This class instantiates the abstract ControlBasisResource class for a CartesianPosition type resource. More...

#include <CartesianPosition.h>

Inheritance diagram for CB::CartesianPosition:

Public Member Functions
double	getX ()
	returns the X coordinate of the position
double	getY ()
	returns the Y coordinate of the position
double	getZ ()
	returns the Z coordinate of the position
	CartesianPosition ()
	Constructor.
	~CartesianPosition ()
	Destructor.
void	postData ()
	This is the function that posts the resource data to the output port.
virtual void	getInputData ()
	getInputData() function.
std::string	getResourceName ()
	Getter for the resource name.
std::string	getDeviceName ()
	Getter for the device name.
bool	isResourceRunning ()
	is the resource running?
std::string	getResourceType ()
	Getter for the resource type.
yarp::sig::Vector	getResourceData ()
	Getter for the resource data.
int	getResourceDataSize ()
	Getter for the resource data size.
void	setUpdateDelay (double t)
	Setter for updated delay.
void	setLock (bool l)
	Setter for locking/unlocking the ability to set output variables.
virtual bool	updateResource ()=0
	virtual update function
virtual void	startResource ()=0
	virtual start function
virtual void	stopResource ()=0
	virtual stop function
void	initPorts ()
	Initiallization function for starting ports.
void	run ()
	main run function for resource (instatiates for thread)
void	onStop ()
	onStop function
Protected Attributes
std::string	deviceName
	the name of the device
std::string	resourceName
	the name of the resource
bool	running
	running flag
std::string	type
	The formal type of the resource (e.g., CartesianPosition, ConfigurationVariable, etc.
yarp::sig::Vector	values
	The resource data vals.
int	size
	the size of the data values
std::vector < yarp::os::BufferedPort < yarp::os::Bottle > * >	outputPort
	The Yarp output ports.
std::vector < yarp::os::BufferedPort < yarp::os::Bottle > * >	inputPort
	The Yarp input Ports.
int	numOutputs
	num output ports
int	numInputs
	num input ports
std::vector< std::string >	outputPortName
	The Yarp output port names.
std::vector< std::string >	inputPortName
	The YARP input port name.
std::vector< std::string >	outputName
	The output names.
std::vector< std::string >	inputName
	The input names.
bool	lock
	Lock flag to prevent writing vals to hardware.
double	updateDelay
	update delay (in seconds)

Detailed Description

This class instantiates the abstract ControlBasisResource class for a CartesianPosition type resource.

It is still abstract, in that it doesn't implement a runnable resource. This class must be extended for specific cartesian position device that implements the start, update, and stop functions.

Definition at line 15 of file CartesianPosition.h.

Member Function Documentation

std::string CB::ControlBasisResource::getDeviceName ( ) [inline, inherited]

Getter for the device name.

Returns:: the name

Definition at line 119 of file ControlBasisResource.h.

References CB::ControlBasisResource::deviceName.

{ return deviceName; }

std::string CB::ControlBasisResource::getResourceName ( ) [inline, inherited]

Getter for the resource name.

Returns:: the name

Definition at line 113 of file ControlBasisResource.h.

References CB::ControlBasisResource::resourceName.

Referenced by CB::Controller::Controller().

{ return resourceName; }

std::string CB::ControlBasisResource::getResourceType ( ) [inline, inherited]

Getter for the resource type.

Returns:: the type

Definition at line 131 of file ControlBasisResource.h.

References CB::ControlBasisResource::type.

Referenced by CB::Controller::Controller().

{ return type; }

bool CB::ControlBasisResource::isResourceRunning ( ) [inline, inherited]

is the resource running?

Returns:: running

Definition at line 125 of file ControlBasisResource.h.

References CB::ControlBasisResource::running.

Referenced by CB::Controller::startAction().

{ return running; }

void CB::CartesianPosition::postData ( ) [inline, virtual]

This is the function that posts the resource data to the output port.

it is type specific, so it is defined here. it is automatically called after the update() function in the main thread loop.

Implements CB::ControlBasisResource.

Definition at line 56 of file CartesianPosition.h.

References getX(), getY(), getZ(), CB::ControlBasisResource::outputPort, and CB::ControlBasisResource::resourceName.

                        {
            yarp::os::Bottle &b = outputPort[0]->prepare();
            b.clear();
            b.addString(resourceName.c_str());
            b.addDouble(getX());
            b.addDouble(getY());
            b.addDouble(getZ());      
            outputPort[0]->write();
        }

void CB::ControlBasisResource::setLock ( bool l ) [inline, inherited]

Setter for locking/unlocking the ability to set output variables.

Parameters:

lock

Reimplemented in CB::ConfigurationVariables.

Definition at line 154 of file ControlBasisResource.h.

References CB::ControlBasisResource::lock.