134 #ifndef DOXYGEN_OMIT_INTERNAL 135 FloatField(
const HebiFeedbackRef&
internal, HebiFeedbackFloatField field);
136 #endif // DOXYGEN_OMIT_INTERNAL 137 explicit operator bool()
const {
return has(); }
158 const HebiFeedbackRef& internal_;
159 HebiFeedbackFloatField
const field_;
169 #ifndef DOXYGEN_OMIT_INTERNAL 170 HighResAngleField(
const HebiFeedbackRef&
internal, HebiFeedbackHighResAngleField field);
171 #endif // DOXYGEN_OMIT_INTERNAL 172 explicit operator bool()
const {
return has(); }
204 void get(int64_t* revolutions,
float* radian_offset)
const;
208 const HebiFeedbackRef& internal_;
209 HebiFeedbackHighResAngleField
const field_;
216 #ifndef DOXYGEN_OMIT_INTERNAL 217 NumberedFloatField(
const HebiFeedbackRef&
internal, HebiFeedbackNumberedFloatField field);
218 #endif // DOXYGEN_OMIT_INTERNAL 219 bool has(
size_t fieldNumber)
const;
230 float get(
size_t fieldNumber)
const;
234 const HebiFeedbackRef& internal_;
235 HebiFeedbackNumberedFloatField
const field_;
241 #ifndef DOXYGEN_OMIT_INTERNAL 242 UInt64Field(
const HebiFeedbackRef&
internal, HebiFeedbackUInt64Field field);
243 #endif // DOXYGEN_OMIT_INTERNAL 244 explicit operator bool()
const {
return has(); }
261 uint64_t
get()
const;
265 const HebiFeedbackRef& internal_;
266 HebiFeedbackUInt64Field
const field_;
273 #ifndef DOXYGEN_OMIT_INTERNAL 274 Vector3fField(
const HebiFeedbackRef&
internal, HebiFeedbackVector3fField field);
275 #endif // DOXYGEN_OMIT_INTERNAL 276 explicit operator bool()
const {
return has(); }
297 const HebiFeedbackRef& internal_;
298 HebiFeedbackVector3fField
const field_;
305 #ifndef DOXYGEN_OMIT_INTERNAL 306 QuaternionfField(
const HebiFeedbackRef&
internal, HebiFeedbackQuaternionfField field);
307 #endif // DOXYGEN_OMIT_INTERNAL 308 explicit operator bool()
const {
return has(); }
329 const HebiFeedbackRef& internal_;
330 HebiFeedbackQuaternionfField
const field_;
337 #ifndef DOXYGEN_OMIT_INTERNAL 338 EnumField(
const HebiFeedbackRef&
internal, HebiFeedbackEnumField field) : internal_(
internal), field_(field) {}
339 #endif // DOXYGEN_OMIT_INTERNAL 340 explicit operator bool()
const {
return has(); }
355 return (
enumGetter(internal_, field_,
nullptr) == HebiStatusSuccess);
362 return static_cast<T>(ret);
367 const HebiFeedbackRef& internal_;
368 HebiFeedbackEnumField
const field_;
374 #ifndef DOXYGEN_OMIT_INTERNAL 375 IoBank(
const HebiFeedbackRef&
internal, HebiFeedbackIoPinBank bank);
376 #endif // DOXYGEN_OMIT_INTERNAL 377 bool hasInt(
size_t pinNumber)
const;
388 bool hasFloat(
size_t pinNumber)
const;
394 int64_t
getInt(
size_t pinNumber)
const;
401 float getFloat(
size_t pinNumber)
const;
405 const HebiFeedbackRef& internal_;
406 HebiFeedbackIoPinBank
const bank_;
412 #ifndef DOXYGEN_OMIT_INTERNAL 413 LedField(
const HebiFeedbackRef&
internal, HebiFeedbackLedField field);
414 #endif // DOXYGEN_OMIT_INTERNAL 415 explicit operator bool()
const {
return hasColor(); }
435 const HebiFeedbackRef& internal_;
436 HebiFeedbackLedField
const field_;
442 #ifndef DOXYGEN_OMIT_INTERNAL 443 Io(
const HebiFeedbackRef&
internal)
444 : a_(
internal, HebiFeedbackIoBankA),
445 b_(
internal, HebiFeedbackIoBankB),
446 c_(
internal, HebiFeedbackIoBankC),
447 d_(
internal, HebiFeedbackIoBankD),
448 e_(
internal, HebiFeedbackIoBankE),
449 f_(
internal, HebiFeedbackIoBankF) {}
450 #endif // DOXYGEN_OMIT_INTERNAL 483 #ifndef DOXYGEN_OMIT_INTERNAL 484 Actuator(
const HebiFeedbackRef&
internal)
485 : velocity_(
internal, HebiFeedbackFloatVelocity),
486 effort_(
internal, HebiFeedbackFloatEffort),
487 velocity_command_(
internal, HebiFeedbackFloatVelocityCommand),
488 effort_command_(
internal, HebiFeedbackFloatEffortCommand),
489 deflection_(
internal, HebiFeedbackFloatDeflection),
490 deflection_velocity_(
internal, HebiFeedbackFloatDeflectionVelocity),
491 motor_velocity_(
internal, HebiFeedbackFloatMotorVelocity),
492 motor_current_(
internal, HebiFeedbackFloatMotorCurrent),
493 motor_sensor_temperature_(
internal, HebiFeedbackFloatMotorSensorTemperature),
494 motor_winding_current_(
internal, HebiFeedbackFloatMotorWindingCurrent),
495 motor_winding_temperature_(
internal, HebiFeedbackFloatMotorWindingTemperature),
496 motor_housing_temperature_(
internal, HebiFeedbackFloatMotorHousingTemperature),
497 pwm_command_(
internal, HebiFeedbackFloatPwmCommand),
498 inner_effort_command_(
internal, HebiFeedbackFloatInnerEffortCommand),
499 position_(
internal, HebiFeedbackHighResAnglePosition),
500 position_command_(
internal, HebiFeedbackHighResAnglePositionCommand),
501 motor_position_(
internal, HebiFeedbackHighResAngleMotorPosition),
502 temperature_state_(
internal, HebiFeedbackEnumTemperatureState),
503 mstop_state_(
internal, HebiFeedbackEnumMstopState),
504 position_limit_state_(
internal, HebiFeedbackEnumPositionLimitState),
505 velocity_limit_state_(
internal, HebiFeedbackEnumVelocityLimitState),
506 effort_limit_state_(
internal, HebiFeedbackEnumEffortLimitState),
507 command_lifetime_state_(
internal, HebiFeedbackEnumCommandLifetimeState) {}
508 #endif // DOXYGEN_OMIT_INTERNAL 592 #ifndef DOXYGEN_OMIT_INTERNAL 593 Mobile(
const HebiFeedbackRef&
internal)
594 : battery_level_(
internal, HebiFeedbackFloatBatteryLevel),
595 ar_position_(
internal, HebiFeedbackVector3fArPosition),
596 ar_orientation_(
internal, HebiFeedbackQuaternionfArOrientation),
597 ar_quality_(
internal, HebiFeedbackEnumArQuality) {}
598 #endif // DOXYGEN_OMIT_INTERNAL 625 #ifndef DOXYGEN_OMIT_INTERNAL 626 Imu(
const HebiFeedbackRef&
internal)
627 : accelerometer_(
internal, HebiFeedbackVector3fAccelerometer),
628 gyro_(
internal, HebiFeedbackVector3fGyro),
629 orientation_(
internal, HebiFeedbackQuaternionfOrientation) {}
630 #endif // DOXYGEN_OMIT_INTERNAL 656 HebiFeedbackPtr internal_;
657 HebiFeedbackRef internal_ref_;
660 #ifndef DOXYGEN_OMIT_INTERNAL 666 #endif // DOXYGEN_OMIT_INTERNAL 678 const Io&
io()
const {
return io_; }
694 #ifndef DOXYGEN_OMIT_INTERNAL 695 const NumberedFloatField& debug()
const {
return debug_; }
697 #endif // DOXYGEN_OMIT_INTERNAL 698 const UInt64Field&
sequenceNumber()
const {
return sequence_number_; }
729 FloatField board_temperature_;
730 FloatField processor_temperature_;
732 NumberedFloatField debug_;
733 UInt64Field sequence_number_;
734 UInt64Field receive_time_us_;
735 UInt64Field transmit_time_us_;
736 UInt64Field hardware_receive_time_us_;
737 UInt64Field hardware_transmit_time_us_;
738 UInt64Field sender_id_;
739 UInt64Field rx_sequence_number_;
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:14
The AR session is attempting to resume after an interruption.
The module has not been inside the safety limits since it was booted or the safety limits were set.
VelocityLimitState
Definition: feedback.hpp:69
const FloatField & voltage() const
Bus voltage that the module is running at (in Volts).
Definition: feedback.hpp:693
bool has(size_t fieldNumber) const
True if (and only if) the particular numbered subvalue of this field has a value.
Definition: feedback.cpp:52
const FloatField & deflection() const
Difference (in radians) between the pre-spring and post-spring output position.
Definition: feedback.hpp:524
bool has() const
True if (and only if) the field has a value.
Definition: feedback.hpp:354
const FloatField & motorVelocity() const
The velocity (in radians/second) of the motor shaft.
Definition: feedback.hpp:528
Camera position tracking is not available.
const IoBank & e() const
I/O pin bank e (pins 1-8 available)
Definition: feedback.hpp:466
Structure to hold a 3-D floating point vector (i.e., x/y/z components)
Definition: vector_3_f.hpp:8
#define HEBI_DISABLE_COPY(Class)
Definition: util.hpp:16
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:29
PositionLimitState
Definition: feedback.hpp:52
Commands are locked out due to control from other users.
Tracking is available albeit suboptimal for an unknown reason.
The device is moving too fast for accurate image-based position tracking.
const UInt64Field & hardwareTransmitTimeUs() const
Timestamp of when message was transmitted from module (remote; microseconds)
Definition: feedback.hpp:707
int64_t getInt(size_t pinNumber) const
If this numbered pin in this bank has an integer (e.g., digital) value, returns that value; otherwise...
Definition: feedback.cpp:124
float getFloat(size_t pinNumber) const
If this numbered pin in this bank has an floating point (e.g., analog or PWM) value,...
Definition: feedback.cpp:130
Structure to hold a floating point quaternion (i.e., w/x/y/z components)
Definition: quaternion_f.hpp:8
double get() const
If the field has a value, returns that value as a double; otherwise, returns a default.
Definition: feedback.cpp:33
const Mobile & mobile() const
Feedback generally from a mobile device such as a phone or tablet.
Definition: feedback.hpp:682
const EnumField< MstopState > & mstopState() const
Current status of the MStop.
Definition: feedback.hpp:552
const HighResAngleField & positionCommand() const
Commanded position of the module output (post-spring), in radians.
Definition: feedback.hpp:546
const FloatField & effort() const
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition: feedback.hpp:518
CommandLifetimeState
Definition: feedback.hpp:103
The MStop is not pressed.
const FloatField & innerEffortCommand() const
In control strategies 2 and 4, this is the torque of force command going to the inner torque PID loop...
Definition: feedback.hpp:542
const EnumField< EffortLimitState > & effortLimitState() const
Software-controlled bounds on the allowable effort of the module.
Definition: feedback.hpp:558
#define HEBI_DISABLE_COPY_MOVE(Class)
Definition: util.hpp:6
const Vector3fField & arPosition() const
A device's position in the world as calculated from an augmented reality framework,...
Definition: feedback.hpp:608
const UInt64Field & rxSequenceNumber() const
Sequence number of incoming packet per module (local)
Definition: feedback.hpp:711
A message field representable by a single-precision floating point value.
Definition: feedback.hpp:132
Inertial measurement unit feedback (accelerometers and gyros).
Definition: feedback.hpp:623
Feedback objects have various fields representing feedback from modules; which fields are populated d...
Definition: feedback.hpp:32
A message field for interfacing with a bank of I/O pins.
Definition: feedback.hpp:372
bool hasInt(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an integer (e.g....
Definition: feedback.cpp:116
The effort of the module was near the upper safety limit, and the motor output is being limited or re...
const IoBank & d() const
I/O pin bank d (pins 1-8 available)
Definition: feedback.hpp:464
The AR session has not yet gathered enough camera or motion data to provide tracking information.
A message field representable by a 3-D vector of single-precision floating point values.
Definition: feedback.hpp:303
bool hasColor() const
Returns true if the LED color is set, and false otherwise.
Definition: feedback.cpp:139
The velocity of the module was near the upper safety limit, and the motor output is being limited or ...
const FloatField & velocity() const
Velocity of the module output (post-spring), in radians/second.
Definition: feedback.hpp:516
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:82
The effort of the module was within the safety limits.
const EnumField< VelocityLimitState > & velocityLimitState() const
Software-controlled bounds on the allowable velocity of the module.
Definition: feedback.hpp:556
const UInt64Field & senderId() const
Unique ID of the module transmitting this feedback.
Definition: feedback.hpp:709
A message field for an angle measurement which does not lose precision at very high angles.
Definition: feedback.hpp:167
const FloatField & effortCommand() const
Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear...
Definition: feedback.hpp:522
const IoBank & f() const
I/O pin bank f (pins 1-8 available)
Definition: feedback.hpp:468
The module has not been inside the safety limits since it was booted or the safety limits were set.
const EnumField< ArQuality > & arQuality() const
The status of the augmented reality tracking, if using an AR enabled device.
Definition: feedback.hpp:612
HebiStatusCode enumGetter(const RefT &ref, MetadataT &metadata, int field, int32_t *value)
Definition: message_helpers.cpp:300
TemperatureState
Definition: feedback.hpp:34
const HighResAngleField & position() const
Position of the module output (post-spring), in radians.
Definition: feedback.hpp:544
The position of the module was near the upper safety limit, and the motor output is being limited or ...
A message field representable by an enum of a given type.
Definition: feedback.hpp:335
const FloatField & motorWindingTemperature() const
The estimated temperature of the motor windings.
Definition: feedback.hpp:536
const FloatField & boardTemperature() const
Ambient temperature inside the module (measured at the IMU chip), in degrees Celsius.
Definition: feedback.hpp:689
T get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.hpp:359
Commands from others are locked out due to control from this group.
Temperature within normal range.
const Vector3fField & gyro() const
Gyro data, in radians/second.
Definition: feedback.hpp:640
const EnumField< TemperatureState > & temperatureState() const
Describes how the temperature inside the module is limiting the output of the motor.
Definition: feedback.hpp:550
const FloatField & processorTemperature() const
Temperature of the processor chip, in degrees Celsius.
Definition: feedback.hpp:691
const LedField & led() const
The module's LED.
Definition: feedback.hpp:713
A message field for interfacing with an LED.
Definition: feedback.hpp:410
const UInt64Field & sequenceNumber() const
Sequence number going to module (local)
Definition: feedback.hpp:699
const Imu & imu() const
Inertial measurement unit feedback (accelerometers and gyros).
Definition: feedback.hpp:684
const FloatField & motorWindingCurrent() const
The estimated current in the motor windings.
Definition: feedback.hpp:534
const FloatField & batteryLevel() const
Charge level of the device’s battery (in percent).
Definition: feedback.hpp:606
const FloatField & velocityCommand() const
Commanded velocity of the module output (post-spring), in radians/second.
Definition: feedback.hpp:520
const QuaternionfField & orientation() const
A filtered estimate of the orientation of the module.
Definition: feedback.hpp:642
const EnumField< CommandLifetimeState > & commandLifetimeState() const
The state of the command lifetime safety controller, with respect to the current group.
Definition: feedback.hpp:560
Feedback generally from a mobile device such as a phone or tablet.
Definition: feedback.hpp:590
const FloatField & motorHousingTemperature() const
The estimated temperature of the motor housing.
Definition: feedback.hpp:538
float get(size_t fieldNumber) const
If the particular numbered subvalue of this field has a value, returns that value; otherwise returns ...
Definition: feedback.cpp:56
float get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:18
Motor output beginning to be limited due to high temperature.
Feedback from any available I/O pins on the device.
Definition: feedback.hpp:440
There is not command lifetime active on this module.
const FloatField & deflectionVelocity() const
Velocity (in radians/second) of the difference between the pre-spring and post-spring output position...
Definition: feedback.hpp:526
A message field representable by an unsigned 64 bit integer value.
Definition: feedback.hpp:239
Feedback & operator=(Feedback &&other)=delete
Vector3f get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:86
Temperature exceeds max allowable for electronics; motor output disabled.
The effort of the module was near the lower safety limit, and the motor output is being limited or re...
ArQuality
Definition: feedback.hpp:112
The velocity of the module was near the lower safety limit, and the motor output is being limited or ...
const IoBank & a() const
I/O pin bank a (pins 1-8 available)
Definition: feedback.hpp:458
Temperature exceeds max allowable for motor; motor output disabled.
const UInt64Field & receiveTimeUs() const
Timestamp of when message was received from module (local; microseconds)
Definition: feedback.hpp:701
const FloatField & motorSensorTemperature() const
The temperature from a sensor near the motor housing.
Definition: feedback.hpp:532
The position of the module was within the safety limits.
const UInt64Field & transmitTimeUs() const
Timestamp of when message was transmitted to module (local; microseconds)
Definition: feedback.hpp:703
uint64_t get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:71
const EnumField< PositionLimitState > & positionLimitState() const
Software-controlled bounds on the allowable position of the module; user settable.
Definition: feedback.hpp:554
Actuator-specific feedback.
Definition: feedback.hpp:481
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:99
MstopState
Definition: feedback.hpp:45
const Vector3fField & accelerometer() const
Accelerometer data, in m/s^2.
Definition: feedback.hpp:638
const FloatField & pwmCommand() const
Commanded PWM signal sent to the motor; final output of PID controllers.
Definition: feedback.hpp:540
bool has() const
True if (and only if) the field has a value.
Definition: feedback.cpp:67
const UInt64Field & hardwareReceiveTimeUs() const
Timestamp of when message was received by module (remote; microseconds)
Definition: feedback.hpp:705
Feedback(Feedback &&other)
Move constructor (necessary for containment in STL template classes)
Definition: feedback.cpp:154
The module has not been inside the safety limits since it was booted or the safety limits were set.
EffortLimitState
Definition: feedback.hpp:86
Camera position tracking is providing optimal results.
const Actuator & actuator() const
Actuator-specific feedback.
Definition: feedback.hpp:680
const Io & io() const
Feedback from any available I/O pins on the device.
Definition: feedback.hpp:678
const QuaternionfField & arOrientation() const
A device's orientation in the world as calculated from an augmented reality framework.
Definition: feedback.hpp:610
Structure to describe an RGB color.
Definition: color.hpp:8
The velocity of the module was within the safety limits.
const HighResAngleField & motorPosition() const
The position of an actuator’s internal motor before the gear reduction, in radians.
Definition: feedback.hpp:548
A message field containing a numbered set of single-precision floating point values.
Definition: feedback.hpp:214
bool hasFloat(size_t pinNumber) const
True if (and only if) the particular numbered pin in this bank has an floating point (e....
Definition: feedback.cpp:120
Quaternionf get() const
If the field has a value, returns that value; otherwise, returns a default.
Definition: feedback.cpp:103
A message field representable by a 3-D vector of single-precision floating point values.
Definition: feedback.hpp:271
const IoBank & b() const
I/O pin bank b (pins 1-8 available)
Definition: feedback.hpp:460
Color getColor() const
Returns the led color.
Definition: feedback.cpp:143
The position of the module was near the lower safety limit, and the motor output is being limited or ...
const IoBank & c() const
I/O pin bank c (pins 1-8 available)
Definition: feedback.hpp:462
const FloatField & motorCurrent() const
Current supplied to the motor.
Definition: feedback.hpp:530