18 #ifndef DOXYGEN_OMIT_INTERNAL 23 HebiGroupFeedbackPtr internal_;
24 #endif // DOXYGEN_OMIT_INTERNAL 31 const bool manage_pointer_lifetime_;
35 const size_t number_of_modules_;
39 std::vector<Feedback> feedbacks_;
46 #ifndef DOXYGEN_OMIT_INTERNAL 53 #endif // DOXYGEN_OMIT_INTERNAL 168 Eigen::MatrixX3d
getGyro()
const;
226 void getEffort(Eigen::VectorXd& out)
const;
248 void getGyro(Eigen::MatrixX3d& out)
const;
A list of Feedback objects that can be received from a Group of modules; the size() must match the nu...
Definition: group_feedback.hpp:16
Eigen::VectorXd getVelocity() const
Convenience function for returning feedback velocity values.
Definition: group_feedback.cpp:152
Eigen::MatrixX3d getGyro() const
Convenience function for returning feedback gyroscope values.
Definition: group_feedback.cpp:211
Eigen::VectorXd getDeflection() const
Convenience function for returning feedback deflection values.
Definition: group_feedback.cpp:78
Eigen::VectorXd getVelocityCommand() const
Convenience function for returning commanded velocity values.
Definition: group_feedback.cpp:177
Eigen::VectorXd getMotorCurrent() const
Convenience function for returning feedback motor current values.
Definition: group_feedback.cpp:102
Eigen::VectorXd getBoardTemperature() const
Convenience function for returning feedback board temperature values.
Definition: group_feedback.cpp:53
Eigen::VectorXd getPosition() const
Convenience function for returning feedback position values.
Definition: group_feedback.cpp:144
Eigen::VectorXd getEffort() const
Convenience function for returning feedback effort values.
Definition: group_feedback.cpp:160
Eigen::VectorXd getMotorWindingTemperature() const
Convenience function for returning feedback motor winding temperature values.
Definition: group_feedback.cpp:127
double getTime() const
Gets a single wall-clock timestamp (in seconds since the epoch) associated with the entire group feed...
Definition: group_feedback.cpp:30
Eigen::MatrixX3d getAccelerometer() const
Convenience function for returning feedback accelerometer values.
Definition: group_feedback.cpp:194
Feedback objects have various fields representing feedback from modules; which fields are populated d...
Definition: feedback.hpp:32
Eigen::VectorXd getEffortCommand() const
Convenience function for returning commanded effort values.
Definition: group_feedback.cpp:185
Eigen::VectorXd getVoltage() const
Convenience function for returning feedback voltage values.
Definition: group_feedback.cpp:69
const Feedback & operator[](size_t index) const
Access the feedback for an individual module.
Definition: group_feedback.cpp:28
Eigen::VectorXd getMotorHousingTemperature() const
Convenience function for returning feedback motor housing temperature values.
Definition: group_feedback.cpp:135
GroupFeedback(size_t number_of_modules)
Create a group feedback with the specified number of modules.
Definition: group_feedback.cpp:5
uint64_t getTimeUs() const
Gets a single wall-clock timestamp (in microseconds since the epoch) associated with the entire group...
Definition: group_feedback.cpp:42
size_t size() const
Returns the number of module feedbacks in this group feedback.
Definition: group_feedback.cpp:26
Eigen::VectorXd getPositionCommand() const
Convenience function for returning commanded position values.
Definition: group_feedback.cpp:169
Eigen::VectorXd getProcessorTemperature() const
Convenience function for returning feedback processor temperature values.
Definition: group_feedback.cpp:61
Eigen::VectorXd getMotorWindingCurrent() const
Convenience function for returning feedback motor winding current values.
Definition: group_feedback.cpp:118
~GroupFeedback() noexcept
Destructor cleans up group feedback object as necessary.
Definition: group_feedback.cpp:21
Eigen::VectorXd getMotorVelocity() const
Convenience function for returning feedback motor velocity values.
Definition: group_feedback.cpp:94
Eigen::VectorXd getDeflectionVelocity() const
Convenience function for returning feedback deflection velocity values.
Definition: group_feedback.cpp:86
Eigen::VectorXd getMotorSensorTemperature() const
Convenience function for returning feedback motor sensor temperature values.
Definition: group_feedback.cpp:110