guWhiteboard::HAL_HeadTarget Class Reference

Class for moving a robotic head in abs coords. More...

#include <HAL_HeadTarget.hpp>

Inheritance diagram for guWhiteboard::HAL_HeadTarget:

Collaboration diagram for guWhiteboard::HAL_HeadTarget:

Public Member Functions
	HAL_HeadTarget ()
	Constructor. More...
void	Stop ()
	Set stopping vars. More...
void	GoToWithTime (float yaw, float pitch, int time=1000000)
	move to position in degrees over a given time More...
void	GoToWithTime_rad (float yaw, float pitch, int time=1000000)
	move to position in radians over a given time More...
	HAL_HeadTarget (const std::string &str)
	String constructor (NYI) More...
void	from_string (const std::string &str)
	Parser for recreating this class (NYI) More...
std::string	description () const
	Description method for pretty printing the values in this class. More...
Public Member Functions inherited from wb_hal_headtarget
	PROPERTY (float, target_pitchAngle) PROPERTY(float
	target pitch angle in radians More...
target_yawAngle PROPERTY(int, target_movement_time) BIT_PROPERTY(head_stopped) BIT_PROPERTY(head_cmd_mask) unsigned pad	wb_hal_headtarget (float target_pitchAngle=0, float target_yawAngle=0, int target_movement_time=1000000, bool head_stopped=true)
	How long until the head should be at the target angles, stored in micro seconds. More...

Detailed Description

Class for moving a robotic head in abs coords.

Move the robotics head to the abs coord provided in this class

Examples

Examples of what to do with the class

HAL_HeadTarget().GoToWithTime(0, 0, 1000000);   //Move to 0 yaw and 0 pitch over 1 second
HAL_HeadTarget().GoToWithTime(30, 10, 3000000);     //Move to 30 degrees yaw and 10 degrees pitch over 3 second
HAL_HeadTarget().GoToWithTime_rad(-0.5235, -0.1745, 3000000);   //Move to -30 degrees yaw and -10 degrees pitch by passing radians values over 3 second
HAL_HeadTarget().Stop();    //Stop moving the head, can be issued mid-movement

Class values typically need to be passed to the Whiteboard for them to take effect

HAL_HeadTarget_t.set(HAL_HeadTarget().Stop());

Definition at line 40 of file HAL_HeadTarget.hpp.

Constructor & Destructor Documentation

HAL_HeadTarget() [1/2]

guWhiteboard::HAL_HeadTarget::HAL_HeadTarget ( )

inline

Constructor.

Definition at line 46 of file HAL_HeadTarget.hpp.

HAL_HeadTarget() [2/2]

guWhiteboard::HAL_HeadTarget::HAL_HeadTarget ( const std::string &  str )

inline

String constructor (NYI)

Parameters

str	the string to parse and use to recreate the this object

Definition at line 99 of file HAL_HeadTarget.hpp.

References from_string().

Member Function Documentation

description()

std::string guWhiteboard::HAL_HeadTarget::description ( ) const

inline

Description method for pretty printing the values in this class.

Returns

pretty printed string

Definition at line 114 of file HAL_HeadTarget.hpp.

from_string()

void guWhiteboard::HAL_HeadTarget::from_string ( const std::string &  str )

inline

Parser for recreating this class (NYI)

Parameters

str	the string to parse and use to recreate the this object

Definition at line 105 of file HAL_HeadTarget.hpp.

Referenced by HAL_HeadTarget().

GoToWithTime()

void guWhiteboard::HAL_HeadTarget::GoToWithTime ( float  yaw, float  pitch, int  time = 1000000  )

inline

move to position in degrees over a given time

Parameters

yaw	horiz in abs degrees, see specific robot for limits
pitch	vert in abs degrees, see specific robot for limits
time	time in micro seconds for the motion to take

Definition at line 63 of file HAL_HeadTarget.hpp.

References GoToWithTime_rad().

GoToWithTime_rad()

void guWhiteboard::HAL_HeadTarget::GoToWithTime_rad ( float  yaw, float  pitch, int  time = 1000000  )

inline

move to position in radians over a given time

Parameters

yaw	horiz in abs degrees, see specific robot for limits
pitch	vert in abs degrees, see specific robot for limits
time	time in micro seconds for the motion to take

Definition at line 74 of file HAL_HeadTarget.hpp.

Referenced by GoToWithTime().

Stop()

void guWhiteboard::HAL_HeadTarget::Stop ( )

inline

Set stopping vars.

Definition at line 51 of file HAL_HeadTarget.hpp.

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

• typeClassDefs/HAL_HeadTarget.hpp