JointMonitor Class Reference

Monitor that checks the state of a joint. When the joint reaches the configured target, it calls a function to let the state machine know to transition to the next state. More...

#include <JointMonitor.hh>

Public Member Functions
	JointMonitor ()
	Constructor. More...
	~JointMonitor ()
	Destructor. More...
void	Configure (Entity _joint, double _target, double _posEps, double _velEps, const std::function< void()> &_jointTargetReachedCallback)
	Starts monitoring of the position and velocity of the given joint. More...
void	Update (const EntityComponentManager &_ecm)
	Checks whether the position and velocity of the joint are within the configured tolerances. More...

Detailed Description

Monitor that checks the state of a joint. When the joint reaches the configured target, it calls a function to let the state machine know to transition to the next state.

Constructor & Destructor Documentation

JointMonitor()

JointMonitor

(

)

Constructor.

~JointMonitor()

~JointMonitor

(

)

Destructor.

Member Function Documentation

Configure()

void Configure	(	Entity	_joint,
		double	_target,
		double	_posEps,
		double	_velEps,
		const std::function< void()> &	_jointTargetReachedCallback
	)

Starts monitoring of the position and velocity of the given joint.

Parameters

[in]	_joint	Joint to monitor
[in]	_jointTarget	Last joint target (command)
[in]	_posEps	Position tolerance
[in]	_velEps	Velocity tolerance
[in]	_jointTargetReachedCallback	Function to call when the joint reaches its target

Update()

void Update

(

const EntityComponentManager &

_ecm

)

Checks whether the position and velocity of the joint are within the configured tolerances.

Parameters

[in]

_ecm

Entity component manager

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

• JointMonitor.hh