blmc_drivers::Leg Class Reference

The leg class is the implementation of the LegInterface. More...

#include <leg.hpp>

Inheritance diagram for blmc_drivers::Leg:

Collaboration diagram for blmc_drivers::Leg:

Public Member Functions
	Leg (std::shared_ptr< MotorInterface > hip_motor, std::shared_ptr< MotorInterface > knee_motor)
	Construct a new Leg object. More...
virtual	~Leg ()
	Destroy the Leg object.
virtual Ptr< const ScalarTimeseries >	get_motor_measurement (const int &motor_index, const int &measurement_index) const
	Getters. More...
virtual Ptr< const ScalarTimeseries >	get_current_target (const int &motor_index) const
	Get the actual target current. More...
virtual Ptr< const ScalarTimeseries >	get_sent_current_target (const int &motor_index) const
	Get the last sent target current. More...
virtual void	set_current_target (const double &current_target, const int &motor_index)
	setters ================================================================
virtual void	send_if_input_changed ()
	sender =================================================================
Public Member Functions inherited from blmc_drivers::LegInterface
virtual	~LegInterface ()
	Destroy the LegInterface object.

Private Attributes
std::array< std::shared_ptr< MotorInterface >, 2 >	motors_
	======================================================================== More...

Additional Inherited Members
Public Types inherited from blmc_drivers::LegInterface
enum	MotorMeasurementIndexing {   current, position, velocity, encoder_index,   motor_measurement_count }
	MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code.
enum	MotorIndexing { hip, knee, motor_count }
	This enum list the motors in the leg.
typedef real_time_tools::ThreadsafeTimeseries< double >	ScalarTimeseries
	ScalarTimeseries is a simple shortcut for more intelligible code.
template<typename Type >
using	Ptr = std::shared_ptr< Type >
	This is a shortcut for creating shared pointer in a simpler writting expression. More...

Detailed Description

The leg class is the implementation of the LegInterface.

This is the decalartion and the definition of the class as it is very simple.

Constructor & Destructor Documentation

Leg()

blmc_drivers::Leg::Leg ( std::shared_ptr< MotorInterface >  hip_motor, std::shared_ptr< MotorInterface >  knee_motor  )

inline

Construct a new Leg object.

Parameters

hip_motor	is the pointer to the hip motor
knee_motor	is the pointer to the knee motor

Member Function Documentation

get_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::Leg::get_current_target ( const int &  motor_index ) const

inlinevirtual

Get the actual target current.

Parameters

[in]

motor_index

designate the motor from which we want the data from.

Returns

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

Implements blmc_drivers::LegInterface.

get_motor_measurement()

virtual Ptr<const ScalarTimeseries> blmc_drivers::Leg::get_motor_measurement ( const int &  motor_index, const int &  measurement_index  ) const

inlinevirtual

Getters.

Get the motor measurements.

Parameters

motor_index
measurement_index

Returns

Ptr<const ScalarTimeseries>

Implements blmc_drivers::LegInterface.

get_sent_current_target()

virtual Ptr<const ScalarTimeseries> blmc_drivers::Leg::get_sent_current_target ( const int &  motor_index ) const

inlinevirtual

Get the last sent target current.

Parameters

[in]

motor_index

designate the motor from which we want the data from.

Returns

Ptr<const ScalarTimeseries> is the list of the lasts time stamped acquiered.

Implements blmc_drivers::LegInterface.

Member Data Documentation

motors_

std::array<std::shared_ptr<MotorInterface>, 2> blmc_drivers::Leg::motors_

private

========================================================================

This list contains pointers to two motors. This motors are respectively the hip and the knee of the leg.

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

• include/blmc_drivers/devices/leg.hpp