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ArmServer Class Reference

#include <ArmServer.h>

Inherits ArmInterface.

List of all members.

Detailed Description

server side implementation of ArmInterface


Public Methods
	ArmServer (char *configFile)
	Constructor for ArmServer class.
int	calibrateB ()
	blocking calibration procedure
int	singleJointMoveNB (int m, double targetAngleDeg)
	non-blocking single joint move to a specified target
int	jointAngleMoveNB (jointAnglesType j)
	non-blocking move to the target joint coordinates
int	opMoveNB (opCoordinatesType o)
	non-blocking move to target operational coordinates
void	opTrajectoryMoveB (opCoordinatesType o)
	blocking trajectory move (cyllindrical arc) given by op coordinates
void	rzMoveB (double delta_r, double delta_z)
	blocking move that does not alter state of motors 0, 4, 5
void	motorOff (int m)
	Turns off motor m.
void	motorOn (int m)
	Turns on motor m.
void	stopMotion ()
	stops all motion (will not work during calibration)
double	getJointAngle (int m)
	Current angle in degrees for joint m.
Public Attributes
char *	cfgFile
ArmUtil *	util
	^ Pointer to the string containing the configuration file name for robotic arm initialization
CKatana *	katana
	^ Pointer to an object to ArmUtil class. See also: ArmUtil
CKatBase *	base
armDataType	readArmData ()
	Reading arm data.

Constructor & Destructor Documentation

ArmServer::ArmServer

(

char *

configFile

)

Constructor for ArmServer class.

Parameters:

configFile

pointer to the string containing the configuration file name for robotic arm initialization

Member Function Documentation

int ArmServer::calibrateB ( ) [virtual]

blocking calibration procedure

See also:: ArmInterface::calibrateB()

Implements ArmInterface.

int ArmServer::singleJointMoveNB	(	int	m,
		double	targetAngleDeg
	)	`[virtual]`

non-blocking single joint move to a specified target

See also:: ArmInterface::singleJointMoveNB()

Implements ArmInterface.

int ArmServer::jointAngleMoveNB ( jointAnglesType j ) [virtual]

non-blocking move to the target joint coordinates

See also:: ArmInterface::jointAngleMoveNB()

Implements ArmInterface.

int ArmServer::opMoveNB ( opCoordinatesType o ) [virtual]

non-blocking move to target operational coordinates

See also:: ArmInterface::opMoveNB()

Implements ArmInterface.

void ArmServer::opTrajectoryMoveB ( opCoordinatesType o ) [virtual]

blocking trajectory move (cyllindrical arc) given by op coordinates

See also:: ArmInterface::opTrajectoryMoveB()

Implements ArmInterface.

void ArmServer::rzMoveB	(	double	delta_r,
		double	delta_z
	)	`[virtual]`

blocking move that does not alter state of motors 0, 4, 5

See also:: ArmInterface::rzMoveB()

Implements ArmInterface.

void ArmServer::motorOff ( int m ) [virtual]

Turns off motor m.

Implements ArmInterface.

void ArmServer::motorOn ( int m ) [virtual]

Turns on motor m.

Implements ArmInterface.

void ArmServer::stopMotion ( ) [virtual]

stops all motion (will not work during calibration)

Implements ArmInterface.

double ArmServer::getJointAngle ( int m ) [virtual]

Current angle in degrees for joint m.

Implements ArmInterface.

Member Data Documentation

char* ArmServer::cfgFile

ArmUtil* ArmServer::util

^ Pointer to the string containing the configuration file name for robotic arm initialization

CKatana* ArmServer::katana

^ Pointer to an object to ArmUtil class.

See also:: ArmUtil

CKatBase* ArmServer::base

armDataType ArmServer::readArmData

Reading arm data.

See also:: Armutil::armDataType

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

Generated on Tue Jan 10 17:29:20 2006 for Stanford AI Robot (STAIR) by

1.2.17