Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings. More...

#include <feedback.hpp>

Classes
class	Actuator
	Actuator-specific feedback. More...

class	EnumField
	A message field representable by an enum of a given type. More...

class	FloatField
	A message field representable by a single-precision floating point value. More...

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

class	Imu
	Inertial measurement unit feedback (accelerometers and gyros). More...

class	Io
	Feedback from any available I/O pins on the device. More...

class	IoBank
	A message field for interfacing with a bank of I/O pins. More...

class	LedField
	A message field for interfacing with an LED. More...

class	Mobile
	Feedback generally from a mobile device such as a phone or tablet. More...

class	NumberedFloatField
	A message field containing a numbered set of single-precision floating point values. More...

class	QuaternionfField
	A message field representable by a 3-D vector of single-precision floating point values. More...

class	UInt64Field
	A message field representable by an unsigned 64 bit integer value. More...

class	Vector3fField
	A message field representable by a 3-D vector of single-precision floating point values. More...

Public Types
enum	TemperatureState { TemperatureState::Normal, TemperatureState::Critical, TemperatureState::ExceedMaxMotor, TemperatureState::ExceedMaxBoard }

enum	MstopState { MstopState::Triggered, MstopState::NotTriggered }

enum	PositionLimitState { PositionLimitState::Below, PositionLimitState::AtLower, PositionLimitState::Inside, PositionLimitState::AtUpper, PositionLimitState::Above, PositionLimitState::Uninitialized }

enum	VelocityLimitState { VelocityLimitState::Below, VelocityLimitState::AtLower, VelocityLimitState::Inside, VelocityLimitState::AtUpper, VelocityLimitState::Above, VelocityLimitState::Uninitialized }

enum	EffortLimitState { EffortLimitState::Below, EffortLimitState::AtLower, EffortLimitState::Inside, EffortLimitState::AtUpper, EffortLimitState::Above, EffortLimitState::Uninitialized }

enum	CommandLifetimeState { CommandLifetimeState::Unlocked, CommandLifetimeState::LockedByOther, CommandLifetimeState::LockedBySender }

enum	ArQuality { ArQuality::ArQualityNotAvailable, ArQuality::ArQualityLimitedUnknown, ArQuality::ArQualityLimitedInitializing, ArQuality::ArQualityLimitedRelocalizing, ArQuality::ArQualityLimitedExcessiveMotion, ArQuality::ArQualityLimitedInsufficientFeatures, ArQuality::ArQualityNormal }

Public Member Functions
	Feedback (Feedback &&other)
	Move constructor (necessary for containment in STL template classes) More...

const Io &	io () const
	Feedback from any available I/O pins on the device. More...

const Actuator &	actuator () const
	Actuator-specific feedback. More...

const Mobile &	mobile () const
	Feedback generally from a mobile device such as a phone or tablet. More...

const Imu &	imu () const
	Inertial measurement unit feedback (accelerometers and gyros). More...

const FloatField &	boardTemperature () const
	Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius. More...

const FloatField &	processorTemperature () const
	Temperature of the processor chip, in degrees Celsius. More...

const FloatField &	voltage () const
	Bus voltage that the module is running at (in Volts). More...

const UInt64Field &	sequenceNumber () const
	Sequence number going to module (local) More...

const UInt64Field &	receiveTimeUs () const
	Timestamp of when message was received from module (local; microseconds) More...

const UInt64Field &	transmitTimeUs () const
	Timestamp of when message was transmitted to module (local; microseconds) More...

const UInt64Field &	hardwareReceiveTimeUs () const
	Timestamp of when message was received by module (remote; microseconds) More...

const UInt64Field &	hardwareTransmitTimeUs () const
	Timestamp of when message was transmitted from module (remote; microseconds) More...

const UInt64Field &	senderId () const
	Unique ID of the module transmitting this feedback. More...

const UInt64Field &	rxSequenceNumber () const
	Sequence number of incoming packet per module (local) More...

const LedField &	led () const
	The module's LED. More...

Feedback &	operator= (Feedback &&other)=delete

Detailed Description

Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings.

This object has a hierarchical structure – there are some direct general-purpose fields at the top level, and many more specific fields contained in different nested subobjects.

The subobjects contain references to the parent feedback object, and so should not be used after the parent object has been destroyed.

The fields in the feedback object are typed; generally, these are optional-style read-only fields (i.e., have the concept of has/get), although the return types and exact interface vary slightly between fields. Where appropriate, the explicit bool operator has been overridden so that you can shortcut if(field.has()) by calling if(field).

Although this header file can be used to look at the hierarchy of the messages, in general the online documentation at apidocs.hebi.us presents this information. in a more readable form.

Member Enumeration Documentation

◆ TemperatureState

enum hebi::Feedback::TemperatureState

strong

Enumerator
Normal	Temperature within normal range.
Critical	Motor output beginning to be limited due to high temperature.
ExceedMaxMotor	Temperature exceeds max allowable for motor; motor output disabled.
ExceedMaxBoard	Temperature exceeds max allowable for electronics; motor output disabled.

◆ MstopState

enum hebi::Feedback::MstopState

strong

Enumerator
Triggered	The MStop is pressed.
NotTriggered	The MStop is not pressed.

◆ PositionLimitState

enum hebi::Feedback::PositionLimitState

strong

Enumerator
Below	The position of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The position of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The position of the module was within the safety limits.
AtUpper	The position of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The position of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

◆ VelocityLimitState

enum hebi::Feedback::VelocityLimitState

strong

Enumerator
Below	The velocity of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The velocity of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The velocity of the module was within the safety limits.
AtUpper	The velocity of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The velocity of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

◆ EffortLimitState

enum hebi::Feedback::EffortLimitState

strong

Enumerator
Below	The effort of the module was below the lower safety limit; the motor output is set to return the module to within the limits
AtLower	The effort of the module was near the lower safety limit, and the motor output is being limited or reversed.
Inside	The effort of the module was within the safety limits.
AtUpper	The effort of the module was near the upper safety limit, and the motor output is being limited or reversed.
Above	The effort of the module was above the upper safety limit; the motor output is set to return the module to within the limits
Uninitialized	The module has not been inside the safety limits since it was booted or the safety limits were set.

◆ CommandLifetimeState

enum hebi::Feedback::CommandLifetimeState

strong

Enumerator
Unlocked	There is not command lifetime active on this module.
LockedByOther	Commands are locked out due to control from other users.
LockedBySender	Commands from others are locked out due to control from this group.

◆ ArQuality

enum hebi::Feedback::ArQuality

strong

Enumerator
ArQualityNotAvailable	Camera position tracking is not available.
ArQualityLimitedUnknown	Tracking is available albeit suboptimal for an unknown reason.
ArQualityLimitedInitializing	The AR session has not yet gathered enough camera or motion data to provide tracking information.
ArQualityLimitedRelocalizing	The AR session is attempting to resume after an interruption.
ArQualityLimitedExcessiveMotion	The device is moving too fast for accurate image-based position tracking.
ArQualityLimitedInsufficientFeatures	The scene visible to the camera does not contain enough distinguishable features for image-based position tracking.
ArQualityNormal	Camera position tracking is providing optimal results.

Constructor & Destructor Documentation

◆ Feedback()

hebi::Feedback::Feedback ( Feedback && other )

Move constructor (necessary for containment in STL template classes)

Member Function Documentation

◆ io()

const Io& hebi::Feedback::io ( ) const

inline

Feedback from any available I/O pins on the device.

◆ actuator()

const Actuator& hebi::Feedback::actuator ( ) const

inline

Actuator-specific feedback.

◆ mobile()

const Mobile& hebi::Feedback::mobile ( ) const

inline

Feedback generally from a mobile device such as a phone or tablet.

◆ imu()

const Imu& hebi::Feedback::imu ( ) const

inline

Inertial measurement unit feedback (accelerometers and gyros).

◆ boardTemperature()

const FloatField& hebi::Feedback::boardTemperature ( ) const

inline

Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.

◆ processorTemperature()

const FloatField& hebi::Feedback::processorTemperature ( ) const

inline

Temperature of the processor chip, in degrees Celsius.

◆ voltage()

const FloatField& hebi::Feedback::voltage ( ) const

inline

Bus voltage that the module is running at (in Volts).

◆ sequenceNumber()

const UInt64Field& hebi::Feedback::sequenceNumber ( ) const

inline

Sequence number going to module (local)

◆ receiveTimeUs()

const UInt64Field& hebi::Feedback::receiveTimeUs ( ) const

inline

Timestamp of when message was received from module (local; microseconds)

◆ transmitTimeUs()

const UInt64Field& hebi::Feedback::transmitTimeUs ( ) const

inline

Timestamp of when message was transmitted to module (local; microseconds)

◆ hardwareReceiveTimeUs()

const UInt64Field& hebi::Feedback::hardwareReceiveTimeUs ( ) const

inline

Timestamp of when message was received by module (remote; microseconds)

◆ hardwareTransmitTimeUs()

const UInt64Field& hebi::Feedback::hardwareTransmitTimeUs ( ) const

inline

Timestamp of when message was transmitted from module (remote; microseconds)

◆ senderId()

const UInt64Field& hebi::Feedback::senderId ( ) const

inline

Unique ID of the module transmitting this feedback.

◆ rxSequenceNumber()

const UInt64Field& hebi::Feedback::rxSequenceNumber ( ) const

inline

Sequence number of incoming packet per module (local)

◆ led()

const LedField& hebi::Feedback::led ( ) const

inline

The module's LED.

◆ operator=()

Feedback& hebi::Feedback::operator= ( Feedback && other )

delete

Disable copy constructor/assignment operators

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

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ TemperatureState

◆ MstopState

◆ PositionLimitState

◆ VelocityLimitState

◆ EffortLimitState

◆ CommandLifetimeState

◆ ArQuality

Constructor & Destructor Documentation

◆ Feedback()

Member Function Documentation

◆ io()

◆ actuator()

◆ mobile()

◆ imu()

◆ boardTemperature()

◆ processorTemperature()

◆ voltage()

◆ sequenceNumber()

◆ receiveTimeUs()

◆ transmitTimeUs()

◆ hardwareReceiveTimeUs()

◆ hardwareTransmitTimeUs()

◆ senderId()

◆ rxSequenceNumber()

◆ led()

◆ operator=()