Classes | Public Member Functions | Public Attributes | Protected Attributes | List of all members
CartesianClient Class Reference

#include <CartesianClient.h>

Classes

class  CartesianClient
 

Public Member Functions

 CartesianClient ()
 
bool open (const ConstString &serverPrefix)
 
bool close ()
 
bool stat (double *xd)
 
bool inv (const double *xd, double *q)
 
bool movj (const double *xd)
 
bool movl (const double *xd)
 
bool wait ()
 
bool stop ()
 

Public Attributes

tuple VOCAB_STAT = yarp.Vocab_encode('stat')
 
tuple VOCAB_INV = yarp.Vocab_encode('inv')
 
tuple VOCAB_MOVJ = yarp.Vocab_encode('movj')
 
tuple VOCAB_MOVL = yarp.Vocab_encode('movl')
 
tuple VOCAB_MY_STOP = yarp.Vocab_encode('stop')
 
tuple VOCAB_WAIT = yarp.Vocab_encode('wait')
 

Protected Attributes

RpcClient rpcClient
 
bool validClient
 

Detailed Description

The CartesianClient class implements a client part that connects to a remote cartesianServer module. Warning: Be careful with NUM_AXES, depends on angle representation!

Constructor & Destructor Documentation

Constructor.

Member Function Documentation

bool CartesianClient::close ( )

Close the port and object graciously.

Returns
true if the object and connection was closed successfully
bool CartesianClient::inv ( const double *  xd,
double *  q 
)

Ask for inverting a given pose without actually moving there. [wait for reply]

Parameters
xdarray of doubles with target position/orientation.
qreturns with the array of doubles of joint values.
Returns
true/false on success/failure.
bool CartesianClient::movj ( const double *  xd)

Move to absolute position, interpolation at joint level.

Parameters
xdarray of doubles with target position/orientation.
Returns
true/false on success/failure.
bool CartesianClient::movl ( const double *  xd)

Move to absolute position, interpolation in Cartesian space.

Parameters
xdarray of doubles with target position/orientation.
Returns
true/false on success/failure.
bool CartesianClient::open ( const ConstString &  serverPrefix)

Configure the object and make it connect to a cartesianServer module by port name.

Parameters
serverPrefixthe cartesianServer module port name prefix ('/ravebot' or '/canbot').
Returns
true if the object and connection was created successfully
bool CartesianClient::stat ( double *  xd)

Obtain the current position and orientation. [wait for reply]

Parameters
xdreturns with the array of position/orientation doubles.
Returns
true/false on success/failure.
bool CartesianClient::stop ( )

Stop.

Returns
true/false on success/failure.
bool CartesianClient::wait ( )

Just wait for a movj or movl to be done. TODO: timeinterval, maxwait.

Returns
true/false on success/failure.

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