hebi::Command::HighResAngleField Class Reference

A message field for an angle measurement which does not lose precision at very high angles. More...

#include <command.hpp>

Public Member Functions
	operator bool () const
	Allows casting to a bool to check if the field has a value without directly calling has(). More...
bool	has () const
	True if (and only if) the field has a value. More...
double	get () const
	If the field has a value, returns that value as a double; otherwise, returns a default. More...
void	get (int64_t *revolutions, float *radian_offset) const
	If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default. More...
void	set (double radians)
	Sets the field to a given double value (in radians). Note that double precision floating point numbers cannot represent the same angular resolution at very high magnitudes as they can at lower magnitudes. More...
void	set (int64_t revolutions, float radian_offset)
	Sets the field to a given integer number of revolutions and a floating point offset from this number of revolutions. The offset does not specifically need to fall within a certain range (i.e., can add more than a single revolution to the integer value), but should be kept relatively small (e.g., below 10,000) to avoid potential loss of precision. More...
void	clear ()
	Removes any currently set value for this field. More...

Detailed Description

A message field for an angle measurement which does not lose precision at very high angles.

This field is represented as an int64_t for the number of revolutions and a float for the radian offset from that number of revolutions.

Member Function Documentation

operator bool()

hebi::Command::HighResAngleField::operator bool ( ) const

inlineexplicit

Allows casting to a bool to check if the field has a value without directly calling has().

This can be used as in the following (assuming 'parent' is a parent message, and this field is called 'myField')

Command::HighResAngleField& f = parent.myField();
if (f)
  std::cout << "Field has value: " << f.get() << std::endl;
else
  std::cout << "Field has no value!" << std::endl;

has()

bool hebi::Command::HighResAngleField::has

(

)

const

True if (and only if) the field has a value.

get() [1/2]

double hebi::Command::HighResAngleField::get

(

)

const

If the field has a value, returns that value as a double; otherwise, returns a default.

Note that some precision might be lost converting to a double at very high number of revolutions.

get() [2/2]

void hebi::Command::HighResAngleField::get	(	int64_t *	revolutions,
		float *	radian_offset
	)		const

If the field has a value, returns that value in the int64 and float parameters passed in; otherwise, returns a default.

Note that this maintains the full precision of the underlying angle measurement, even for very large numbers of revolutions.

Parameters

revolutions	The number of full revolutions
radian_offset	The offset from the given number of full revolutions. Note that this is usually between 0 and 2*M_PI, but callers should not assume this.

set() [1/2]

void hebi::Command::HighResAngleField::set

(

double

radians

)

Sets the field to a given double value (in radians). Note that double precision floating point numbers cannot represent the same angular resolution at very high magnitudes as they can at lower magnitudes.

set() [2/2]

void hebi::Command::HighResAngleField::set	(	int64_t	revolutions,
		float	radian_offset
	)

Sets the field to a given integer number of revolutions and a floating point offset from this number of revolutions. The offset does not specifically need to fall within a certain range (i.e., can add more than a single revolution to the integer value), but should be kept relatively small (e.g., below 10,000) to avoid potential loss of precision.

clear()

void hebi::Command::HighResAngleField::clear

(

)

Removes any currently set value for this field.

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

• command.hpp
• command.cpp