#include <JointDataSequencer.h>
Inheritance diagram for JointDataSequencer:
Public Member Functions | |
JointDataSequencer () | |
JointDataSequencer & | operator= (const JointDataSequence &other) |
void | nextSequenceData (JointData &jointData) |
void | start () |
void | stop () |
bool | isRunning () |
Protected Member Functions | |
void | interpolateJointData (JointData &jointData, const JointData &from, const JointData &to, int step, int len) |
Protected Attributes | |
bool | running |
int | sequencePos |
int | repetitionCounter |
Definition at line 19 of file JointDataSequencer.h.
JointDataSequencer::JointDataSequencer | ( | ) |
void JointDataSequencer::interpolateJointData | ( | JointData & | jointData, | |
const JointData & | from, | |||
const JointData & | to, | |||
int | step, | |||
int | len | |||
) | [protected] |
interpolate joint data
jointData | stores interpolated data | |
from | data to start from | |
to | data to interpolate to | |
step | index of interpolation step | |
len | length of interpolation |
Definition at line 81 of file JointDataSequencer.cpp.
References JointData::data, jointDataInvalidValue, and JointData::numOfJoint.
Referenced by nextSequenceData().
bool JointDataSequencer::isRunning | ( | ) |
returns true if the sequence is being executed
Definition at line 32 of file JointDataSequencer.cpp.
References running.
Referenced by DebugMotionControl::execute(), and GT2004GetupEngine::executeParameterized().
void JointDataSequencer::nextSequenceData | ( | JointData & | jointData | ) |
write next data from current sequent to jointData
Definition at line 49 of file JointDataSequencer.cpp.
References JointDataSequence::entry, JointDataSequence::interpolate, interpolateJointData(), JointDataSequence::loop, JointDataSequence::numOfEntries, JointDataSequence::repeats, repetitionCounter, running, and sequencePos.
Referenced by DebugMotionControl::execute(), and GT2004GetupEngine::executeParameterized().
JointDataSequencer & JointDataSequencer::operator= | ( | const JointDataSequence & | other | ) |
Assignment operator
Reimplemented from JointDataSequence.
Definition at line 16 of file JointDataSequencer.cpp.
References JointDataSequence::entry, JointDataSequence::interpolate, JointDataSequence::loop, JointDataSequence::numOfEntries, JointDataSequence::repeats, and running.
void JointDataSequencer::start | ( | ) |
start executing the sequence
Definition at line 37 of file JointDataSequencer.cpp.
References JointDataSequence::numOfEntries, repetitionCounter, running, and sequencePos.
Referenced by GT2004GetupEngine::executeParameterized(), and DebugMotionControl::handleMessage().
void JointDataSequencer::stop | ( | ) |
stop executing the sequence
Definition at line 44 of file JointDataSequencer.cpp.
References running.
int JointDataSequencer::repetitionCounter [protected] |
counter for repetition of current sequence line
Definition at line 61 of file JointDataSequencer.h.
Referenced by nextSequenceData(), and start().
bool JointDataSequencer::running [protected] |
true if the sequence is being executed
Definition at line 55 of file JointDataSequencer.h.
Referenced by isRunning(), JointDataSequencer(), nextSequenceData(), operator=(), start(), and stop().
int JointDataSequencer::sequencePos [protected] |
current position in sequence
Definition at line 58 of file JointDataSequencer.h.
Referenced by nextSequenceData(), and start().