XBot::ControlMode Class Reference

#include <ControlMode.h>

Collaboration diagram for XBot::ControlMode:

Public Types
typedef std::bitset< 5 >	Bitset
	Representation of a control mode as a bitset. More...

Public Member Functions
	ControlMode (const std::string &name="", bool position_enabled=false, bool velocity_enabled=false, bool effort_enabled=false, bool stiffness_enabled=false, bool damping_enabled=false)
bool	isPositionEnabled () const
bool	isVelocityEnabled () const
bool	isEffortEnabled () const
bool	isStiffnessEnabled () const
bool	isDampingEnabled () const
ControlMode	operator+ (const ControlMode &ctrl_mode) const
bool	operator== (const ControlMode &ctrl_mode) const
const std::string &	getName () const

Static Public Member Functions
static ControlMode	Position ()
static ControlMode	Velocity ()
static ControlMode	Effort ()
static ControlMode	PosImpedance ()
static ControlMode	Stiffness ()
static ControlMode	Damping ()
static ControlMode	Idle ()
static ControlMode	FromBitset (Bitset bitset)
static Bitset	AsBitset (const ControlMode &ctrl_mode)

Member Typedef Documentation

Bitset

typedef std::bitset<5> XBot::ControlMode::Bitset

Representation of a control mode as a bitset.

Bit 0 -> position Bit 1 -> velocity Bit 2 -> effort Bit 3 -> stiffness Bit 4 -> damping

Constructor & Destructor Documentation

ControlMode()

XBot::ControlMode::ControlMode	(	const std::string &	name = "",
		bool	position_enabled = false,
		bool	velocity_enabled = false,
		bool	effort_enabled = false,
		bool	stiffness_enabled = false,
		bool	damping_enabled = false
	)

Member Function Documentation

AsBitset()

ControlMode::Bitset XBot::ControlMode::AsBitset ( const ControlMode &  ctrl_mode )

static

Damping()

ControlMode XBot::ControlMode::Damping ( )

static

Effort()

ControlMode XBot::ControlMode::Effort ( )

static

FromBitset()

ControlMode XBot::ControlMode::FromBitset ( ControlMode::Bitset  bitset )

static

getName()

const std::string & XBot::ControlMode::getName

(

)

const

Idle()

ControlMode XBot::ControlMode::Idle ( )

static

isDampingEnabled()

bool XBot::ControlMode::isDampingEnabled

(

)

const

isEffortEnabled()

bool XBot::ControlMode::isEffortEnabled

(

)

const

isPositionEnabled()

bool XBot::ControlMode::isPositionEnabled

(

)

const

isStiffnessEnabled()

bool XBot::ControlMode::isStiffnessEnabled

(

)

const

isVelocityEnabled()

bool XBot::ControlMode::isVelocityEnabled

(

)

const

operator+()

ControlMode XBot::ControlMode::operator+

(

const ControlMode &

ctrl_mode

)

const

operator==()

bool XBot::ControlMode::operator==

(

const ControlMode &

ctrl_mode

)

const

PosImpedance()

ControlMode XBot::ControlMode::PosImpedance ( )

static

Position()

ControlMode XBot::ControlMode::Position ( )

static

Stiffness()

ControlMode XBot::ControlMode::Stiffness ( )

static

Velocity()

ControlMode XBot::ControlMode::Velocity ( )

static

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

• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/ControlMode.h
• /home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/ControlMode.cpp