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ArmClient Class Reference #include <ArmClient.h> List of all members. Detailed Description Client side implemetation for robotic arm. Public Methods   ArmClient (ArmInterface *af)   Constructor for ArmClient,. int  calibrateB ()   blocking calibration procedure int  singleJointMoveNB (int m, double targetAngleDeg)   non-blocking single joint move to a specified target void  singleJointMoveB (int m, double targetAngleDeg)   blocking type single joint move to a specified target int  jointAngleMoveNB (jointAnglesType j)   non-blocking move to the target joint coordinates void  jointAngleMoveB (jointAnglesType j)   blocking type movement to the target joint coordinates int  opMoveNB (opCoordinatesType o)   non-blocking move to target operational coordinates void  opMoveB (opCoordinatesType o)   blocking type movement to target operational coordinates void  opTrajectoryMoveB (opCoordinatesType x)   blocking trajectory move (cyllindrical arc) given by operational coordinates int  gripperOpenNB ()   non blocking movement to open the gripper void  gripperOpenB ()   blocking type movement to open the gripper int  gripperCloseNB ()   non blocking movement to close the gripper void  gripperCloseB ()   blocking movement to close the gripper int  gripperMoveNB (double targetAngleDeg)   non blocking gripper movement to the target angle in degree void  gripperMoveB (double targetAngleDeg)   blocking type gripper movement to the target angle in degree void  stopMotion ()   stop all motion (will not work during calibration) void  motorOff (int m)   Turn off motor m. void  motorOn (int m)   Turn on motor m. void  motorsOff ()   Turn off all motors. void  motorsOn ()   Turn on all motors. void  rzMoveB (double delta_r, double delta_z)   blocking move that does not alter state of motors 0, 4, 5 Public Attributes ArmUtil *  util   A pointer to an object of ArmUtil. armDataType  readArmData ()   Reading arm data. Protected Attributes ArmInterface *  aif   A pointer to an object of ArmInterface. See also: ArmInterface. Constructor & Destructor Documentation ArmClient::ArmClient (  ArmInterface *    af )    Constructor for ArmClient,. Parameters: af  pointer to an object of class ArmInterface Member Function Documentation int ArmClient::calibrateB (    )    blocking calibration procedure Returns : 0 if success int ArmClient::singleJointMoveNB (  int    m, double    targetAngleDeg )    non-blocking single joint move to a specified target Parameters: m  joint number targetAngleDeg  target angle Returns : 0 if success void ArmClient::singleJointMoveB (  int    m, double    targetAngleDeg )    blocking type single joint move to a specified target blocks further implementation till the movement is complete motion can be stopped by keyboard interruption Parameters: m  joint number targetAngleDeg  target angle int ArmClient::jointAngleMoveNB (  jointAnglesType    j )    non-blocking move to the target joint coordinates Returns : 0 if success void ArmClient::jointAngleMoveB (  jointAnglesType    j )    blocking type movement to the target joint coordinates blocks further implementation till the movement is complete motion can be stopped by keyboard interruption int ArmClient::opMoveNB (  opCoordinatesType    o )    non-blocking move to target operational coordinates Returns : 0 if success void ArmClient::opMoveB (  opCoordinatesType    o )    blocking type movement to target operational coordinates blocks further implementation till the movement is complete motion can be stopped by keyboard interruption void ArmClient::opTrajectoryMoveB (  opCoordinatesType    x )    blocking trajectory move (cyllindrical arc) given by operational coordinates int ArmClient::gripperOpenNB (    )    non blocking movement to open the gripper \retun 0 if success void ArmClient::gripperOpenB (    )    blocking type movement to open the gripper int ArmClient::gripperCloseNB (    )    non blocking movement to close the gripper \retun 0 if success void ArmClient::gripperCloseB (    )    blocking movement to close the gripper int ArmClient::gripperMoveNB (  double    targetAngleDeg )    non blocking gripper movement to the target angle in degree void ArmClient::gripperMoveB (  double    targetAngleDeg )    blocking type gripper movement to the target angle in degree void ArmClient::stopMotion (    )    stop all motion (will not work during calibration) void ArmClient::motorOff (  int    m )    Turn off motor m. void ArmClient::motorOn (  int    m )    Turn on motor m. void ArmClient::motorsOff (    )    Turn off all motors. void ArmClient::motorsOn (    )    Turn on all motors. void ArmClient::rzMoveB (  double    delta_r, double    delta_z )    blocking move that does not alter state of motors 0, 4, 5 Motion that increases current r and z by specified values while keeping the motion in r-z plane only blocks further implementation till the movement is complete motion can be stopped by keyboard interruption Parameters: delta_r  amount by which r is to changed delta_z  amount by which z is to be changed Member Data Documentation ArmInterface* ArmClient::aif [protected]   A pointer to an object of ArmInterface. See also: ArmInterface. ArmUtil* ArmClient::util   A pointer to an object of ArmUtil. armDataType ArmClient::readArmData   Reading arm data. The documentation for this class was generated from the following files: ArmClient.h ArmClient.cpp