StewartPlatformBehavior Class Reference
#include <StewartPlatformBehavior.h>
Inheritance diagram for StewartPlatformBehavior:
Detailed Description
moves the legs in synchrony to emulate the capabilities of a stewart platform
Definition at line 15 of file StewartPlatformBehavior.h.
Public Member Functions | |
| StewartPlatformBehavior () | |
| constructor | |
| virtual | ~StewartPlatformBehavior () |
| destructor | |
| virtual void | DoStart () |
| By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods. | |
| virtual void | DoStop () |
By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ). | |
| virtual void | processEvent (const EventBase &) |
| By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing. | |
| virtual std::string | getDescription () const |
| Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). | |
| virtual void | setParam (const std::string &cmd, float value) |
| processes a string received from wireless | |
Static Public Member Functions | |
| static int | callback (char *buf, int bytes) |
| called by wireless when there's new data | |
| static std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Static Public Attributes | |
| static StewartPlatformBehavior * | theOne = NULL |
| Points to the one StewartPlatformBehavior object that the input command stream is talking to. | |
Protected Member Functions | |
| void | closeComm () |
| closes communications socket | |
Static Protected Member Functions | |
| static void * | getSAXHandler () |
| fills out (and returns) a xmlSAXHandler structure to control parsing of the communication stream | |
| static bool | isConnected () |
| returns true if theOne is connected | |
SAX functions | |
handles parsing of communications stream | |
| static void | sax_start_element (StewartPlatformBehavior *inst, const char *name, const char **attrs) |
| static void | sax_end_element (StewartPlatformBehavior *inst, const char *name) |
| static void | sax_end_doc (StewartPlatformBehavior *inst) |
| static void | sax_warning (StewartPlatformBehavior *inst, const char *msg,...) |
| static void | sax_error (StewartPlatformBehavior *inst, const char *msg,...) |
| static void | sax_fatal_error (StewartPlatformBehavior *inst, const char *msg,...) |
Protected Attributes | |
| Socket * | cmdsock |
| The input command stream socket. | |
| int | sock |
| the socket number so we can test if cmdsock is still valid | |
| void * | ctxt |
| contains parsing context regarding communication socket | |
| bool | docClosed |
| set to true by sax routines if the socket should be closed | |
| MotionManager::MC_ID | pose_id |
| The estop to control. | |
Private Member Functions | |
| StewartPlatformBehavior (const StewartPlatformBehavior &) | |
| don't call | |
| StewartPlatformBehavior | operator= (const StewartPlatformBehavior &) |
| don't call | |
Member Function Documentation
| static std::string StewartPlatformBehavior::getClassDescription | ( | ) | [inline, static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Definition at line 42 of file StewartPlatformBehavior.h.
Referenced by getDescription().
| virtual std::string StewartPlatformBehavior::getDescription | ( | ) | const [inline, virtual] |
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)
This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.
Reimplemented from BehaviorBase.
Definition at line 47 of file StewartPlatformBehavior.h.
The documentation for this class was generated from the following files:
