hebi Namespace Reference

Namespaces
	experimental
	robot_model
	trajectory
	util

Classes
struct	Color
	Structure to describe an RGB color. More...
class	Command
	Command objects have various fields that can be set; when sent to the module, these fields control internal properties and setpoints. More...
class	Feedback
	Feedback objects have various fields representing feedback from modules; which fields are populated depends on the module type and various other settings. More...
class	FunctionCallResult
	Used as a return. More...
class	Gains
class	Group
	Represents a group of physical HEBI modules, and allows Command, Feedback, and Info objects to be sent to and received from the hardware. More...
class	GroupCommand
	A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group. More...
class	GroupCommandWrapper
class	GroupFeedback
	A list of Feedback objects that can be received from a Group of modules; the size() must match the number of modules in the group. More...
class	GroupFeedbackWrapper
class	GroupInfo
	A list of Info objects that can be received from a Group of modules; the size() must match the number of modules in the group. More...
class	GroupInfoWrapper
class	Info
	Info objects have various fields representing the module state; which fields are populated depends on the module type and various other settings. More...
class	IpAddress
	A simple wrapper class for IpAddress objects. More...
class	LogFile
class	Lookup
	Maintains a registry of network-connected modules and returns Group objects to the user. More...
class	MacAddress
	A simple wrapper class for internal C-API HebiMacAddress objects to allow interfacing with API calls that use MAC addresses. More...
class	MutableProxyBitSet
class	ProxyBitSet
struct	Quaternionf
	Structure to hold a floating point quaternion (i.e., w/x/y/z components) More...
class	RobotConfig
struct	Vector3f
	Structure to hold a 3-D floating point vector (i.e., x/y/z components) More...
class	VersionNumber
	A simple structure to hold a standard semantic versioning version number. More...

Typedefs
using	GroupFeedbackHandler = std::function< void(const GroupFeedback &)>
	Definition of a callback function for GroupFeedback returned from a Group of modules. More...

Enumerations
enum	InfoExtraFields : uint64_t { EthernetInfo = HebiInfoExtraFieldsEthernetInfo, UserData = HebiInfoExtraFieldsUserData, FirmwareInfo = HebiInfoExtraFieldsFirmwareInfo, RuntimeData = HebiInfoExtraFieldsRuntimeData }

Functions
static bool	extractBit (unsigned int index, int word)
static int	setBit (unsigned int index, int word)
static int	clearBit (unsigned int index, int word)
template<typename RefT , typename MetadataT >
HebiStatusCode	floatGetter (const RefT &ref, MetadataT &metadata, int field, float *value)
HebiStatusCode	floatGetter (const HebiCommandRef &ref, int field, float *value)
HebiStatusCode	floatGetter (const HebiFeedbackRef &ref, int field, float *value)
HebiStatusCode	floatGetter (const HebiInfoRef &ref, int field, float *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	highResAngleGetter (const RefT &ref, MetadataT &metadata, int field, int64_t *revs, float *offset)
HebiStatusCode	highResAngleGetter (const HebiCommandRef &ref, int field, int64_t *revs, float *offset)
HebiStatusCode	highResAngleGetter (const HebiFeedbackRef &ref, int field, int64_t *revs, float *offset)
HebiStatusCode	highResAngleGetter (const HebiInfoRef &ref, int field, int64_t *revs, float *offset)
template<typename RefT , typename MetadataT >
HebiStatusCode	numberedFloatGetter (const RefT &ref, MetadataT &metadata, int field, size_t number, float *value)
HebiStatusCode	numberedFloatGetter (const HebiCommandRef &ref, int field, size_t number, float *value)
HebiStatusCode	numberedFloatGetter (const HebiFeedbackRef &ref, int field, size_t number, float *value)
HebiStatusCode	numberedFloatGetter (const HebiInfoRef &ref, int field, size_t number, float *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	vector3fGetter (const RefT &ref, MetadataT &metadata, int field, HebiVector3f *value)
HebiStatusCode	vector3fGetter (const HebiCommandRef &ref, int field, HebiVector3f *value)
HebiStatusCode	vector3fGetter (const HebiFeedbackRef &ref, int field, HebiVector3f *value)
HebiStatusCode	vector3fGetter (const HebiInfoRef &ref, int field, HebiVector3f *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	quaternionfGetter (const RefT &ref, MetadataT &metadata, int field, HebiQuaternionf *value)
HebiStatusCode	quaternionfGetter (const HebiCommandRef &ref, int field, HebiQuaternionf *value)
HebiStatusCode	quaternionfGetter (const HebiFeedbackRef &ref, int field, HebiQuaternionf *value)
HebiStatusCode	quaternionfGetter (const HebiInfoRef &ref, int field, HebiQuaternionf *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	floatIoPinGetter (const RefT &ref, MetadataT &metadata, int bank, size_t pin_number, float *value)
HebiStatusCode	floatIoPinGetter (const HebiCommandRef &ref, int index, size_t pin_number, float *value)
HebiStatusCode	floatIoPinGetter (const HebiFeedbackRef &ref, int index, size_t pin_number, float *value)
HebiStatusCode	floatIoPinGetter (const HebiInfoRef &ref, int index, size_t pin_number, float *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	intIoPinGetter (const RefT &ref, MetadataT &metadata, int bank, size_t pin_number, int64_t *value)
HebiStatusCode	intIoPinGetter (const HebiCommandRef &ref, int index, size_t pin_number, int64_t *value)
HebiStatusCode	intIoPinGetter (const HebiFeedbackRef &ref, int index, size_t pin_number, int64_t *value)
HebiStatusCode	intIoPinGetter (const HebiInfoRef &ref, int index, size_t pin_number, int64_t *value)
template<typename RefT , typename MetadataT >
bool	flagGetter (const RefT &ref, MetadataT &metadata, int field)
bool	flagGetter (const HebiCommandRef &ref, int field)
bool	flagGetter (const HebiFeedbackRef &ref, int field)
bool	flagGetter (const HebiInfoRef &ref, int field)
template<typename RefT , typename MetadataT >
HebiStatusCode	boolGetter (const RefT &ref, MetadataT &metadata, int field, bool *value)
HebiStatusCode	boolGetter (const HebiCommandRef &ref, int field, bool *value)
HebiStatusCode	boolGetter (const HebiFeedbackRef &ref, int field, bool *value)
HebiStatusCode	boolGetter (const HebiInfoRef &ref, int field, bool *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	enumGetter (const RefT &ref, MetadataT &metadata, int field, int32_t *value)
HebiStatusCode	enumGetter (const HebiCommandRef &ref, int field, int32_t *value)
HebiStatusCode	enumGetter (const HebiFeedbackRef &ref, int field, int32_t *value)
HebiStatusCode	enumGetter (const HebiInfoRef &ref, int field, int32_t *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	uint64Getter (const RefT &ref, MetadataT &metadata, int field, uint64_t *value)
HebiStatusCode	uint64Getter (const HebiCommandRef &ref, int field, uint64_t *value)
HebiStatusCode	uint64Getter (const HebiFeedbackRef &ref, int field, uint64_t *value)
HebiStatusCode	uint64Getter (const HebiInfoRef &ref, int field, uint64_t *value)
template<typename RefT , typename MetadataT >
HebiStatusCode	ledGetter (const RefT &ref, MetadataT &metadata, int field, uint8_t *r, uint8_t *g, uint8_t *b, uint8_t *a)
HebiStatusCode	ledGetter (const HebiCommandRef ref, int field, uint8_t *r, uint8_t *g, uint8_t *b, uint8_t *a)
HebiStatusCode	ledGetter (const HebiFeedbackRef ref, int field, uint8_t *r, uint8_t *g, uint8_t *b, uint8_t *a)
HebiStatusCode	ledGetter (const HebiInfoRef ref, int field, uint8_t *r, uint8_t *g, uint8_t *b, uint8_t *a)
void	hebiCommandSetEnum (HebiCommandRef &command, HebiCommandEnumField field, const int32_t *value)
void	hebiCommandSetFloat (HebiCommandRef &command, HebiCommandFloatField field, const float *value)
void	hebiCommandSetHighResAngle (HebiCommandRef &command, HebiCommandHighResAngleField field, const int64_t *int_part, const float *dec_part)
void	hebiCommandSetNumberedFloat (HebiCommandRef &command, HebiCommandNumberedFloatField field, size_t number, const float *value)
void	hebiCommandSetBool (HebiCommandRef &command, HebiCommandBoolField field, const int32_t *value)
void	hebiCommandSetFlag (HebiCommandRef &command, HebiCommandFlagField field, int32_t value)
void	hebiCommandSetIoPinInt (HebiCommandRef &command, HebiCommandIoPinBank bank, size_t pin_number, const int64_t *value)
void	hebiCommandSetIoPinFloat (HebiCommandRef &command, HebiCommandIoPinBank bank, size_t pin_number, const float *value)
void	hebiCommandSetUInt64 (HebiCommandRef &command, HebiCommandUInt64Field field, const uint64_t *value)
void	hebiCommandSetLed (HebiCommandRef &command, HebiCommandLedField field, const Color *color)
VersionNumber	getCVersion ()
	Returns the version numbers for the HEBI C API that is wrapped by this HEBI C++ API. More...
VersionNumber	getCppVersion ()
	Returns the version numbers for the HEBI C++ API. More...

Variables
static constexpr size_t	BitsInDataWord = sizeof(int) * 8

Typedef Documentation

GroupFeedbackHandler

using hebi::GroupFeedbackHandler = typedef std::function<void(const GroupFeedback&)>

Definition of a callback function for GroupFeedback returned from a Group of modules.

Enumeration Type Documentation

InfoExtraFields

enum hebi::InfoExtraFields : uint64_t

Enumerator
EthernetInfo
UserData
FirmwareInfo
RuntimeData

Function Documentation

extractBit()

static bool hebi::extractBit ( unsigned int  index, int  word  )

inlinestatic

setBit()

static int hebi::setBit ( unsigned int  index, int  word  )

inlinestatic

clearBit()

static int hebi::clearBit ( unsigned int  index, int  word  )

inlinestatic

floatGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::floatGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		float *	value
	)

floatGetter() [2/4]

HebiStatusCode hebi::floatGetter	(	const HebiCommandRef &	ref,
		int	field,
		float *	value
	)

floatGetter() [3/4]

HebiStatusCode hebi::floatGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		float *	value
	)

floatGetter() [4/4]

HebiStatusCode hebi::floatGetter	(	const HebiInfoRef &	ref,
		int	field,
		float *	value
	)

highResAngleGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::highResAngleGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		int64_t *	revs,
		float *	offset
	)

highResAngleGetter() [2/4]

HebiStatusCode hebi::highResAngleGetter	(	const HebiCommandRef &	ref,
		int	field,
		int64_t *	revs,
		float *	offset
	)

highResAngleGetter() [3/4]

HebiStatusCode hebi::highResAngleGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		int64_t *	revs,
		float *	offset
	)

highResAngleGetter() [4/4]

HebiStatusCode hebi::highResAngleGetter	(	const HebiInfoRef &	ref,
		int	field,
		int64_t *	revs,
		float *	offset
	)

numberedFloatGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::numberedFloatGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		size_t	number,
		float *	value
	)

numberedFloatGetter() [2/4]

HebiStatusCode hebi::numberedFloatGetter	(	const HebiCommandRef &	ref,
		int	field,
		size_t	number,
		float *	value
	)

numberedFloatGetter() [3/4]

HebiStatusCode hebi::numberedFloatGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		size_t	number,
		float *	value
	)

numberedFloatGetter() [4/4]

HebiStatusCode hebi::numberedFloatGetter	(	const HebiInfoRef &	ref,
		int	field,
		size_t	number,
		float *	value
	)

vector3fGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::vector3fGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		HebiVector3f *	value
	)

vector3fGetter() [2/4]

HebiStatusCode hebi::vector3fGetter	(	const HebiCommandRef &	ref,
		int	field,
		HebiVector3f *	value
	)

vector3fGetter() [3/4]

HebiStatusCode hebi::vector3fGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		HebiVector3f *	value
	)

vector3fGetter() [4/4]

HebiStatusCode hebi::vector3fGetter	(	const HebiInfoRef &	ref,
		int	field,
		HebiVector3f *	value
	)

quaternionfGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::quaternionfGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		HebiQuaternionf *	value
	)

quaternionfGetter() [2/4]

HebiStatusCode hebi::quaternionfGetter	(	const HebiCommandRef &	ref,
		int	field,
		HebiQuaternionf *	value
	)

quaternionfGetter() [3/4]

HebiStatusCode hebi::quaternionfGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		HebiQuaternionf *	value
	)

quaternionfGetter() [4/4]

HebiStatusCode hebi::quaternionfGetter	(	const HebiInfoRef &	ref,
		int	field,
		HebiQuaternionf *	value
	)

floatIoPinGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::floatIoPinGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	bank,
		size_t	pin_number,
		float *	value
	)

floatIoPinGetter() [2/4]

HebiStatusCode hebi::floatIoPinGetter	(	const HebiCommandRef &	ref,
		int	index,
		size_t	pin_number,
		float *	value
	)

floatIoPinGetter() [3/4]

HebiStatusCode hebi::floatIoPinGetter	(	const HebiFeedbackRef &	ref,
		int	index,
		size_t	pin_number,
		float *	value
	)

floatIoPinGetter() [4/4]

HebiStatusCode hebi::floatIoPinGetter	(	const HebiInfoRef &	ref,
		int	index,
		size_t	pin_number,
		float *	value
	)

intIoPinGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::intIoPinGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	bank,
		size_t	pin_number,
		int64_t *	value
	)

intIoPinGetter() [2/4]

HebiStatusCode hebi::intIoPinGetter	(	const HebiCommandRef &	ref,
		int	index,
		size_t	pin_number,
		int64_t *	value
	)

intIoPinGetter() [3/4]

HebiStatusCode hebi::intIoPinGetter	(	const HebiFeedbackRef &	ref,
		int	index,
		size_t	pin_number,
		int64_t *	value
	)

intIoPinGetter() [4/4]

HebiStatusCode hebi::intIoPinGetter	(	const HebiInfoRef &	ref,
		int	index,
		size_t	pin_number,
		int64_t *	value
	)

flagGetter() [1/4]

template<typename RefT , typename MetadataT >

bool hebi::flagGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field
	)

flagGetter() [2/4]

bool hebi::flagGetter	(	const HebiCommandRef &	ref,
		int	field
	)

flagGetter() [3/4]

bool hebi::flagGetter	(	const HebiFeedbackRef &	ref,
		int	field
	)

flagGetter() [4/4]

bool hebi::flagGetter	(	const HebiInfoRef &	ref,
		int	field
	)

boolGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::boolGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		bool *	value
	)

boolGetter() [2/4]

HebiStatusCode hebi::boolGetter	(	const HebiCommandRef &	ref,
		int	field,
		bool *	value
	)

boolGetter() [3/4]

HebiStatusCode hebi::boolGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		bool *	value
	)

boolGetter() [4/4]

HebiStatusCode hebi::boolGetter	(	const HebiInfoRef &	ref,
		int	field,
		bool *	value
	)

enumGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::enumGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		int32_t *	value
	)

enumGetter() [2/4]

HebiStatusCode hebi::enumGetter	(	const HebiCommandRef &	ref,
		int	field,
		int32_t *	value
	)

enumGetter() [3/4]

HebiStatusCode hebi::enumGetter	(	const HebiFeedbackRef &	ref,
		int	field,
		int32_t *	value
	)

enumGetter() [4/4]

HebiStatusCode hebi::enumGetter	(	const HebiInfoRef &	ref,
		int	field,
		int32_t *	value
	)

uint64Getter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::uint64Getter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		uint64_t *	value
	)

uint64Getter() [2/4]

HebiStatusCode hebi::uint64Getter	(	const HebiCommandRef &	ref,
		int	field,
		uint64_t *	value
	)

uint64Getter() [3/4]

HebiStatusCode hebi::uint64Getter	(	const HebiFeedbackRef &	ref,
		int	field,
		uint64_t *	value
	)

uint64Getter() [4/4]

HebiStatusCode hebi::uint64Getter	(	const HebiInfoRef &	ref,
		int	field,
		uint64_t *	value
	)

ledGetter() [1/4]

template<typename RefT , typename MetadataT >

HebiStatusCode hebi::ledGetter	(	const RefT &	ref,
		MetadataT &	metadata,
		int	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b,
		uint8_t *	a
	)

ledGetter() [2/4]

HebiStatusCode hebi::ledGetter	(	const HebiCommandRef	ref,
		int	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b,
		uint8_t *	a
	)

ledGetter() [3/4]

HebiStatusCode hebi::ledGetter	(	const HebiFeedbackRef	ref,
		int	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b,
		uint8_t *	a
	)

ledGetter() [4/4]

HebiStatusCode hebi::ledGetter	(	const HebiInfoRef	ref,
		int	field,
		uint8_t *	r,
		uint8_t *	g,
		uint8_t *	b,
		uint8_t *	a
	)

hebiCommandSetEnum()

void hebi::hebiCommandSetEnum	(	HebiCommandRef &	command,
		HebiCommandEnumField	field,
		const int32_t *	value
	)

hebiCommandSetFloat()

void hebi::hebiCommandSetFloat	(	HebiCommandRef &	command,
		HebiCommandFloatField	field,
		const float *	value
	)

hebiCommandSetHighResAngle()

void hebi::hebiCommandSetHighResAngle	(	HebiCommandRef &	command,
		HebiCommandHighResAngleField	field,
		const int64_t *	int_part,
		const float *	dec_part
	)

hebiCommandSetNumberedFloat()

void hebi::hebiCommandSetNumberedFloat	(	HebiCommandRef &	command,
		HebiCommandNumberedFloatField	field,
		size_t	number,
		const float *	value
	)

hebiCommandSetBool()

void hebi::hebiCommandSetBool	(	HebiCommandRef &	command,
		HebiCommandBoolField	field,
		const int32_t *	value
	)

hebiCommandSetFlag()

void hebi::hebiCommandSetFlag	(	HebiCommandRef &	command,
		HebiCommandFlagField	field,
		int32_t	value
	)

hebiCommandSetIoPinInt()

void hebi::hebiCommandSetIoPinInt	(	HebiCommandRef &	command,
		HebiCommandIoPinBank	bank,
		size_t	pin_number,
		const int64_t *	value
	)

hebiCommandSetIoPinFloat()

void hebi::hebiCommandSetIoPinFloat	(	HebiCommandRef &	command,
		HebiCommandIoPinBank	bank,
		size_t	pin_number,
		const float *	value
	)

hebiCommandSetUInt64()

void hebi::hebiCommandSetUInt64	(	HebiCommandRef &	command,
		HebiCommandUInt64Field	field,
		const uint64_t *	value
	)

hebiCommandSetLed()

void hebi::hebiCommandSetLed	(	HebiCommandRef &	command,
		HebiCommandLedField	field,
		const Color *	color
	)

getCVersion()

VersionNumber hebi::getCVersion

(

)

Returns the version numbers for the HEBI C API that is wrapped by this HEBI C++ API.

getCppVersion()

VersionNumber hebi::getCppVersion

(

)

Returns the version numbers for the HEBI C++ API.

Variable Documentation

BitsInDataWord

constexpr size_t hebi::BitsInDataWord = sizeof(int) * 8

static