Robot Class Reference

Abstract Class representing a robot. Includes vectors of Joint and InputDevice. More...

#include <Robot.h>

Inheritance diagram for Robot:

Collaboration diagram for Robot:

Public Member Functions
	Robot (TrajectoryGenerator *tj)
	Default Robot constructor. More...
	~Robot ()
bool	initialise ()
	Initialize memory for the designed Robot classes specific Joint objects + sensors (if available) using the pure virtual initialiseJoints() implemented by the robot designer. Based on the given Joints, initNetwork() will configure these joints for CAN PDO messaging and Load the specififed Controller, by default set to Positio. More...
virtual bool	initialiseJoints ()=0
	Pure Virtual function, implemeted by robot designer with specified number of each concrete joint classes for the robot hardware desired. More...
virtual bool	initialiseInputs ()=0
	Pure Virtual function, implemeted by robot designer with specified number of each concrete input classes for the robot hardware desired. More...
virtual bool	initialiseNetwork ()=0
	For each <class>Joint</class> in the robots joints Vector. Individually set up the underlying CANopen PDO messaging to and from the hardware attached. More...
virtual void	updateRobot ()
	Update all of this Robot software joint positions from object dictionary entries. More...
void	printStatus ()
	print out status of robot and all of its joints More...
void	getJointStatus (int J_i)
	print out status of Joint J_i More...
void	initialiseLog ()
	Initialises Logging to specified file. More...
void	logDataPoint (std::string data)
	Log input data point to currently open log file. More...
bool	closeLog ()
	Save and close any currently open logging files. More...

Protected Attributes
vector< Joint * >	joints
	Vector of pointers to Abstract <class>Joint<class> Objects, number and type must be specified by Software design in <class>Robot<class> Implementation. Note: Use pointers to the joint objects here, so that the derived objects are not cast to Joint, truncating any of their explicit implementations. More...
vector< InputDevice * >	inputs
TrajectoryGenerator *	trajectoryGenerator
	Trajectory Generator. More...

Detailed Description

Abstract Class representing a robot. Includes vectors of Joint and InputDevice.

Definition at line 28 of file Robot.h.

Constructor & Destructor Documentation

Robot::Robot

(

TrajectoryGenerator *

tj

)

Default Robot constructor.

Definition at line 16 of file Robot.cpp.

Robot::~Robot

(

)

Definition at line 21 of file Robot.cpp.

Member Function Documentation

bool Robot::closeLog

(

)

Save and close any currently open logging files.

void Robot::getJointStatus

(

int

J_i

)

print out status of Joint J_i

Definition at line 51 of file Robot.cpp.

bool Robot::initialise

(

)

Initialize memory for the designed Robot classes specific Joint objects + sensors (if available) using the pure virtual initialiseJoints() implemented by the robot designer. Based on the given Joints, initNetwork() will configure these joints for CAN PDO messaging and Load the specififed Controller, by default set to Positio.

Returns

true

false

Definition at line 24 of file Robot.cpp.

virtual bool Robot::initialiseInputs ( )

pure virtual

Pure Virtual function, implemeted by robot designer with specified number of each concrete input classes for the robot hardware desired.

Implemented in ExoRobot.

virtual bool Robot::initialiseJoints ( )

pure virtual

Pure Virtual function, implemeted by robot designer with specified number of each concrete joint classes for the robot hardware desired.

Implemented in ExoRobot.

void Robot::initialiseLog

(

)

Initialises Logging to specified file.

virtual bool Robot::initialiseNetwork ( )

pure virtual

For each <class>Joint</class> in the robots joints Vector. Individually set up the underlying CANopen PDO messaging to and from the hardware attached.

Returns

true

false

Implemented in ExoRobot.

void Robot::logDataPoint

(

std::string

data

)

Log input data point to currently open log file.

void Robot::printStatus

(

)

print out status of robot and all of its joints

Definition at line 44 of file Robot.cpp.

void Robot::updateRobot ( )

virtual

Update all of this Robot software joint positions from object dictionary entries.

Reimplemented in ExoRobot.

Definition at line 37 of file Robot.cpp.

Member Data Documentation

vector<InputDevice *> Robot::inputs

protected

Definition at line 39 of file Robot.h.

vector<Joint *> Robot::joints

protected

Vector of pointers to Abstract <class>Joint<class> Objects, number and type must be specified by Software design in <class>Robot<class> Implementation. Note: Use pointers to the joint objects here, so that the derived objects are not cast to Joint, truncating any of their explicit implementations.

Definition at line 37 of file Robot.h.

TrajectoryGenerator* Robot::trajectoryGenerator

protected

Trajectory Generator.

Definition at line 44 of file Robot.h.

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

• Refactor/src/libs/robot/Robot.h
• Refactor/src/libs/robot/Robot.cpp