LMasterRSlave Class Reference

#include <LMasterRSlave.h>

List of all members.

Public Member Functions
	LMasterRSlave ()
virtual	~LMasterRSlave ()
virtual OStatus	DoInit (const OSystemEvent &event)
virtual OStatus	DoStart (const OSystemEvent &event)
virtual OStatus	DoStop (const OSystemEvent &event)
virtual OStatus	DoDestroy (const OSystemEvent &event)
void	ReadyEffector (const OReadyEvent &event)
void	NotifySensor (const ONotifyEvent &event)
Public Attributes
OSubject *	subject [numOfSubject]
OObserver *	observer [numOfObserver]
Private Member Functions
void	OpenPrimitives ()
void	NewCommandVectorData ()
void	SetJointGain ()
MovingResult	AdjustDiffJointValue ()
MovingResult	MoveToBroadBase ()
MovingResult	MoveToSleeping ()
MovingResult	MasterSlave ()
RCRegion *	FindFreeRegion ()
void	SetJointValue (RCRegion *rgn, int idx, double start, double end)
void	InitSensorIndex (OSensorFrameVectorData *sensorVecData)
void	Sensor2Command (OSensorFrameVectorData *sensorVec, int sensorIdx, OCommandVectorData *commandVec, int commandIndex, OPrimitiveID id)
Private Attributes
LMasterRSlaveState	lmasterRSlaveState
OPrimitiveID	jointID [NUM_JOINTS]
RCRegion *	region [NUM_COMMAND_VECTOR]
bool	initSensorIndex
int	sensorIndex [NUM_JOINTS]
RCRegion *	latestSensorRegion
Static Private Attributes
const size_t	NUM_JOINTS = 15
const size_t	NUM_COMMAND_VECTOR = 2
const word	TILT_PGAIN = 0x000a
const word	TILT_IGAIN = 0x0008
const word	TILT_DGAIN = 0x000c
const word	PAN_PGAIN = 0x000d
const word	PAN_IGAIN = 0x0008
const word	PAN_DGAIN = 0x000b
const word	ROLL_PGAIN = 0x000a
const word	ROLL_IGAIN = 0x0008
const word	ROLL_DGAIN = 0x000c
const word	J1_PGAIN = 0x0016
const word	J1_IGAIN = 0x0004
const word	J1_DGAIN = 0x0008
const word	J2_PGAIN = 0x0014
const word	J2_IGAIN = 0x0004
const word	J2_DGAIN = 0x0006
const word	J3_PGAIN = 0x0023
const word	J3_IGAIN = 0x0004
const word	J3_DGAIN = 0x0005
const word	PSHIFT = 0x000e
const word	ISHIFT = 0x0002
const word	DSHIFT = 0x000f
const int	BROADBASE_MAX_COUNTER = 48
const int	SLEEPING_MAX_COUNTER = 48

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Constructor & Destructor Documentation

LMasterRSlave::LMasterRSlave (   )

Definition at line 19 of file LMasterRSlave.cc. References jointID, LMRS_IDLE, region, and sensorIndex.

virtual LMasterRSlave::~LMasterRSlave (   )  [inline, virtual]

Definition at line 120 of file LMasterRSlave.h.

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Member Function Documentation

MovingResult LMasterRSlave::AdjustDiffJointValue (   )  [private]

Definition at line 238 of file LMasterRSlave.cc. References GetJointValue(), jointID, region, SetJointValue(), and subject. Referenced by DoStart(), and ReadyEffector().

OStatus LMasterRSlave::DoDestroy (  const OSystemEvent &  event  )  [virtual]

Definition at line 75 of file LMasterRSlave.cc.

OStatus LMasterRSlave::DoInit (  const OSystemEvent &  event  )  [virtual]

Definition at line 28 of file LMasterRSlave.cc. References NewCommandVectorData(), and OpenPrimitives().

OStatus LMasterRSlave::DoStart (  const OSystemEvent &  event  )  [virtual]

Definition at line 44 of file LMasterRSlave.cc. References AdjustDiffJointValue(), lmasterRSlaveState, and subject.

OStatus LMasterRSlave::DoStop (  const OSystemEvent &  event  )  [virtual]

Definition at line 62 of file LMasterRSlave.cc. References lmasterRSlaveState.

RCRegion * LMasterRSlave::FindFreeRegion (   )  [private]

Definition at line 380 of file LMasterRSlave.cc. References region. Referenced by MasterSlave(), MoveToBroadBase(), and MoveToSleeping().

void LMasterRSlave::InitSensorIndex (  OSensorFrameVectorData *  sensorVecData  )  [private]

Definition at line 408 of file LMasterRSlave.cc. References jointID, and sensorIndex. Referenced by NotifySensor().

MovingResult LMasterRSlave::MasterSlave (   )  [private]

Definition at line 330 of file LMasterRSlave.cc. References FindFreeRegion(), jointID, latestSensorRegion, LFLEG_J1, LFLEG_J2, LFLEG_J3, LRLEG_J1, LRLEG_J2, LRLEG_J3, RFLEG_J1, RFLEG_J2, RFLEG_J3, RRLEG_J1, RRLEG_J2, RRLEG_J3, Sensor2Command(), sensorIndex, and subject. Referenced by ReadyEffector().

MovingResult LMasterRSlave::MoveToBroadBase (   )  [private]

Definition at line 257 of file LMasterRSlave.cc. References BROADBASE_ANGLE, FindFreeRegion(), GetJointValue(), jointID, MOVING_FINISH, SetJointValue(), and subject. Referenced by ReadyEffector().

MovingResult LMasterRSlave::MoveToSleeping (   )  [private]

Definition at line 299 of file LMasterRSlave.cc. References BROADBASE_ANGLE, FindFreeRegion(), MOVING_FINISH, SetJointValue(), SLEEPING_ANGLE, and subject. Referenced by ReadyEffector().

void LMasterRSlave::NewCommandVectorData (   )  [private]

Definition at line 164 of file LMasterRSlave.cc. References jointID, NUM_JOINTS, and region. Referenced by DoInit().

void LMasterRSlave::NotifySensor (  const ONotifyEvent &  event  )

Definition at line 129 of file LMasterRSlave.cc. References InitSensorIndex(), initSensorIndex, latestSensorRegion, lmasterRSlaveState, and observer.

void LMasterRSlave::OpenPrimitives (   )  [private]

Definition at line 151 of file LMasterRSlave.cc. References jointID. Referenced by DoInit().

void LMasterRSlave::ReadyEffector (  const OReadyEvent &  event  )

Definition at line 82 of file LMasterRSlave.cc. References AdjustDiffJointValue(), lmasterRSlaveState, MasterSlave(), MoveToBroadBase(), MoveToSleeping(), MovingResult, and SetJointGain().

void LMasterRSlave::Sensor2Command (  OSensorFrameVectorData *  sensorVec, int  sensorIdx, OCommandVectorData *  commandVec, int  commandIndex, OPrimitiveID  id )  [private]

Definition at line 423 of file LMasterRSlave.cc. Referenced by MasterSlave().

void LMasterRSlave::SetJointGain (   )  [private]

Definition at line 196 of file LMasterRSlave.cc. References DSHIFT, HEAD_PAN, HEAD_ROLL, HEAD_TILT, ISHIFT, J1_DGAIN, J1_IGAIN, J1_PGAIN, J2_DGAIN, J2_IGAIN, J2_PGAIN, J3_DGAIN, J3_IGAIN, J3_PGAIN, jointID, PAN_DGAIN, PAN_IGAIN, PAN_PGAIN, PSHIFT, ROLL_DGAIN, ROLL_IGAIN, ROLL_PGAIN, TILT_DGAIN, TILT_IGAIN, and TILT_PGAIN. Referenced by ReadyEffector().

void LMasterRSlave::SetJointValue (  RCRegion *  rgn, int  idx, double  start, double  end )  [private]

Definition at line 390 of file LMasterRSlave.cc. References jointID. Referenced by AdjustDiffJointValue(), MoveToBroadBase(), and MoveToSleeping().

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Member Data Documentation

const int LMasterRSlave::BROADBASE_MAX_COUNTER = 48 [static, private]

Definition at line 180 of file LMasterRSlave.h.

const word LMasterRSlave::DSHIFT = 0x000f [static, private]

Definition at line 178 of file LMasterRSlave.h. Referenced by SetJointGain().

bool LMasterRSlave::initSensorIndex [private]

Definition at line 188 of file LMasterRSlave.h. Referenced by NotifySensor().

const word LMasterRSlave::ISHIFT = 0x0002 [static, private]

Definition at line 177 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J1_DGAIN = 0x0008 [static, private]

Definition at line 166 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J1_IGAIN = 0x0004 [static, private]

Definition at line 165 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J1_PGAIN = 0x0016 [static, private]

Definition at line 164 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J2_DGAIN = 0x0006 [static, private]

Definition at line 170 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J2_IGAIN = 0x0004 [static, private]

Definition at line 169 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J2_PGAIN = 0x0014 [static, private]

Definition at line 168 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J3_DGAIN = 0x0005 [static, private]

Definition at line 174 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J3_IGAIN = 0x0004 [static, private]

Definition at line 173 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::J3_PGAIN = 0x0023 [static, private]

Definition at line 172 of file LMasterRSlave.h. Referenced by SetJointGain().

OPrimitiveID LMasterRSlave::jointID[NUM_JOINTS] [private]

Definition at line 185 of file LMasterRSlave.h. Referenced by AdjustDiffJointValue(), InitSensorIndex(), LMasterRSlave(), MasterSlave(), MoveToBroadBase(), NewCommandVectorData(), OpenPrimitives(), SetJointGain(), and SetJointValue().

RCRegion* LMasterRSlave::latestSensorRegion [private]

Definition at line 190 of file LMasterRSlave.h. Referenced by MasterSlave(), and NotifySensor().

LMasterRSlaveState LMasterRSlave::lmasterRSlaveState [private]

Definition at line 183 of file LMasterRSlave.h. Referenced by DoStart(), DoStop(), NotifySensor(), and ReadyEffector().

const size_t LMasterRSlave::NUM_COMMAND_VECTOR = 2 [static, private]

Definition at line 150 of file LMasterRSlave.h.

const size_t LMasterRSlave::NUM_JOINTS = 15 [static, private]

Definition at line 149 of file LMasterRSlave.h. Referenced by NewCommandVectorData().

OObserver* LMasterRSlave::observer[numOfObserver]

Definition at line 123 of file LMasterRSlave.h. Referenced by NotifySensor().

const word LMasterRSlave::PAN_DGAIN = 0x000b [static, private]

Definition at line 158 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::PAN_IGAIN = 0x0008 [static, private]

Definition at line 157 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::PAN_PGAIN = 0x000d [static, private]

Definition at line 156 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::PSHIFT = 0x000e [static, private]

Definition at line 176 of file LMasterRSlave.h. Referenced by SetJointGain().

RCRegion* LMasterRSlave::region[NUM_COMMAND_VECTOR] [private]

Definition at line 186 of file LMasterRSlave.h. Referenced by AdjustDiffJointValue(), FindFreeRegion(), LMasterRSlave(), and NewCommandVectorData().

const word LMasterRSlave::ROLL_DGAIN = 0x000c [static, private]

Definition at line 162 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::ROLL_IGAIN = 0x0008 [static, private]

Definition at line 161 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::ROLL_PGAIN = 0x000a [static, private]

Definition at line 160 of file LMasterRSlave.h. Referenced by SetJointGain().

int LMasterRSlave::sensorIndex[NUM_JOINTS] [private]

Definition at line 189 of file LMasterRSlave.h. Referenced by InitSensorIndex(), LMasterRSlave(), and MasterSlave().

const int LMasterRSlave::SLEEPING_MAX_COUNTER = 48 [static, private]

Definition at line 181 of file LMasterRSlave.h.

OSubject* LMasterRSlave::subject[numOfSubject]

Definition at line 122 of file LMasterRSlave.h. Referenced by AdjustDiffJointValue(), DoStart(), MasterSlave(), MoveToBroadBase(), and MoveToSleeping().

const word LMasterRSlave::TILT_DGAIN = 0x000c [static, private]

Definition at line 154 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::TILT_IGAIN = 0x0008 [static, private]

Definition at line 153 of file LMasterRSlave.h. Referenced by SetJointGain().

const word LMasterRSlave::TILT_PGAIN = 0x000a [static, private]

Definition at line 152 of file LMasterRSlave.h. Referenced by SetJointGain().

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

• LMasterRSlave.h
• LMasterRSlave.cc

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