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...

Detailed Description

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.

Constructor & Destructor Documentation

◆ GroupFeedback() [1/2]

hebi::GroupFeedback::GroupFeedback ( size_t number_of_modules )

Create a group feedback with the specified number of modules.

◆ ~GroupFeedback()

hebi::GroupFeedback::~GroupFeedback ( )

defaultnoexcept

Destructor cleans up group feedback object as necessary.

◆ GroupFeedback() [2/2]

hebi::GroupFeedback::GroupFeedback ( GroupFeedback && )

default

Allows moving result from "subview".

Member Function Documentation

◆ subview()

GroupFeedback hebi::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.

The indices do not need to remain in order, and do not need to be unique; however, they must each be >= 0 and < size(); otherwise an out_of_range exception is thrown.

◆ isSubview()

bool hebi::GroupFeedback::isSubview ( ) const

inline

Was this created as a subview of another GroupFeedback?

◆ size()

size_t hebi::GroupFeedback::size ( ) const

Returns the number of module feedbacks in this group feedback.

◆ operator[]()

const Feedback & hebi::GroupFeedback::operator[] ( size_t index ) const

Access the feedback for an individual module.

◆ getTime()

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).

Returns: the maximum value of each feedback's PC receive time, or NaN if not all feedbacks are populated.

◆ getTimeUs()

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).

Returns: the maximum value of each feedback's PC receive time, or 0 if not all feedbacks are populated.

◆ getBoardTemperature() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getBoardTemperature ( ) const

Convenience function for returning feedback board temperature values.

◆ getProcessorTemperature() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getProcessorTemperature ( ) const

Convenience function for returning feedback processor temperature values.

◆ getVoltage() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getVoltage ( ) const

Convenience function for returning feedback voltage values.

◆ getDeflection() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getDeflection ( ) const

Convenience function for returning feedback deflection values.

◆ getDeflectionVelocity() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getDeflectionVelocity ( ) const

Convenience function for returning feedback deflection velocity values.

◆ getMotorVelocity() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorVelocity ( ) const

Convenience function for returning feedback motor velocity values.

◆ getMotorCurrent() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorCurrent ( ) const

Convenience function for returning feedback motor current values.

◆ getMotorSensorTemperature() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorSensorTemperature ( ) const

Convenience function for returning feedback motor sensor temperature values.

◆ getMotorWindingCurrent() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorWindingCurrent ( ) const

Convenience function for returning feedback motor winding current values.

◆ getMotorWindingTemperature() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorWindingTemperature ( ) const

Convenience function for returning feedback motor winding temperature values.

◆ getMotorHousingTemperature() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getMotorHousingTemperature ( ) const

Convenience function for returning feedback motor housing temperature values.

◆ getPosition() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getPosition ( ) const

Convenience function for returning feedback position values.

◆ getVelocity() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getVelocity ( ) const

Convenience function for returning feedback velocity values.

◆ getEffort() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getEffort ( ) const

Convenience function for returning feedback effort values.

◆ getPositionCommand() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getPositionCommand ( ) const

Convenience function for returning commanded position values.

◆ getVelocityCommand() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getVelocityCommand ( ) const

Convenience function for returning commanded velocity values.

◆ getEffortCommand() [1/2]

Eigen::VectorXd hebi::GroupFeedback::getEffortCommand ( ) const

Convenience function for returning commanded effort values.

◆ getAccelerometer() [1/2]

Eigen::MatrixX3d hebi::GroupFeedback::getAccelerometer ( ) const

Convenience function for returning feedback accelerometer values.

◆ getGyro() [1/2]

Eigen::MatrixX3d hebi::GroupFeedback::getGyro ( ) const

Convenience function for returning feedback gyroscope values.

◆ getBoardTemperature() [2/2]

void hebi::GroupFeedback::getBoardTemperature ( Eigen::VectorXd & out ) const

Convenience function for returning feedback board temperature values.

◆ getProcessorTemperature() [2/2]

void hebi::GroupFeedback::getProcessorTemperature ( Eigen::VectorXd & out ) const

Convenience function for returning feedback processor temperature values.

◆ getVoltage() [2/2]

void hebi::GroupFeedback::getVoltage ( Eigen::VectorXd & out ) const

Convenience function for returning feedback voltage values.

◆ getDeflection() [2/2]

void hebi::GroupFeedback::getDeflection ( Eigen::VectorXd & out ) const

Convenience function for returning feedback deflection values.

◆ getDeflectionVelocity() [2/2]

void hebi::GroupFeedback::getDeflectionVelocity ( Eigen::VectorXd & out ) const

Convenience function for returning feedback deflection velocity values.

◆ getMotorVelocity() [2/2]

void hebi::GroupFeedback::getMotorVelocity ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor velocity values.

◆ getMotorCurrent() [2/2]

void hebi::GroupFeedback::getMotorCurrent ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor current values.

◆ getMotorSensorTemperature() [2/2]

void hebi::GroupFeedback::getMotorSensorTemperature ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor sensor temperature values.

◆ getMotorWindingCurrent() [2/2]

void hebi::GroupFeedback::getMotorWindingCurrent ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor winding current values.

◆ getMotorWindingTemperature() [2/2]

void hebi::GroupFeedback::getMotorWindingTemperature ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor winding temperature values.

◆ getMotorHousingTemperature() [2/2]

void hebi::GroupFeedback::getMotorHousingTemperature ( Eigen::VectorXd & out ) const

Convenience function for returning feedback motor housing temperature values.

◆ getPosition() [2/2]

void hebi::GroupFeedback::getPosition ( Eigen::VectorXd & out ) const

Convenience function for returning feedback position values.

◆ getVelocity() [2/2]

void hebi::GroupFeedback::getVelocity ( Eigen::VectorXd & out ) const

Convenience function for returning feedback velocity values.

◆ getEffort() [2/2]

void hebi::GroupFeedback::getEffort ( Eigen::VectorXd & out ) const

Convenience function for returning feedback effort values.

◆ getPositionCommand() [2/2]

void hebi::GroupFeedback::getPositionCommand ( Eigen::VectorXd & out ) const

Convenience function for returning commanded position values.

◆ getVelocityCommand() [2/2]

void hebi::GroupFeedback::getVelocityCommand ( Eigen::VectorXd & out ) const

Convenience function for returning commanded velocity values.

◆ getEffortCommand() [2/2]

void hebi::GroupFeedback::getEffortCommand ( Eigen::VectorXd & out ) const

Convenience function for returning commanded effort values.

◆ getAccelerometer() [2/2]

void hebi::GroupFeedback::getAccelerometer ( Eigen::MatrixX3d & out ) const

Convenience function for returning feedback accelerometer values.

◆ getGyro() [2/2]

void hebi::GroupFeedback::getGyro ( Eigen::MatrixX3d & out ) const

Convenience function for returning feedback gyroscope values.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ GroupFeedback() [1/2]

◆ ~GroupFeedback()

◆ GroupFeedback() [2/2]

Member Function Documentation

◆ subview()

◆ isSubview()

◆ size()

◆ operator[]()

◆ getTime()

◆ getTimeUs()

◆ getBoardTemperature() [1/2]

◆ getProcessorTemperature() [1/2]

◆ getVoltage() [1/2]

◆ getDeflection() [1/2]

◆ getDeflectionVelocity() [1/2]

◆ getMotorVelocity() [1/2]

◆ getMotorCurrent() [1/2]

◆ getMotorSensorTemperature() [1/2]

◆ getMotorWindingCurrent() [1/2]

◆ getMotorWindingTemperature() [1/2]

◆ getMotorHousingTemperature() [1/2]

◆ getPosition() [1/2]

◆ getVelocity() [1/2]

◆ getEffort() [1/2]

◆ getPositionCommand() [1/2]

◆ getVelocityCommand() [1/2]

◆ getEffortCommand() [1/2]

◆ getAccelerometer() [1/2]

◆ getGyro() [1/2]

◆ getBoardTemperature() [2/2]

◆ getProcessorTemperature() [2/2]

◆ getVoltage() [2/2]

◆ getDeflection() [2/2]

◆ getDeflectionVelocity() [2/2]

◆ getMotorVelocity() [2/2]

◆ getMotorCurrent() [2/2]

◆ getMotorSensorTemperature() [2/2]

◆ getMotorWindingCurrent() [2/2]

◆ getMotorWindingTemperature() [2/2]

◆ getMotorHousingTemperature() [2/2]

◆ getPosition() [2/2]

◆ getVelocity() [2/2]

◆ getEffort() [2/2]

◆ getPositionCommand() [2/2]

◆ getVelocityCommand() [2/2]

◆ getEffortCommand() [2/2]

◆ getAccelerometer() [2/2]

◆ getGyro() [2/2]