ICreateInterface Class Reference

Public Member Functions
Construction
	ICreateInterface (const std::string &_ip, const unsigned short _port=6665)
virtual	~ICreateInterface ()
ActuatorInterface overrides
virtual void	SendCommand (const MotionCommand &_command) override
virtual bool	FullStop () override
Hardware Interface
virtual HardwareType	GetHardwareType () const noexcept override
Construction
	HardwareInterface (const std::string &_name, const std::string &_ip, const unsigned short _port, const double _communicationTime)
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 interface for the iCreate robot which uses the player library to implement the connection. The robot's on-board controller in this case is a netbook riding on top of the create running the client-side player software.

Constructor & Destructor Documentation

ICreateInterface()

ICreateInterface::ICreateInterface	(	const std::string &	_ip,
		const unsigned short	_port = 6665
	)

Construct an iCreate interface with server-side queue management.

Parameters

_ip	The hardware controller's IP address.
_port	The hardware controller's IP port.

Member Function Documentation

SendCommand()

void ICreateInterface::SendCommand ( const MotionCommand &  _command )

overridevirtual

Send command to iCreate

Parameters

_command

Motion command to send

Implements ActuatorInterface.

FullStop()

bool ICreateInterface::FullStop ( )

overridevirtual

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

Returns

True if the hardware acknowledged the command.

Implements ActuatorInterface.

GetHardwareType()

HardwareInterface::HardwareType ActuatorInterface::GetHardwareType ( ) const

overridevirtualnoexceptinherited

Implements HardwareInterface.

HardwareInterface()

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

inherited

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:

• ICreateInterface.h
• ICreateInterface.cpp