MotionCommand Struct Reference

A motion command, consisting of a control and length of time to execute it. More...

Public Member Functions
Construction
	MotionCommand ()
	MotionCommand (const ControlSet &_c, const double _seconds)
virtual std::unique_ptr< Command >	Clone () const override
	Dynamic-copy a derived command type. More...
virtual	~MotionCommand ()
Equality
bool	operator== (const MotionCommand &_other) const noexcept
bool	operator!= (const MotionCommand &_other) const noexcept
Downcasts
Downcast this generic command to the appropriate object type.
MotionCommand &	ToMotionCommand ()
	Downcast to a MotionCommand. Throws if this has any other command type.
const MotionCommand &	ToMotionCommand () const
SensorCommand &	ToSensorCommand ()
	Downcast to a SensorCommand. Throws if this has any other command type.
const SensorCommand &	ToSensorCommand () const

Public Types
Local Types
enum class	Type { Motion , Sensor }

Public Attributes
Internal State
ControlSet	controls
	The controls.
Internal State
const Type	type
	The command type.
double	seconds
	The command duration.

Detailed Description

A motion command, consisting of a control and length of time to execute it.

Constructor & Destructor Documentation

MotionCommand()

MotionCommand::MotionCommand	(	const ControlSet &	_c,
		const double	_seconds
	)

Parameters

_c	Set of controls for the motion command
_seconds	The control duration

Member Function Documentation

Clone()

std::unique_ptr< Command > MotionCommand::Clone ( ) const

overridevirtual

Dynamic-copy a derived command type.

Implements Command.

operator==()

bool MotionCommand::operator== ( const MotionCommand &  _other ) const

noexcept

Define an equivalence relation.

Returns

True if both commands have the same control sets and near-equal durations (within a small tolerance).

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

• Commands.h
• Commands.cpp