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

typedef size_t joint_dispatcher::Dispatcher::ChannelID

Member Function Documentation

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

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.

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

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.

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.

Dispatcher::ChannelID Dispatcher::getInputByName

(

std::string const &

name

)

const

Returns the ID of an input from its name

Output & Dispatcher::getOutput

(

ChannelID

id

)

Returns the Output object associated with the given ID

Dispatcher::ChannelID Dispatcher::getOutputByName

(

std::string const &

name

)

const

Returns the ID of an output from its name

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

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.

void Dispatcher::reset

(

)

Resets the internal tracking state without changing the configuration state

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

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