joint_dispatcher::Dispatcher Class Reference

#include <Dispatcher.hpp>

Public Types
typedef size_t	ChannelID

Public Member Functions
ChannelID	addInput (std::string const &name="")
ChannelID	addOutput (std::string const &name, std::vector< std::string > const &jointNames)
ChannelID	addOutput (std::string const &name="", size_t size=0)
ChannelID	getInputByName (std::string const &name) const
ChannelID	getOutputByName (std::string const &name) const
Output &	getOutput (ChannelID id)
void	addDispatch (ChannelID input, JointSelection const &inputJoints, ChannelID output, JointSelection const &outputJoints)
void	addDispatch (std::string const &input, JointSelection const &inputJoints, std::string const &output, JointSelection const &outputJoints)
void	write (ChannelID input, base::samples::Joints const &sample)
void	write (std::string const &input, base::samples::Joints const &sample)
bool	read (ChannelID output, base::samples::Joints &sample)
bool	read (std::string const &name, base::samples::Joints &sample)
void	reset ()

Detailed Description

Implementation of mux/demux logic for base::samples::Joints

This class allows to transfer arbitrary sets of joints on inputs to other sets on outputs. It allows to

Member Typedef Documentation

ChannelID

typedef size_t joint_dispatcher::Dispatcher::ChannelID

Member Function Documentation

addDispatch() [1/2]

void Dispatcher::addDispatch	(	ChannelID	input,
		JointSelection const &	inputJoints,
		ChannelID	output,
		JointSelection const &	outputJoints
	)

This declares a mapping from some joints on a given input and some joints on a given output

addDispatch() [2/2]

void Dispatcher::addDispatch	(	std::string const &	input,
		JointSelection const &	inputJoints,
		std::string const &	output,
		JointSelection const &	outputJoints
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

addInput()

Dispatcher::ChannelID Dispatcher::addInput

(

std::string const &

name = ""

)

This declares an input to the dispatcher

Parameters

name	the input name. This is mostly used for debugging / status purposes

Returns

the ID of the created input

addOutput() [1/2]

Dispatcher::ChannelID Dispatcher::addOutput	(	std::string const &	name,
		std::vector< std::string > const &	jointNames
	)

This declares an output to the dispatcher, as well as the joint names for this output

Parameters

name	the output name. This can be left empty.

addOutput() [2/2]

Dispatcher::ChannelID Dispatcher::addOutput	(	std::string const &	name = "",
		size_t	size = 0
	)

This declares an output to the dispatcher, as well as the expected number of joints.

If non-zero, the number of joints is used for (1) consistency checking and (2) pre-allocating the needed arrays.

getInputByName()

Dispatcher::ChannelID Dispatcher::getInputByName

(

std::string const &

name

)

const

Returns the ID of an input from its name

getOutput()

Output & Dispatcher::getOutput

(

ChannelID

id

)

Returns the Output object associated with the given ID

getOutputByName()

Dispatcher::ChannelID Dispatcher::getOutputByName

(

std::string const &

name

)

const

Returns the ID of an output from its name

read() [1/2]

bool Dispatcher::read	(	ChannelID	output,
		base::samples::Joints &	sample
	)

Reads a given output channel

Returns

true if this channel had been updated since the last read, and false otherwise. The sample is not modified if the channel was not updated

read() [2/2]

bool Dispatcher::read	(	std::string const &	name,
		base::samples::Joints &	sample
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

reset()

void Dispatcher::reset

(

)

Resets the internal tracking state without changing the configuration state

write() [1/2]

void Dispatcher::write	(	ChannelID	input,
		base::samples::Joints const &	sample
	)

Pushes a sample on a given input

The outputs for which there is a dispatch are going to be updated

write() [2/2]

void Dispatcher::write	(	std::string const &	input,
		base::samples::Joints const &	sample
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

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

• /build/rock-master-18.09-control-joint-dispatcher-0.20180105/src/Dispatcher.hpp
• /build/rock-master-18.09-control-joint-dispatcher-0.20180105/src/Dispatcher.cpp