ActuatorInterface Class Reference

An abstract interface for a physical robot's actuators. More...

Public Member Functions
Construction
virtual	~ActuatorInterface ()
	HardwareInterface (const std::string &_name, const std::string &_ip, const unsigned short _port, const double _communicationTime)
Hardware Interface
virtual HardwareType	GetHardwareType () const noexcept override
Actuator Interface
virtual void	SendCommand (const MotionCommand &_c)=0
virtual bool	FullStop ()=0
Hardware Properties
Get and set the robot's name, IP, port, and communication time.
const std::string &	GetName () const noexcept
	Get robot's name.
void	SetName (const std::string &_name) noexcept
	Set robot's name.
const std::string &	GetIP () const noexcept
	Get IP address for hardware controller.
void	SetIP (const std::string &_ip) noexcept
	Set IP address for hardware controller.
unsigned short	GetPort () const noexcept
	Get IP port for connection.
void	SetPort (const unsigned short _port) noexcept
	Set IP port for connection.
double	GetCommunicationTime () const noexcept
	Get minimum time in seconds to send command.
void	SetCommunicationTime (const double _t) noexcept
	Set minimum time in seconds to send command.

Static Public Member Functions
Construction
static std::unique_ptr< HardwareInterface >	Factory (class XMLNode &_node)

Public Types
Local Types
enum	HardwareType
	The types of supported hardware.

Protected Attributes
Internal State
std::string	m_name
	The hardware type.
std::string	m_ip
	The IP address for the hardware's controller.
unsigned short	m_port
	The IP port for the controller connection.
double	m_communicationTime {0.}
	The minimum time in seconds needed to send a command to the hardware.

Detailed Description

An abstract interface for a physical robot's actuators.

Member Function Documentation

GetHardwareType()

HardwareInterface::HardwareType ActuatorInterface::GetHardwareType ( ) const

overridevirtualnoexcept

Implements HardwareInterface.

SendCommand()

virtual void ActuatorInterface::SendCommand ( const MotionCommand &  _c )

pure virtual

Send a motion command to the hardware actuator.

Parameters

_c	The command to send.

Implemented in ICreateInterface.

FullStop()

virtual bool ActuatorInterface::FullStop ( )

pure virtual

Order the hardware actuator to reach full stop as fast as possible.

Returns

True if the hardware acknowledged the command.

Implemented in ICreateInterface.

HardwareInterface()

HardwareInterface::HardwareInterface	(	const std::string &	_name,
		const std::string &	_ip,
		const unsigned short	_port,
		const double	_communicationTime
	)

Construct a hardware interface.

Parameters

_name	The name of the hardware, such as 'iCreate'.
_ip	The IP address for the on-board controller.
_port	The IP port.
_communicationTime	The minimum time needed to send a command to the robot.

Factory()

std::unique_ptr< HardwareInterface > HardwareInterface::Factory ( class XMLNode &  _node )

staticinherited

Create an interface from an XML node.

Parameters

_node

Returns

A dynamically allocated interface.

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

• ActuatorInterface.h
• ActuatorInterface.cpp