JointDataSequencer Class Reference

#include <JointDataSequencer.h>

Inheritance diagram for JointDataSequencer:

JointDataSequence List of all members.

Public Member Functions

 JointDataSequencer ()
JointDataSequenceroperator= (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

Detailed Description

A class executing JointDataSequences. It derives from JointDataSequence but adds methods to execute the sequence.

Definition at line 19 of file JointDataSequencer.h.


Constructor & Destructor Documentation

JointDataSequencer::JointDataSequencer (  ) 

Constructor

Definition at line 11 of file JointDataSequencer.cpp.

References running.


Member Function Documentation

void JointDataSequencer::interpolateJointData ( JointData jointData,
const JointData from,
const JointData to,
int  step,
int  len 
) [protected]

interpolate joint data

Parameters:
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.


Member Data Documentation

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().


The documentation for this class was generated from the following files:
Generated on Thu Dec 7 01:39:39 2006 for DT2005.panorama by  doxygen 1.4.7