Inheritance diagram for RapidJointSample:

Collaboration diagram for RapidJointSample:

Classes
class	JointSampleData
Public Member Functions
	RapidJointSample (JointSample sample, JointConfig config, Map< String, DataTypeIndex > keyIndexes)
void	setJointData (int index, float anglePos, float angleVel, float angleAcc, float current, float torque, float temperature, int statusCode, NamedFloatSequence aux)
	This holds the array of values in the sequence provided.
void	setJointData (String frameName, float anglePos, float angleVel, float angleAcc, float current, float torque, float temperature, int statusCode, NamedFloatSequence aux) throws InvalidFrameNameException
void	setJointData (float anglePos, float angleVel, float angleAcc, float current, float torque, float temperature, int statusCode, NamedFloatSequence aux)
int	getIndexForJoint (String frameName)
int	getIndexForJoint (JointDef jointDef)
JointDef	getJointDef (int index)
void	setJointData (int index, float anglePos, float angleVel, float angleAcc, float current, float torque, float temperature, int statusCode)
float[]	getAuxFloatArray (int index)
float[]	getJointData (int index)
List< JointSampleData >	getAllJoints ()
	Returns all joint data in an array of JointSampleDatum.
void	initMaxSizeForJointDataArrays (int max)
void	trimJointDataArrayToSize (int max)
NamedFloatSequence	createAuxFloatDataForJoint (String name, float[] auxValues)
String	toString ()
void	initializeVariables ()
	ensure that there is no way to send over a null through the wire
Copyable	getCopyable ()
Copyable	getConfig ()
void	populateTopLevelAttributes ()
	MAE-4255: create top level access variables to simplify access.
Public Attributes
JointSample	jointSample
JointConfig	jointConfig
Map< String, JointSample >	jointDataMap = new LinkedHashMap<String, JointSample>()
Map< String, String >	mappedTelemetry = new LinkedHashMap<String, String>()

Constructor & Destructor Documentation

RapidJointSample	(	JointSample	sample,
		JointConfig	config,
		Map< String, DataTypeIndex >	keyIndexes
	)

Member Function Documentation

NamedFloatSequence createAuxFloatDataForJoint	(	String	name,
		float[]	auxValues
	)

List<JointSampleData> getAllJoints ( )

Each JointSampleDatum contains all the values associated with a single joint.

Returns:: List<JointSampleData>

float [] getAuxFloatArray ( int index )

Copyable getConfig ( )

Copyable getCopyable ( )

Reimplemented from RapidMessageAdapter.

int getIndexForJoint ( JointDef jointDef )

Here is the call graph for this function:

int getIndexForJoint ( String frameName )

float [] getJointData ( int index )

JointDef getJointDef ( int index )

void initializeVariables ( )

Reimplemented from RapidMessageAdapter.

void initMaxSizeForJointDataArrays ( int max )

void populateTopLevelAttributes ( )

Reimplemented from RapidMessageAdapter.

void setJointData	(	int	index,
		float	anglePos,
		float	angleVel,
		float	angleAcc,
		float	current,
		float	torque,
		float	temperature,
		int	statusCode
	)

Here is the call graph for this function:

void setJointData	(	float	anglePos,
		float	angleVel,
		float	angleAcc,
		float	current,
		float	torque,
		float	temperature,
		int	statusCode,
		NamedFloatSequence	aux
	)

void setJointData	(	int	index,
		float	anglePos,
		float	angleVel,
		float	angleAcc,
		float	current,
		float	torque,
		float	temperature,
		int	statusCode,
		NamedFloatSequence	aux
	)

The values must be added a the same time in order to ensure the order of the data structure arrays.

The status code is found in the actual classes:

J_ENABLED J_DISABLED J_FROZEN J_ESTOP J_FAILURE J_OVER_CURRENT

To send a status:

public void setJointData(float anglePos, float angleVel, float angleAcc, float current, float torque, float temp, int code) { int code = getJointStatusCode(); jointData.addJointData( anglePos, angleVel, angleAcc, current, torque, temp, code); }

public int getJointStatusCode() { switch (currentJointStatus) { case (J_ENABLED.VALUE): return J_ENABLED.VALUE; break; case (J_DISABLED.VALUE): return J_DISABLED.VALUE; break; case (J_FROZEN.VALUE) return J_FROZEN.VALUE; break; case (J_ESTOP.VALUE): return J_ESTOP.VALUE; break; case (J_FAILURE.VALUE): return J_FAILURE.VALUE; break; case (J_OVER_CURRENT.VALUE): return J_OVER_CURRENT.VALUE; break; } }

Parameters:

index
anglePos
angleVel
angleAcc
current
torque
temperature
statusCode
aux

void setJointData	(	String	frameName,
		float	anglePos,
		float	angleVel,
		float	angleAcc,
		float	current,
		float	torque,
		float	temperature,
		int	statusCode,
		NamedFloatSequence	aux
	)		throws InvalidFrameNameException