dynamixel::Task Class Reference

#include <Task.hpp>

Public Member Functions
	Task (std::string const &name="dynamixel::Task")
	~Task ()
bool	configureHook ()
	The following lines are template definitions for the various state machine.
bool	startHook ()
void	updateHook ()
void	stopHook ()

Protected Member Functions
bool	setAngle (double angle)
uint16_t	radToTicks (double angle) const
double	ticksToRad (uint16_t ticks) const

Protected Attributes
struct Dynamixel::Configuration	dynamixel_config
Dynamixel	dynamixel_
double	zeroOffset
double	wanted_scanner_tilt_angle
double	lastMeasuredAngle
base::samples::RigidBodyState	lowerDynamixel2UpperDynamixel

Friends
class	TaskBase

Constructor & Destructor Documentation

Task::Task

(

std::string const &

name = "dynamixel::Task"

)

Task::~Task

(

)

Member Function Documentation

bool Task::configureHook

(

)

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do needs_configuration ... end

uint16_t Task::radToTicks ( double  angle ) const

protected

bool Task::setAngle ( double  angle )

protected

bool Task::startHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

void Task::stopHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recovered() to go back in the Runtime state. This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

double Task::ticksToRad ( uint16_t  ticks ) const

protected

void Task::updateHook

(

)

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called. See README.txt for different triggering options.

The warning(), error() and fatal() calls, when called in this hook, allow to get into the associated RunTimeWarning, RunTimeError and FatalError states.

In the first case, updateHook() is still called, and recovered() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook() and in the third case the component is stopped and resetError() needs to be called before starting it again.

Friends And Related Function Documentation

friend class TaskBase

friend

Member Data Documentation

Dynamixel dynamixel::Task::dynamixel_

protected

struct Dynamixel::Configuration dynamixel::Task::dynamixel_config

protected

double dynamixel::Task::lastMeasuredAngle

protected

base::samples::RigidBodyState dynamixel::Task::lowerDynamixel2UpperDynamixel

protected

double dynamixel::Task::wanted_scanner_tilt_angle

protected

double dynamixel::Task::zeroOffset

protected

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

• /home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/drivers/orogen/dynamixel/tasks/Task.hpp
• /home/build/jenkins/workspace/RockBootstrap19/FLAVOR/stable/label/DebianUnstable/dev/drivers/orogen/dynamixel/tasks/Task.cpp