UWSMPosition Class Reference

#include <uwsmposition.h>

Inheritance diagram for UWSMPosition:

Collaboration diagram for UWSMPosition:

Public Member Functions
	UWSMPosition ()
virtual	~UWSMPosition ()
virtual double	getX ()
virtual double	getY ()
virtual double	getZ ()
virtual double	getXdest () const
virtual double	getYdest () const
virtual double	getZdest () const
double	getSpeed () const
virtual int	command (int argc, const char *const *argv)
virtual void	setdest (double x_dest, double y_dest, double z_dest, double spead)
virtual void	setdest (double x_dest, double y_dest, double z_dest)
virtual bool	isDestReached () const
virtual void	setX (double x)
virtual void	setY (double y)
virtual void	setZ (double z)

Private Member Functions
virtual void	update (double now)

Private Attributes
double	trgTime_
double	lastUpdateTime_
double	Xdest_
double	Ydest_
double	Zdest_
double	Xsorg_
double	Ysorg_
double	Zsorg_
double	speed_
int	debug_

Detailed Description

Definition at line 57 of file uwsmposition.h.

Constructor & Destructor Documentation

UWSMPosition()

UWSMPosition::UWSMPosition

(

)

Constructor.

Definition at line 60 of file uwsmposition.cpp.

~UWSMPosition()

UWSMPosition::~UWSMPosition ( )

virtual

Destructor.

Definition at line 75 of file uwsmposition.cpp.

Member Function Documentation

command()

int UWSMPosition::command ( int  argc, const char *const *  argv  )

virtual

TCL command interpreter setdest <integer value>integer value>integer value>: set the movement pattern: the firts two values define the point to be reached (i.e., the direction of the movement) and the third value defines the speed to be used

Moreover it inherits all the OTcl method of Position

Parameters

argc	number of arguments in argv
argv	array of strings which are the comand parameters (Note that argv[0] is the name of the object)

Returns

TCL_OK or TCL_ERROR whether the command has been dispatched succesfully or no

Definition at line 80 of file uwsmposition.cpp.

getSpeed()

double UWSMPosition::getSpeed

(

)

const

Method that return the actual speed.

Definition at line 303 of file uwsmposition.cpp.

getX()

double UWSMPosition::getX ( )

virtual

Method that return the current projection of the node on the x-axis.

If it's necessary (updating time ia expired), update the position values before returns it.

Definition at line 237 of file uwsmposition.cpp.

getXdest()

double UWSMPosition::getXdest ( ) const

virtual

Method that return the x cooridnate of the destination point.

Definition at line 285 of file uwsmposition.cpp.

getY()

double UWSMPosition::getY ( )

virtual

Method that return the current projection of the node on the y-axis.

If it's necessary (updating time ia expired), update the position values before returns it.

Definition at line 267 of file uwsmposition.cpp.

getYdest()

double UWSMPosition::getYdest ( ) const

virtual

Method that return the y cooridnate of the destination point.

Definition at line 291 of file uwsmposition.cpp.

getZ()

double UWSMPosition::getZ ( )

virtual

Method that return the current projection of the node on the z-axis.

If it's necessary (updating time ia expired), update the position values before returns it.

Definition at line 276 of file uwsmposition.cpp.

getZdest()

double UWSMPosition::getZdest ( ) const

virtual

Method that return the z cooridnate of the destination point.

Definition at line 297 of file uwsmposition.cpp.

isDestReached()

bool UWSMPosition::isDestReached ( ) const

virtual

Definition at line 225 of file uwsmposition.cpp.

setdest() [1/2]

void UWSMPosition::setdest ( double  x_dest, double  y_dest, double  z_dest  )

virtual

Definition at line 143 of file uwsmposition.cpp.

setdest() [2/2]

void UWSMPosition::setdest ( double  x_dest, double  y_dest, double  z_dest, double  spead  )

virtual

Definition at line 111 of file uwsmposition.cpp.

setX()

void UWSMPosition::setX ( double  x )

virtual

Definition at line 246 of file uwsmposition.cpp.

setY()

void UWSMPosition::setY ( double  y )

virtual

Definition at line 253 of file uwsmposition.cpp.

setZ()

void UWSMPosition::setZ ( double  z )

virtual

Definition at line 260 of file uwsmposition.cpp.

update()

void UWSMPosition::update ( double  now )

privatevirtual

Method that updates both the position coordinates.

Definition at line 173 of file uwsmposition.cpp.

Member Data Documentation

debug_

int UWSMPosition::debug_

private

speed of the node

Definition at line 158 of file uwsmposition.h.

lastUpdateTime_

double UWSMPosition::lastUpdateTime_

private

time in which the TCL command setdest is invoked

Definition at line 145 of file uwsmposition.h.

speed_

double UWSMPosition::speed_

private

position on the z-axis of the starting point (when the TCL command setdest is invoked)

Definition at line 156 of file uwsmposition.h.

trgTime_

double UWSMPosition::trgTime_

private

Definition at line 144 of file uwsmposition.h.

Xdest_

double UWSMPosition::Xdest_

private

time last updated of the coordinates was computed

Definition at line 147 of file uwsmposition.h.

Xsorg_

double UWSMPosition::Xsorg_

private

position on the z-axis of the destination point

Definition at line 150 of file uwsmposition.h.

Ydest_

double UWSMPosition::Ydest_

private

position on the x-axis of the destination point

Definition at line 148 of file uwsmposition.h.

Ysorg_

double UWSMPosition::Ysorg_

private

position on the x-axis of the starting point (when the TCL command setdest is invoked)

Definition at line 152 of file uwsmposition.h.

Zdest_

double UWSMPosition::Zdest_

private

position on the y-axis of the destination point

Definition at line 149 of file uwsmposition.h.

Zsorg_

double UWSMPosition::Zsorg_

private

position on the y-axis of the starting point (when the TCL command setdest is invoked)

Definition at line 154 of file uwsmposition.h.

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

• uwsmposition.h
• uwsmposition.cpp