HEBI C++ API
3.12.0
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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...
#include <group_feedback.hpp>
Public Member Functions | |
GroupFeedback (size_t number_of_modules) | |
Create a group feedback with the specified number of modules. More... | |
~GroupFeedback () noexcept=default | |
Destructor cleans up group feedback object as necessary. More... | |
GroupFeedback (GroupFeedback &&)=default | |
Allows moving result from "subview". More... | |
GroupFeedback | subview (std::vector< int > indices) const |
Creates a "subview" of this group feedback object, with shared access to a subset of the Feedback elements. More... | |
bool | isSubview () const |
Was this created as a subview of another GroupFeedback? More... | |
size_t | size () const |
Returns the number of module feedbacks in this group feedback. More... | |
const Feedback & | operator[] (size_t index) const |
Access the feedback for an individual module. More... | |
double | getTime () const |
Gets a single wall-clock timestamp (in seconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived). More... | |
uint64_t | getTimeUs () const |
Gets a single wall-clock timestamp (in microseconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived). More... | |
Eigen::VectorXd | getBoardTemperature () const |
Convenience function for returning feedback board temperature values. More... | |
Eigen::VectorXd | getProcessorTemperature () const |
Convenience function for returning feedback processor temperature values. More... | |
Eigen::VectorXd | getVoltage () const |
Convenience function for returning feedback voltage values. More... | |
Eigen::VectorXd | getDeflection () const |
Convenience function for returning feedback deflection values. More... | |
Eigen::VectorXd | getDeflectionVelocity () const |
Convenience function for returning feedback deflection velocity values. More... | |
Eigen::VectorXd | getMotorVelocity () const |
Convenience function for returning feedback motor velocity values. More... | |
Eigen::VectorXd | getMotorCurrent () const |
Convenience function for returning feedback motor current values. More... | |
Eigen::VectorXd | getMotorSensorTemperature () const |
Convenience function for returning feedback motor sensor temperature values. More... | |
Eigen::VectorXd | getMotorWindingCurrent () const |
Convenience function for returning feedback motor winding current values. More... | |
Eigen::VectorXd | getMotorWindingTemperature () const |
Convenience function for returning feedback motor winding temperature values. More... | |
Eigen::VectorXd | getMotorHousingTemperature () const |
Convenience function for returning feedback motor housing temperature values. More... | |
Eigen::VectorXd | getPosition () const |
Convenience function for returning feedback position values. More... | |
Eigen::VectorXd | getVelocity () const |
Convenience function for returning feedback velocity values. More... | |
Eigen::VectorXd | getEffort () const |
Convenience function for returning feedback effort values. More... | |
Eigen::VectorXd | getPositionCommand () const |
Convenience function for returning commanded position values. More... | |
Eigen::VectorXd | getVelocityCommand () const |
Convenience function for returning commanded velocity values. More... | |
Eigen::VectorXd | getEffortCommand () const |
Convenience function for returning commanded effort values. More... | |
Eigen::MatrixX3d | getAccelerometer () const |
Convenience function for returning feedback accelerometer values. More... | |
Eigen::MatrixX3d | getGyro () const |
Convenience function for returning feedback gyroscope values. More... | |
void | getBoardTemperature (Eigen::VectorXd &out) const |
Convenience function for returning feedback board temperature values. More... | |
void | getProcessorTemperature (Eigen::VectorXd &out) const |
Convenience function for returning feedback processor temperature values. More... | |
void | getVoltage (Eigen::VectorXd &out) const |
Convenience function for returning feedback voltage values. More... | |
void | getDeflection (Eigen::VectorXd &out) const |
Convenience function for returning feedback deflection values. More... | |
void | getDeflectionVelocity (Eigen::VectorXd &out) const |
Convenience function for returning feedback deflection velocity values. More... | |
void | getMotorVelocity (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor velocity values. More... | |
void | getMotorCurrent (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor current values. More... | |
void | getMotorSensorTemperature (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor sensor temperature values. More... | |
void | getMotorWindingCurrent (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor winding current values. More... | |
void | getMotorWindingTemperature (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor winding temperature values. More... | |
void | getMotorHousingTemperature (Eigen::VectorXd &out) const |
Convenience function for returning feedback motor housing temperature values. More... | |
void | getPosition (Eigen::VectorXd &out) const |
Convenience function for returning feedback position values. More... | |
void | getVelocity (Eigen::VectorXd &out) const |
Convenience function for returning feedback velocity values. More... | |
void | getEffort (Eigen::VectorXd &out) const |
Convenience function for returning feedback effort values. More... | |
void | getPositionCommand (Eigen::VectorXd &out) const |
Convenience function for returning commanded position values. More... | |
void | getVelocityCommand (Eigen::VectorXd &out) const |
Convenience function for returning commanded velocity values. More... | |
void | getEffortCommand (Eigen::VectorXd &out) const |
Convenience function for returning commanded effort values. More... | |
void | getAccelerometer (Eigen::MatrixX3d &out) const |
Convenience function for returning feedback accelerometer values. More... | |
void | getGyro (Eigen::MatrixX3d &out) const |
Convenience function for returning feedback gyroscope values. More... | |
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.
hebi::GroupFeedback::GroupFeedback | ( | size_t | number_of_modules | ) |
Create a group feedback with the specified number of modules.
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defaultnoexcept |
Destructor cleans up group feedback object as necessary.
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default |
Allows moving result from "subview".
GroupFeedback hebi::GroupFeedback::subview | ( | std::vector< int > | indices | ) | const |
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inline |
Was this created as a subview of another GroupFeedback?
size_t hebi::GroupFeedback::size | ( | ) | const |
Returns the number of module feedbacks in this group feedback.
const Feedback & hebi::GroupFeedback::operator[] | ( | size_t | index | ) | const |
Access the feedback for an individual module.
double hebi::GroupFeedback::getTime | ( | ) | const |
Gets a single wall-clock timestamp (in seconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived).
uint64_t hebi::GroupFeedback::getTimeUs | ( | ) | const |
Gets a single wall-clock timestamp (in microseconds since the epoch) associated with the entire group feedback (this is time the last feedback packet arrived).
Eigen::VectorXd hebi::GroupFeedback::getBoardTemperature | ( | ) | const |
Convenience function for returning feedback board temperature values.
Eigen::VectorXd hebi::GroupFeedback::getProcessorTemperature | ( | ) | const |
Convenience function for returning feedback processor temperature values.
Eigen::VectorXd hebi::GroupFeedback::getVoltage | ( | ) | const |
Convenience function for returning feedback voltage values.
Eigen::VectorXd hebi::GroupFeedback::getDeflection | ( | ) | const |
Convenience function for returning feedback deflection values.
Eigen::VectorXd hebi::GroupFeedback::getDeflectionVelocity | ( | ) | const |
Convenience function for returning feedback deflection velocity values.
Eigen::VectorXd hebi::GroupFeedback::getMotorVelocity | ( | ) | const |
Convenience function for returning feedback motor velocity values.
Eigen::VectorXd hebi::GroupFeedback::getMotorCurrent | ( | ) | const |
Convenience function for returning feedback motor current values.
Eigen::VectorXd hebi::GroupFeedback::getMotorSensorTemperature | ( | ) | const |
Convenience function for returning feedback motor sensor temperature values.
Eigen::VectorXd hebi::GroupFeedback::getMotorWindingCurrent | ( | ) | const |
Convenience function for returning feedback motor winding current values.
Eigen::VectorXd hebi::GroupFeedback::getMotorWindingTemperature | ( | ) | const |
Convenience function for returning feedback motor winding temperature values.
Eigen::VectorXd hebi::GroupFeedback::getMotorHousingTemperature | ( | ) | const |
Convenience function for returning feedback motor housing temperature values.
Eigen::VectorXd hebi::GroupFeedback::getPosition | ( | ) | const |
Convenience function for returning feedback position values.
Eigen::VectorXd hebi::GroupFeedback::getVelocity | ( | ) | const |
Convenience function for returning feedback velocity values.
Eigen::VectorXd hebi::GroupFeedback::getEffort | ( | ) | const |
Convenience function for returning feedback effort values.
Eigen::VectorXd hebi::GroupFeedback::getPositionCommand | ( | ) | const |
Convenience function for returning commanded position values.
Eigen::VectorXd hebi::GroupFeedback::getVelocityCommand | ( | ) | const |
Convenience function for returning commanded velocity values.
Eigen::VectorXd hebi::GroupFeedback::getEffortCommand | ( | ) | const |
Convenience function for returning commanded effort values.
Eigen::MatrixX3d hebi::GroupFeedback::getAccelerometer | ( | ) | const |
Convenience function for returning feedback accelerometer values.
Eigen::MatrixX3d hebi::GroupFeedback::getGyro | ( | ) | const |
Convenience function for returning feedback gyroscope values.
void hebi::GroupFeedback::getBoardTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback board temperature values.
void hebi::GroupFeedback::getProcessorTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback processor temperature values.
void hebi::GroupFeedback::getVoltage | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback voltage values.
void hebi::GroupFeedback::getDeflection | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback deflection values.
void hebi::GroupFeedback::getDeflectionVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback deflection velocity values.
void hebi::GroupFeedback::getMotorVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor velocity values.
void hebi::GroupFeedback::getMotorCurrent | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor current values.
void hebi::GroupFeedback::getMotorSensorTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor sensor temperature values.
void hebi::GroupFeedback::getMotorWindingCurrent | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor winding current values.
void hebi::GroupFeedback::getMotorWindingTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor winding temperature values.
void hebi::GroupFeedback::getMotorHousingTemperature | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback motor housing temperature values.
void hebi::GroupFeedback::getPosition | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback position values.
void hebi::GroupFeedback::getVelocity | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback velocity values.
void hebi::GroupFeedback::getEffort | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning feedback effort values.
void hebi::GroupFeedback::getPositionCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded position values.
void hebi::GroupFeedback::getVelocityCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded velocity values.
void hebi::GroupFeedback::getEffortCommand | ( | Eigen::VectorXd & | out | ) | const |
Convenience function for returning commanded effort values.
void hebi::GroupFeedback::getAccelerometer | ( | Eigen::MatrixX3d & | out | ) | const |
Convenience function for returning feedback accelerometer values.
void hebi::GroupFeedback::getGyro | ( | Eigen::MatrixX3d & | out | ) | const |
Convenience function for returning feedback gyroscope values.