KinematicUnitHelper Class Reference

#include <RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.h>

Public Member Functions
	KinematicUnitHelper (const KinematicUnitInterfacePrx &kinUnit)
void	setJointAngles (const NameValueMap &jointAngles)
void	setJointTorques (const NameValueMap &jointTorques)
void	setJointVelocities (const NameValueMap &jointVelocities)

Static Public Member Functions
static std::string	ControlModeToString (ControlMode controlMode)
static NameControlModeMap	MakeControlModes (const NameValueMap &jointValues, ControlMode controlMode)

Detailed Description

Definition at line 35 of file KinematicUnitHelper.h.

Constructor & Destructor Documentation

KinematicUnitHelper()

KinematicUnitHelper

(

const KinematicUnitInterfacePrx &

kinUnit

)

Definition at line 28 of file KinematicUnitHelper.cpp.

Member Function Documentation

ControlModeToString()

static std::string ControlModeToString ( ControlMode controlMode )

inlinestatic

Definition at line 47 of file KinematicUnitHelper.h.

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MakeControlModes()

NameControlModeMap MakeControlModes ( const NameValueMap & jointValues, ControlMode controlMode )

static

Definition at line 55 of file KinematicUnitHelper.cpp.

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setJointAngles()

void setJointAngles

(

const NameValueMap &

jointAngles

)

Definition at line 34 of file KinematicUnitHelper.cpp.

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setJointTorques()

void setJointTorques

(

const NameValueMap &

jointTorques

)

Definition at line 48 of file KinematicUnitHelper.cpp.

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setJointVelocities()

void setJointVelocities

(

const NameValueMap &

jointVelocities

)

Definition at line 41 of file KinematicUnitHelper.cpp.

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

• RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.h
• RobotAPI/libraries/RobotStatechartHelpers/KinematicUnitHelper.cpp