Fawkes API  Fawkes Development Version
JacoInterface.h
1 
2 /***************************************************************************
3  * JacoInterface.h - Fawkes BlackBoard Interface - JacoInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2013 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef _INTERFACES_JACOINTERFACE_H_
25 #define _INTERFACES_JACOINTERFACE_H_
26 
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
30 
31 namespace fawkes {
32 
33 class JacoInterface : public Interface
34 {
35  /// @cond INTERNALS
36  INTERFACE_MGMT_FRIENDS(JacoInterface)
37  /// @endcond
38  public:
39  /* constants */
40  static const uint32_t ERROR_NONE;
41  static const uint32_t ERROR_UNSPECIFIC;
42  static const uint32_t ERROR_NO_IK;
43  static const uint32_t ERROR_PLANNING;
44 
45  private:
46  /** Internal data storage, do NOT modify! */
47  typedef struct {
48  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
49  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
50  bool connected; /**< Is JacoArm connected/ready? */
51  bool initialized; /**< Checks if Jaco arm has been initialized once after switched on. */
52  float x; /**< X-Coordinate of tool translation. */
53  float y; /**< Y-Coordinate op tool translation. */
54  float z; /**< Z-Coordinate of tool translation. */
55  float euler1; /**< 1st Euler angle of tool rotation. */
56  float euler2; /**< 2nd Euler angle of tool rotation. */
57  float euler3; /**< 3rd Euler angle of tool rotation. */
58  float joints[6]; /**< Angle values of joints */
59  float finger1; /**< Angular value of finger 1. */
60  float finger2; /**< Angular value of finger 2. */
61  float finger3; /**< Angular value of finger 3. */
62  uint32_t msgid; /**< The ID of the message that is currently being
63  processed, or 0 if no message is being processed. */
64  bool final; /**< True, if the last goto command has been finished,
65  false if it is still running */
66  uint32_t error_code; /**< Error code, set if
67  final is true. 0 if no error occured, an error code from ERROR_*
68  constants otherwise. */
69  } JacoInterface_data_t;
70 
71  JacoInterface_data_t *data;
72 
73  public:
74  /* messages */
75  class CalibrateMessage : public Message
76  {
77  private:
78  /** Internal data storage, do NOT modify! */
79  typedef struct {
80  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
81  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
82  } CalibrateMessage_data_t;
83 
84  CalibrateMessage_data_t *data;
85 
86  public:
89 
90  explicit CalibrateMessage(const CalibrateMessage *m);
91  /* Methods */
92  virtual Message * clone() const;
93  };
94 
95  class RetractMessage : public Message
96  {
97  private:
98  /** Internal data storage, do NOT modify! */
99  typedef struct {
100  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
101  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
102  } RetractMessage_data_t;
103 
104  RetractMessage_data_t *data;
105 
106  public:
107  RetractMessage();
108  ~RetractMessage();
109 
110  explicit RetractMessage(const RetractMessage *m);
111  /* Methods */
112  virtual Message * clone() const;
113  };
114 
115  class StopMessage : public Message
116  {
117  private:
118  /** Internal data storage, do NOT modify! */
119  typedef struct {
120  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
121  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
122  } StopMessage_data_t;
123 
124  StopMessage_data_t *data;
125 
126  public:
127  StopMessage();
128  ~StopMessage();
129 
130  explicit StopMessage(const StopMessage *m);
131  /* Methods */
132  virtual Message * clone() const;
133  };
134 
135  class CartesianGotoMessage : public Message
136  {
137  private:
138  /** Internal data storage, do NOT modify! */
139  typedef struct {
140  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
141  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
142  float x; /**< X-coordinate of target */
143  float y; /**< Y-coordinate of target */
144  float z; /**< Z-coordinate of target */
145  float e1; /**< 1st Euler angle of target rotation */
146  float e2; /**< 2nd Euler angle of target rotation */
147  float e3; /**< 3rd Euler angle of target rotation */
148  } CartesianGotoMessage_data_t;
149 
150  CartesianGotoMessage_data_t *data;
151 
152  public:
153  CartesianGotoMessage(const float ini_x, const float ini_y, const float ini_z, const float ini_e1, const float ini_e2, const float ini_e3);
156 
157  explicit CartesianGotoMessage(const CartesianGotoMessage *m);
158  /* Methods */
159  float x() const;
160  void set_x(const float new_x);
161  size_t maxlenof_x() const;
162  float y() const;
163  void set_y(const float new_y);
164  size_t maxlenof_y() const;
165  float z() const;
166  void set_z(const float new_z);
167  size_t maxlenof_z() const;
168  float e1() const;
169  void set_e1(const float new_e1);
170  size_t maxlenof_e1() const;
171  float e2() const;
172  void set_e2(const float new_e2);
173  size_t maxlenof_e2() const;
174  float e3() const;
175  void set_e3(const float new_e3);
176  size_t maxlenof_e3() const;
177  virtual Message * clone() const;
178  };
179 
180  class AngularGotoMessage : public Message
181  {
182  private:
183  /** Internal data storage, do NOT modify! */
184  typedef struct {
185  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
186  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
187  float j1; /**< Angular value of 1st joint */
188  float j2; /**< Angular value of 2nd joint */
189  float j3; /**< Angular value of 3rd joint */
190  float j4; /**< Angular value of 4th joint */
191  float j5; /**< Angular value of 5th joint */
192  float j6; /**< Angular value of 6th joint */
193  } AngularGotoMessage_data_t;
194 
195  AngularGotoMessage_data_t *data;
196 
197  public:
198  AngularGotoMessage(const float ini_j1, const float ini_j2, const float ini_j3, const float ini_j4, const float ini_j5, const float ini_j6);
201 
202  explicit AngularGotoMessage(const AngularGotoMessage *m);
203  /* Methods */
204  float j1() const;
205  void set_j1(const float new_j1);
206  size_t maxlenof_j1() const;
207  float j2() const;
208  void set_j2(const float new_j2);
209  size_t maxlenof_j2() const;
210  float j3() const;
211  void set_j3(const float new_j3);
212  size_t maxlenof_j3() const;
213  float j4() const;
214  void set_j4(const float new_j4);
215  size_t maxlenof_j4() const;
216  float j5() const;
217  void set_j5(const float new_j5);
218  size_t maxlenof_j5() const;
219  float j6() const;
220  void set_j6(const float new_j6);
221  size_t maxlenof_j6() const;
222  virtual Message * clone() const;
223  };
224 
225  class MoveGripperMessage : public Message
226  {
227  private:
228  /** Internal data storage, do NOT modify! */
229  typedef struct {
230  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
231  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
232  float finger1; /**< Value of finger 1. Range [0,60] */
233  float finger2; /**< Value of finger 2. Range [0,60] */
234  float finger3; /**< Value of finger 3. Range [0,60] */
235  } MoveGripperMessage_data_t;
236 
237  MoveGripperMessage_data_t *data;
238 
239  public:
240  MoveGripperMessage(const float ini_finger1, const float ini_finger2, const float ini_finger3);
243 
244  explicit MoveGripperMessage(const MoveGripperMessage *m);
245  /* Methods */
246  float finger1() const;
247  void set_finger1(const float new_finger1);
248  size_t maxlenof_finger1() const;
249  float finger2() const;
250  void set_finger2(const float new_finger2);
251  size_t maxlenof_finger2() const;
252  float finger3() const;
253  void set_finger3(const float new_finger3);
254  size_t maxlenof_finger3() const;
255  virtual Message * clone() const;
256  };
257 
258  class SetPlannerParamsMessage : public Message
259  {
260  private:
261  /** Internal data storage, do NOT modify! */
262  typedef struct {
263  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
264  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
265  char params[1024]; /**< Planner parameters */
266  } SetPlannerParamsMessage_data_t;
267 
268  SetPlannerParamsMessage_data_t *data;
269 
270  public:
271  SetPlannerParamsMessage(const char * ini_params);
274 
276  /* Methods */
277  char * params() const;
278  void set_params(const char * new_params);
279  size_t maxlenof_params() const;
280  virtual Message * clone() const;
281  };
282 
283  class JoystickPushMessage : public Message
284  {
285  private:
286  /** Internal data storage, do NOT modify! */
287  typedef struct {
288  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
289  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
290  uint32_t button; /**< Button ID to push. */
291  } JoystickPushMessage_data_t;
292 
293  JoystickPushMessage_data_t *data;
294 
295  public:
296  JoystickPushMessage(const uint32_t ini_button);
299 
300  explicit JoystickPushMessage(const JoystickPushMessage *m);
301  /* Methods */
302  uint32_t button() const;
303  void set_button(const uint32_t new_button);
304  size_t maxlenof_button() const;
305  virtual Message * clone() const;
306  };
307 
308  class JoystickReleaseMessage : public Message
309  {
310  private:
311  /** Internal data storage, do NOT modify! */
312  typedef struct {
313  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
314  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
315  } JoystickReleaseMessage_data_t;
316 
317  JoystickReleaseMessage_data_t *data;
318 
319  public:
322 
324  /* Methods */
325  virtual Message * clone() const;
326  };
327 
328  virtual bool message_valid(const Message *message) const;
329  private:
330  JacoInterface();
331  ~JacoInterface();
332 
333  public:
334  /* Methods */
335  bool is_connected() const;
336  void set_connected(const bool new_connected);
337  size_t maxlenof_connected() const;
338  bool is_initialized() const;
339  void set_initialized(const bool new_initialized);
340  size_t maxlenof_initialized() const;
341  float x() const;
342  void set_x(const float new_x);
343  size_t maxlenof_x() const;
344  float y() const;
345  void set_y(const float new_y);
346  size_t maxlenof_y() const;
347  float z() const;
348  void set_z(const float new_z);
349  size_t maxlenof_z() const;
350  float euler1() const;
351  void set_euler1(const float new_euler1);
352  size_t maxlenof_euler1() const;
353  float euler2() const;
354  void set_euler2(const float new_euler2);
355  size_t maxlenof_euler2() const;
356  float euler3() const;
357  void set_euler3(const float new_euler3);
358  size_t maxlenof_euler3() const;
359  float * joints() const;
360  float joints(unsigned int index) const;
361  void set_joints(unsigned int index, const float new_joints);
362  void set_joints(const float * new_joints);
363  size_t maxlenof_joints() const;
364  float finger1() const;
365  void set_finger1(const float new_finger1);
366  size_t maxlenof_finger1() const;
367  float finger2() const;
368  void set_finger2(const float new_finger2);
369  size_t maxlenof_finger2() const;
370  float finger3() const;
371  void set_finger3(const float new_finger3);
372  size_t maxlenof_finger3() const;
373  uint32_t msgid() const;
374  void set_msgid(const uint32_t new_msgid);
375  size_t maxlenof_msgid() const;
376  bool is_final() const;
377  void set_final(const bool new_final);
378  size_t maxlenof_final() const;
379  uint32_t error_code() const;
380  void set_error_code(const uint32_t new_error_code);
381  size_t maxlenof_error_code() const;
382  virtual Message * create_message(const char *type) const;
383 
384  virtual void copy_values(const Interface *other);
385  virtual const char * enum_tostring(const char *enumtype, int val) const;
386 
387 };
388 
389 } // end namespace fawkes
390 
391 #endif
fawkes::JacoInterface::maxlenof_euler3
size_t maxlenof_euler3() const
Get maximum length of euler3 value.
Definition: JacoInterface.cpp:331
fawkes::JacoInterface::JoystickPushMessage
Definition: JacoInterface.h:292
fawkes::JacoInterface::AngularGotoMessage
Definition: JacoInterface.h:189
fawkes::JacoInterface::CartesianGotoMessage::set_y
void set_y(const float new_y)
Set y value.
Definition: JacoInterface.cpp:914
fawkes::JacoInterface::is_connected
bool is_connected() const
Get connected value.
Definition: JacoInterface.cpp:104
fawkes::JacoInterface::set_finger1
void set_finger1(const float new_finger1)
Set finger1 value.
Definition: JacoInterface.cpp:432
fawkes::JacoInterface::finger3
float finger3() const
Get finger3 value.
Definition: JacoInterface.cpp:474
fawkes::JacoInterface::is_final
bool is_final() const
Get final value.
Definition: JacoInterface.cpp:539
fawkes::JacoInterface::CartesianGotoMessage::~CartesianGotoMessage
~CartesianGotoMessage()
Destructor.
Definition: JacoInterface.cpp:841
fawkes::JacoInterface::SetPlannerParamsMessage::SetPlannerParamsMessage
SetPlannerParamsMessage()
Constructor.
Definition: JacoInterface.cpp:1489
fawkes::JacoInterface::MoveGripperMessage::~MoveGripperMessage
~MoveGripperMessage()
Destructor.
Definition: JacoInterface.cpp:1349
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j6
size_t maxlenof_j6() const
Get maximum length of j6 value.
Definition: JacoInterface.cpp:1284
fawkes::JacoInterface::MoveGripperMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1463
fawkes::JacoInterface::y
float y() const
Get y value.
Definition: JacoInterface.cpp:197
fawkes::JacoInterface::StopMessage
Definition: JacoInterface.h:124
fawkes::JacoInterface::create_message
virtual Message * create_message(const char *type) const
Definition: JacoInterface.cpp:603
fawkes::JacoInterface::set_x
void set_x(const float new_x)
Set x value.
Definition: JacoInterface.cpp:186
fawkes::JacoInterface::MoveGripperMessage::maxlenof_finger2
size_t maxlenof_finger2() const
Get maximum length of finger2 value.
Definition: JacoInterface.cpp:1412
fawkes::JacoInterface::AngularGotoMessage::~AngularGotoMessage
~AngularGotoMessage()
Destructor.
Definition: JacoInterface.cpp:1101
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j3
size_t maxlenof_j3() const
Get maximum length of j3 value.
Definition: JacoInterface.cpp:1194
fawkes::JacoInterface::set_connected
void set_connected(const bool new_connected)
Set connected value.
Definition: JacoInterface.cpp:124
fawkes::Message
Definition: message.h:40
fawkes::JacoInterface::z
float z() const
Get z value.
Definition: JacoInterface.cpp:228
fawkes::JacoInterface::error_code
uint32_t error_code() const
Get error_code value.
Definition: JacoInterface.cpp:573
fawkes::JacoInterface::MoveGripperMessage::set_finger1
void set_finger1(const float new_finger1)
Set finger1 value.
Definition: JacoInterface.cpp:1392
fawkes::JacoInterface::AngularGotoMessage::set_j2
void set_j2(const float new_j2)
Set j2 value.
Definition: JacoInterface.cpp:1174
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_e3
size_t maxlenof_e3() const
Get maximum length of e3 value.
Definition: JacoInterface.cpp:1024
fawkes::JacoInterface::set_y
void set_y(const float new_y)
Set y value.
Definition: JacoInterface.cpp:217
fawkes::JacoInterface::CartesianGotoMessage::e1
float e1() const
Get e1 value.
Definition: JacoInterface.cpp:954
fawkes::JacoInterface::maxlenof_euler2
size_t maxlenof_euler2() const
Get maximum length of euler2 value.
Definition: JacoInterface.cpp:300
fawkes::JacoInterface::CartesianGotoMessage::CartesianGotoMessage
CartesianGotoMessage()
Constructor.
Definition: JacoInterface.cpp:825
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_e1
size_t maxlenof_e1() const
Get maximum length of e1 value.
Definition: JacoInterface.cpp:964
fawkes::JacoInterface::MoveGripperMessage::MoveGripperMessage
MoveGripperMessage()
Constructor.
Definition: JacoInterface.cpp:1336
fawkes::JacoInterface::AngularGotoMessage::j4
float j4() const
Get j4 value.
Definition: JacoInterface.cpp:1214
fawkes::JacoInterface::SetPlannerParamsMessage::~SetPlannerParamsMessage
~SetPlannerParamsMessage()
Destructor.
Definition: JacoInterface.cpp:1500
fawkes::JacoInterface::msgid
uint32_t msgid() const
Get msgid value.
Definition: JacoInterface.cpp:506
fawkes::JacoInterface::euler3
float euler3() const
Get euler3 value.
Definition: JacoInterface.cpp:321
fawkes::JacoInterface::CartesianGotoMessage::set_x
void set_x(const float new_x)
Set x value.
Definition: JacoInterface.cpp:884
fawkes::JacoInterface::ERROR_NONE
static const uint32_t ERROR_NONE
ERROR_NONE constant.
Definition: JacoInterface.h:49
fawkes::JacoInterface::StopMessage::~StopMessage
~StopMessage()
Destructor.
Definition: JacoInterface.cpp:761
fawkes::JacoInterface::maxlenof_initialized
size_t maxlenof_initialized() const
Get maximum length of initialized value.
Definition: JacoInterface.cpp:145
fawkes::JacoInterface::maxlenof_z
size_t maxlenof_z() const
Get maximum length of z value.
Definition: JacoInterface.cpp:238
fawkes::JacoInterface::maxlenof_finger3
size_t maxlenof_finger3() const
Get maximum length of finger3 value.
Definition: JacoInterface.cpp:484
fawkes::JacoInterface::RetractMessage
Definition: JacoInterface.h:104
fawkes::Interface::type
const char * type() const
Get type of interface.
Definition: interface.cpp:643
fawkes::JacoInterface::AngularGotoMessage::set_j5
void set_j5(const float new_j5)
Set j5 value.
Definition: JacoInterface.cpp:1264
fawkes::JacoInterface::CartesianGotoMessage::z
float z() const
Get z value.
Definition: JacoInterface.cpp:924
fawkes::JacoInterface::JoystickReleaseMessage::JoystickReleaseMessage
JoystickReleaseMessage()
Constructor.
Definition: JacoInterface.cpp:1657
fawkes::JacoInterface::CartesianGotoMessage::set_e2
void set_e2(const float new_e2)
Set e2 value.
Definition: JacoInterface.cpp:1004
fawkes::JacoInterface::finger1
float finger1() const
Get finger1 value.
Definition: JacoInterface.cpp:412
fawkes::JacoInterface::AngularGotoMessage::j1
float j1() const
Get j1 value.
Definition: JacoInterface.cpp:1124
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_y
size_t maxlenof_y() const
Get maximum length of y value.
Definition: JacoInterface.cpp:904
fawkes::JacoInterface::x
float x() const
Get x value.
Definition: JacoInterface.cpp:166
fawkes::JacoInterface::joints
float * joints() const
Get joints value.
Definition: JacoInterface.cpp:352
fawkes::JacoInterface::AngularGotoMessage::j5
float j5() const
Get j5 value.
Definition: JacoInterface.cpp:1244
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_z
size_t maxlenof_z() const
Get maximum length of z value.
Definition: JacoInterface.cpp:934
fawkes::JacoInterface::CartesianGotoMessage::set_z
void set_z(const float new_z)
Set z value.
Definition: JacoInterface.cpp:944
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j4
size_t maxlenof_j4() const
Get maximum length of j4 value.
Definition: JacoInterface.cpp:1224
fawkes::JacoInterface::RetractMessage::RetractMessage
RetractMessage()
Constructor.
Definition: JacoInterface.cpp:705
fawkes::JacoInterface::AngularGotoMessage::j3
float j3() const
Get j3 value.
Definition: JacoInterface.cpp:1184
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_e2
size_t maxlenof_e2() const
Get maximum length of e2 value.
Definition: JacoInterface.cpp:994
fawkes::JacoInterface::MoveGripperMessage::maxlenof_finger3
size_t maxlenof_finger3() const
Get maximum length of finger3 value.
Definition: JacoInterface.cpp:1442
fawkes::JacoInterface::CartesianGotoMessage::set_e1
void set_e1(const float new_e1)
Set e1 value.
Definition: JacoInterface.cpp:974
fawkes::JacoInterface::is_initialized
bool is_initialized() const
Get initialized value.
Definition: JacoInterface.cpp:135
fawkes::JacoInterface::message_valid
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Definition: JacoInterface.cpp:1700
fawkes::JacoInterface::MoveGripperMessage::set_finger3
void set_finger3(const float new_finger3)
Set finger3 value.
Definition: JacoInterface.cpp:1452
fawkes::JacoInterface::CalibrateMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:693
fawkes::JacoInterface::MoveGripperMessage::finger1
float finger1() const
Get finger1 value.
Definition: JacoInterface.cpp:1372
fawkes::JacoInterface::AngularGotoMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1305
fawkes::JacoInterface::AngularGotoMessage::set_j1
void set_j1(const float new_j1)
Set j1 value.
Definition: JacoInterface.cpp:1144
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j5
size_t maxlenof_j5() const
Get maximum length of j5 value.
Definition: JacoInterface.cpp:1254
fawkes::JacoInterface::MoveGripperMessage
Definition: JacoInterface.h:234
fawkes::JacoInterface::set_euler3
void set_euler3(const float new_euler3)
Set euler3 value.
Definition: JacoInterface.cpp:341
fawkes::JacoInterface::ERROR_NO_IK
static const uint32_t ERROR_NO_IK
ERROR_NO_IK constant.
Definition: JacoInterface.h:51
fawkes::JacoInterface::JoystickPushMessage::~JoystickPushMessage
~JoystickPushMessage()
Destructor.
Definition: JacoInterface.cpp:1591
fawkes::JacoInterface::CartesianGotoMessage::e2
float e2() const
Get e2 value.
Definition: JacoInterface.cpp:984
fawkes
fawkes::JacoInterface::set_joints
void set_joints(unsigned int index, const float new_joints)
Set joints value at given index.
Definition: JacoInterface.cpp:399
fawkes::JacoInterface::CartesianGotoMessage
Definition: JacoInterface.h:144
fawkes::JacoInterface::enum_tostring
virtual const char * enum_tostring(const char *enumtype, int val) const
Definition: JacoInterface.cpp:645
fawkes::JacoInterface::maxlenof_error_code
size_t maxlenof_error_code() const
Get maximum length of error_code value.
Definition: JacoInterface.cpp:583
fawkes::JacoInterface::StopMessage::StopMessage
StopMessage()
Constructor.
Definition: JacoInterface.cpp:751
fawkes::JacoInterface::CartesianGotoMessage::y
float y() const
Get y value.
Definition: JacoInterface.cpp:894
fawkes::JacoInterface::maxlenof_finger2
size_t maxlenof_finger2() const
Get maximum length of finger2 value.
Definition: JacoInterface.cpp:453
fawkes::JacoInterface::SetPlannerParamsMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1555
fawkes::JacoInterface::JoystickPushMessage::button
uint32_t button() const
Get button value.
Definition: JacoInterface.cpp:1614
fawkes::JacoInterface::MoveGripperMessage::maxlenof_finger1
size_t maxlenof_finger1() const
Get maximum length of finger1 value.
Definition: JacoInterface.cpp:1382
fawkes::JacoInterface::euler2
float euler2() const
Get euler2 value.
Definition: JacoInterface.cpp:290
fawkes::Interface
Definition: interface.h:77
fawkes::JacoInterface::StopMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:785
fawkes::JacoInterface::set_z
void set_z(const float new_z)
Set z value.
Definition: JacoInterface.cpp:248
fawkes::JacoInterface::CartesianGotoMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1045
fawkes::JacoInterface::set_euler1
void set_euler1(const float new_euler1)
Set euler1 value.
Definition: JacoInterface.cpp:279
fawkes::JacoInterface::MoveGripperMessage::finger3
float finger3() const
Get finger3 value.
Definition: JacoInterface.cpp:1432
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j2
size_t maxlenof_j2() const
Get maximum length of j2 value.
Definition: JacoInterface.cpp:1164
fawkes::JacoInterface::AngularGotoMessage::j6
float j6() const
Get j6 value.
Definition: JacoInterface.cpp:1274
fawkes::JacoInterface::copy_values
virtual void copy_values(const Interface *other)
Copy values from other interface.
Definition: JacoInterface.cpp:634
fawkes::JacoInterface::CalibrateMessage::~CalibrateMessage
~CalibrateMessage()
Destructor.
Definition: JacoInterface.cpp:669
fawkes::JacoInterface::set_finger2
void set_finger2(const float new_finger2)
Set finger2 value.
Definition: JacoInterface.cpp:463
fawkes::JacoInterface::JoystickPushMessage::JoystickPushMessage
JoystickPushMessage()
Constructor.
Definition: JacoInterface.cpp:1580
fawkes::JacoInterface::CartesianGotoMessage::maxlenof_x
size_t maxlenof_x() const
Get maximum length of x value.
Definition: JacoInterface.cpp:874
fawkes::JacoInterface::maxlenof_y
size_t maxlenof_y() const
Get maximum length of y value.
Definition: JacoInterface.cpp:207
fawkes::JacoInterface::maxlenof_final
size_t maxlenof_final() const
Get maximum length of final value.
Definition: JacoInterface.cpp:549
fawkes::JacoInterface::maxlenof_euler1
size_t maxlenof_euler1() const
Get maximum length of euler1 value.
Definition: JacoInterface.cpp:269
fawkes::JacoInterface::AngularGotoMessage::maxlenof_j1
size_t maxlenof_j1() const
Get maximum length of j1 value.
Definition: JacoInterface.cpp:1134
fawkes::JacoInterface::ERROR_UNSPECIFIC
static const uint32_t ERROR_UNSPECIFIC
ERROR_UNSPECIFIC constant.
Definition: JacoInterface.h:50
fawkes::JacoInterface::JoystickPushMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1645
fawkes::JacoInterface::set_error_code
void set_error_code(const uint32_t new_error_code)
Set error_code value.
Definition: JacoInterface.cpp:595
fawkes::JacoInterface::SetPlannerParamsMessage::maxlenof_params
size_t maxlenof_params() const
Get maximum length of params value.
Definition: JacoInterface.cpp:1533
fawkes::JacoInterface::ERROR_PLANNING
static const uint32_t ERROR_PLANNING
ERROR_PLANNING constant.
Definition: JacoInterface.h:52
fawkes::JacoInterface::maxlenof_finger1
size_t maxlenof_finger1() const
Get maximum length of finger1 value.
Definition: JacoInterface.cpp:422
fawkes::JacoInterface::maxlenof_joints
size_t maxlenof_joints() const
Get maximum length of joints value.
Definition: JacoInterface.cpp:377
fawkes::JacoInterface::maxlenof_x
size_t maxlenof_x() const
Get maximum length of x value.
Definition: JacoInterface.cpp:176
fawkes::JacoInterface::SetPlannerParamsMessage::params
char * params() const
Get params value.
Definition: JacoInterface.cpp:1523
fawkes::JacoInterface::MoveGripperMessage::finger2
float finger2() const
Get finger2 value.
Definition: JacoInterface.cpp:1402
fawkes::JacoInterface::JoystickPushMessage::maxlenof_button
size_t maxlenof_button() const
Get maximum length of button value.
Definition: JacoInterface.cpp:1624
fawkes::JacoInterface::set_euler2
void set_euler2(const float new_euler2)
Set euler2 value.
Definition: JacoInterface.cpp:310
fawkes::JacoInterface::RetractMessage::~RetractMessage
~RetractMessage()
Destructor.
Definition: JacoInterface.cpp:715
fawkes::JacoInterface::AngularGotoMessage::j2
float j2() const
Get j2 value.
Definition: JacoInterface.cpp:1154
fawkes::JacoInterface::SetPlannerParamsMessage::set_params
void set_params(const char *new_params)
Set params value.
Definition: JacoInterface.cpp:1543
fawkes::JacoInterface::MoveGripperMessage::set_finger2
void set_finger2(const float new_finger2)
Set finger2 value.
Definition: JacoInterface.cpp:1422
fawkes::JacoInterface::JoystickReleaseMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:1691
fawkes::JacoInterface::CartesianGotoMessage::e3
float e3() const
Get e3 value.
Definition: JacoInterface.cpp:1014
fawkes::JacoInterface::maxlenof_connected
size_t maxlenof_connected() const
Get maximum length of connected value.
Definition: JacoInterface.cpp:114
fawkes::JacoInterface::CalibrateMessage
Definition: JacoInterface.h:84
fawkes::JacoInterface::JoystickPushMessage::set_button
void set_button(const uint32_t new_button)
Set button value.
Definition: JacoInterface.cpp:1634
fawkes::JacoInterface::AngularGotoMessage::set_j4
void set_j4(const float new_j4)
Set j4 value.
Definition: JacoInterface.cpp:1234
fawkes::JacoInterface::set_initialized
void set_initialized(const bool new_initialized)
Set initialized value.
Definition: JacoInterface.cpp:155
fawkes::JacoInterface
Definition: JacoInterface.h:37
fawkes::JacoInterface::set_final
void set_final(const bool new_final)
Set final value.
Definition: JacoInterface.cpp:560
fawkes::JacoInterface::SetPlannerParamsMessage
Definition: JacoInterface.h:267
fawkes::JacoInterface::set_msgid
void set_msgid(const uint32_t new_msgid)
Set msgid value.
Definition: JacoInterface.cpp:527
fawkes::JacoInterface::euler1
float euler1() const
Get euler1 value.
Definition: JacoInterface.cpp:259
fawkes::JacoInterface::AngularGotoMessage::set_j3
void set_j3(const float new_j3)
Set j3 value.
Definition: JacoInterface.cpp:1204
fawkes::JacoInterface::finger2
float finger2() const
Get finger2 value.
Definition: JacoInterface.cpp:443
fawkes::JacoInterface::maxlenof_msgid
size_t maxlenof_msgid() const
Get maximum length of msgid value.
Definition: JacoInterface.cpp:516
fawkes::JacoInterface::set_finger3
void set_finger3(const float new_finger3)
Set finger3 value.
Definition: JacoInterface.cpp:494
fawkes::JacoInterface::AngularGotoMessage::set_j6
void set_j6(const float new_j6)
Set j6 value.
Definition: JacoInterface.cpp:1294
fawkes::JacoInterface::CartesianGotoMessage::set_e3
void set_e3(const float new_e3)
Set e3 value.
Definition: JacoInterface.cpp:1034
fawkes::JacoInterface::CalibrateMessage::CalibrateMessage
CalibrateMessage()
Constructor.
Definition: JacoInterface.cpp:659
fawkes::JacoInterface::JoystickReleaseMessage
Definition: JacoInterface.h:317
fawkes::JacoInterface::CartesianGotoMessage::x
float x() const
Get x value.
Definition: JacoInterface.cpp:864
fawkes::JacoInterface::AngularGotoMessage::AngularGotoMessage
AngularGotoMessage()
Constructor.
Definition: JacoInterface.cpp:1085
fawkes::JacoInterface::RetractMessage::clone
virtual Message * clone() const
Clone this message.
Definition: JacoInterface.cpp:739
fawkes::JacoInterface::JoystickReleaseMessage::~JoystickReleaseMessage
~JoystickReleaseMessage()
Destructor.
Definition: JacoInterface.cpp:1667