/Coach.h
• rl/hal/Coach.cpp