iCub-main
Classes | Public Member Functions | Protected Attributes | List of all members
CtrlThread Class Reference
+ Inheritance diagram for CtrlThread:

Public Member Functions

 CtrlThread (unsigned int _period, ResourceFinder &_rf, string _remote, string _local)
 
bool threadInit ()
 
void afterStart (bool s)
 
void run ()
 
void threadRelease ()
 
void limitTorsoPitch (const int axis)
 
double calcExecTime (const Vector &xd)
 
void printStatus ()
 
 CtrlThread (unsigned int _period, ResourceFinder &_rf)
 
virtual bool threadInit ()
 
virtual void afterStart (bool s)
 
virtual void run ()
 
virtual void threadRelease ()
 
void printStatus ()
 

Protected Attributes

ResourceFinder & rf
 
PolyDriver driver
 
ICartesianControl * iarm
 
BufferedPort< Bottle > port_xd
 
bool ctrlCompletePose
 
bool reinstateContext
 
string remote
 
string local
 
int startup_context_id
 
int task_context_id
 
Vector xd
 
Vector od
 
double defaultExecTime
 
double t0
 
BufferedPort< Bottle > port_command
 
BufferedPort< Bottle > port_axis_only
 
BufferedPort< Bottle > port_buttons_only
 
bool silent
 
bool force_cfg
 
int numAxes
 
int numBalls
 
int numHats
 
int numButtons
 
int joy_id
 
SDL_Joystick * joy1
 
string button_actions [20]
 
string hat_actions [20]
 
int * rawButtons
 
int * rawButtonsOld
 
int * rawHats
 
int * rawHatsOld
 
double * rawAxes
 
double * outAxes
 
int num_inputs
 
int num_outputs
 
double * inputMax
 
double * inputMin
 
double * outputMax
 
double * outputMin
 
double * jointDeadband
 
int * reverse
 
struct_jointProperties * jointProperties
 

Detailed Description

Definition at line 147 of file main.cpp.

Constructor & Destructor Documentation

◆ CtrlThread() [1/2]

CtrlThread::CtrlThread ( unsigned int  _period,
ResourceFinder &  _rf,
string  _remote,
string  _local 
)
inline

Definition at line 170 of file main.cpp.

◆ CtrlThread() [2/2]

CtrlThread::CtrlThread ( unsigned int  _period,
ResourceFinder &  _rf 
)
inline

Definition at line 161 of file main.cpp.

Member Function Documentation

◆ afterStart() [1/2]

void CtrlThread::afterStart ( bool  s)
inline

Definition at line 268 of file main.cpp.

◆ afterStart() [2/2]

virtual void CtrlThread::afterStart ( bool  s)
inlinevirtual

Definition at line 504 of file main.cpp.

◆ calcExecTime()

double CtrlThread::calcExecTime ( const Vector &  xd)
inline

Definition at line 321 of file main.cpp.

◆ limitTorsoPitch()

void CtrlThread::limitTorsoPitch ( const int  axis)
inline

Definition at line 314 of file main.cpp.

◆ printStatus() [1/2]

void CtrlThread::printStatus ( )
inline

Definition at line 332 of file main.cpp.

◆ printStatus() [2/2]

void CtrlThread::printStatus ( )
inline

Definition at line 762 of file main.cpp.

◆ run() [1/2]

void CtrlThread::run ( void  )
inline

Definition at line 278 of file main.cpp.

◆ run() [2/2]

virtual void CtrlThread::run ( void  )
inlinevirtual

Definition at line 514 of file main.cpp.

◆ threadInit() [1/2]

bool CtrlThread::threadInit ( )
inline

Definition at line 176 of file main.cpp.

◆ threadInit() [2/2]

virtual bool CtrlThread::threadInit ( void  )
inlinevirtual

Definition at line 185 of file main.cpp.

◆ threadRelease() [1/2]

void CtrlThread::threadRelease ( )
inline

Definition at line 304 of file main.cpp.

◆ threadRelease() [2/2]

virtual void CtrlThread::threadRelease ( void  )
inlinevirtual

Definition at line 739 of file main.cpp.

Member Data Documentation

◆ button_actions

string CtrlThread::button_actions[20]
protected

Definition at line 136 of file main.cpp.

◆ ctrlCompletePose

bool CtrlThread::ctrlCompletePose
protected

Definition at line 154 of file main.cpp.

◆ defaultExecTime

double CtrlThread::defaultExecTime
protected

Definition at line 165 of file main.cpp.

◆ driver

PolyDriver CtrlThread::driver
protected

Definition at line 150 of file main.cpp.

◆ force_cfg

bool CtrlThread::force_cfg
protected

Definition at line 124 of file main.cpp.

◆ hat_actions

string CtrlThread::hat_actions[20]
protected

Definition at line 139 of file main.cpp.

◆ iarm

ICartesianControl* CtrlThread::iarm
protected

Definition at line 151 of file main.cpp.

◆ inputMax

double* CtrlThread::inputMax
protected

Definition at line 152 of file main.cpp.

◆ inputMin

double* CtrlThread::inputMin
protected

Definition at line 153 of file main.cpp.

◆ jointDeadband

double* CtrlThread::jointDeadband
protected

Definition at line 156 of file main.cpp.

◆ jointProperties

struct_jointProperties* CtrlThread::jointProperties
protected

Definition at line 158 of file main.cpp.

◆ joy1

SDL_Joystick* CtrlThread::joy1
protected

Definition at line 133 of file main.cpp.

◆ joy_id

int CtrlThread::joy_id
protected

Definition at line 132 of file main.cpp.

◆ local

string CtrlThread::local
protected

Definition at line 157 of file main.cpp.

◆ num_inputs

int CtrlThread::num_inputs
protected

Definition at line 150 of file main.cpp.

◆ num_outputs

int CtrlThread::num_outputs
protected

Definition at line 151 of file main.cpp.

◆ numAxes

int CtrlThread::numAxes
protected

Definition at line 128 of file main.cpp.

◆ numBalls

int CtrlThread::numBalls
protected

Definition at line 129 of file main.cpp.

◆ numButtons

int CtrlThread::numButtons
protected

Definition at line 131 of file main.cpp.

◆ numHats

int CtrlThread::numHats
protected

Definition at line 130 of file main.cpp.

◆ od

Vector CtrlThread::od
protected

Definition at line 163 of file main.cpp.

◆ outAxes

double* CtrlThread::outAxes
protected

Definition at line 147 of file main.cpp.

◆ outputMax

double* CtrlThread::outputMax
protected

Definition at line 154 of file main.cpp.

◆ outputMin

double* CtrlThread::outputMin
protected

Definition at line 155 of file main.cpp.

◆ port_axis_only

BufferedPort<Bottle> CtrlThread::port_axis_only
protected

Definition at line 121 of file main.cpp.

◆ port_buttons_only

BufferedPort<Bottle> CtrlThread::port_buttons_only
protected

Definition at line 122 of file main.cpp.

◆ port_command

BufferedPort<Bottle> CtrlThread::port_command
protected

Definition at line 120 of file main.cpp.

◆ port_xd

BufferedPort<Bottle> CtrlThread::port_xd
protected

Definition at line 152 of file main.cpp.

◆ rawAxes

double* CtrlThread::rawAxes
protected

Definition at line 146 of file main.cpp.

◆ rawButtons

int* CtrlThread::rawButtons
protected

Definition at line 142 of file main.cpp.

◆ rawButtonsOld

int* CtrlThread::rawButtonsOld
protected

Definition at line 143 of file main.cpp.

◆ rawHats

int* CtrlThread::rawHats
protected

Definition at line 144 of file main.cpp.

◆ rawHatsOld

int* CtrlThread::rawHatsOld
protected

Definition at line 145 of file main.cpp.

◆ reinstateContext

bool CtrlThread::reinstateContext
protected

Definition at line 155 of file main.cpp.

◆ remote

string CtrlThread::remote
protected

Definition at line 156 of file main.cpp.

◆ reverse

int* CtrlThread::reverse
protected

Definition at line 157 of file main.cpp.

◆ rf

ResourceFinder & CtrlThread::rf
protected

Definition at line 149 of file main.cpp.

◆ silent

bool CtrlThread::silent
protected

Definition at line 123 of file main.cpp.

◆ startup_context_id

int CtrlThread::startup_context_id
protected

Definition at line 159 of file main.cpp.

◆ t0

double CtrlThread::t0
protected

Definition at line 166 of file main.cpp.

◆ task_context_id

int CtrlThread::task_context_id
protected

Definition at line 160 of file main.cpp.

◆ xd

Vector CtrlThread::xd
protected

Definition at line 162 of file main.cpp.

The documentation for this class was generated from the following file:
Generated on Thu Apr 11 2024 13:51:02 for iCub-main by doxygen 1.9.1