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)

Constructor & Destructor Documentation

KinematicUnitHelper()

KinematicUnitHelper

(

const KinematicUnitInterfacePrx &

kinUnit

)

Member Function Documentation

ControlModeToString()

static std::string ControlModeToString ( ControlMode controlMode )

inlinestatic

MakeControlModes()

NameControlModeMap MakeControlModes ( const NameValueMap & jointValues, ControlMode controlMode )

static

setJointAngles()

void setJointAngles

(

const NameValueMap &

jointAngles

)

setJointTorques()

void setJointTorques

(

const NameValueMap &

jointTorques

)

setJointVelocities()

void setJointVelocities

(

const NameValueMap &

jointVelocities

)

---

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

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