HLR::Simulation::VirtualServo Class Reference

VirtualServo is used to simulate realistic movement of the servo. More...

#include <VirtualServo.hpp>

Collaboration diagram for HLR::Simulation::VirtualServo:

Public Member Functions
	VirtualServo (const urdf::JointConstSharedPtr &joint_shared_ptr, const std::string &robot_description)
	Constructor for VirtualServo. More...
void	start_update_thread ()
	Starts a thread running the private function Update servo and detaches it.
void	notify_change ()
	Sets update received to true.
bool	is_update_received () const
	Getter for update bool. More...
void	set_speed (double servo_speed)
	Set servo speed. More...
void	set_target_pos (double servo_target_pos)
	Target position to move the servo. More...
void	stop_movement ()
	Stop the servo from moving.
double	get_current_pos () const
	Get the current position of the servo. More...
double	get_max_speed () const
	Maximum speed of the servo. More...
double	get_max_rad () const
	Maximum angle in radians of the servo. More...
double	get_min_rad () const
	Minimum angle in radians of the servo. More...
bool	is_moving () const
	Servo moving true or false. More...

Detailed Description

VirtualServo is used to simulate realistic movement of the servo.

Constructor & Destructor Documentation

HLR::Simulation::VirtualServo::VirtualServo	(	const urdf::JointConstSharedPtr &	joint_shared_ptr,
		const std::string &	robot_description
	)

Constructor for VirtualServo.

Parameters

joint_shared_ptr	Pointer to joints specified in urdf file
robot_description	Name of the servo

Member Function Documentation

double HLR::Simulation::VirtualServo::get_current_pos

(

)

const

Get the current position of the servo.

Returns

double get_current_pos Current position of the servo

double HLR::Simulation::VirtualServo::get_max_rad

(

)

const

Maximum angle in radians of the servo.

Returns

double get_max_speed Maximum angle in radians of the servo

double HLR::Simulation::VirtualServo::get_max_speed

(

)

const

Maximum speed of the servo.

Returns

double get_max_speed Maximum speed of the servo

double HLR::Simulation::VirtualServo::get_min_rad

(

)

const

Minimum angle in radians of the servo.

Returns

double get_max_speed Minimum angle in radians of the servo

bool HLR::Simulation::VirtualServo::is_moving

(

)

const

Servo moving true or false.

Returns

true True when servo is moving

false False when servo is not moving

bool HLR::Simulation::VirtualServo::is_update_received

(

)

const

Getter for update bool.

Returns

true True when update is true

false False when update is false

void HLR::Simulation::VirtualServo::set_speed

(

double

servo_speed

)

Set servo speed.

Parameters

servo_speed

Speed of the servo

void HLR::Simulation::VirtualServo::set_target_pos

(

double

servo_target_pos

)

Target position to move the servo.

Parameters

servo_target_pos

Position value

---

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

• src/Simulation/VirtualServo.hpp