vulp::actuation::ServoLayout Class Reference

Map between servos, their busses and the joints they actuate. More...

#include <ServoLayout.h>

Public Member Functions
void	add_servo (const int servo_id, const int bus_id, const std::string &joint_name)
	Add a servo to the layout. More...
int	bus (const int servo_id) const
	Get identifier of the CAN bus a servo is connected to. More...
const std::string &	joint_name (const int servo_id) const
	Get the name of the joint a servo actuates. More...
const std::map< int, int > &	servo_bus_map () const noexcept
	Get the full servo-bus map. More...
const std::map< int, std::string > &	servo_joint_map () const noexcept
	Get the full servo-joint map. More...
size_t	size () const noexcept
	Get the number of servos in the layout. More...

Detailed Description

Map between servos, their busses and the joints they actuate.

Definition at line 12 of file ServoLayout.h.

Member Function Documentation

add_servo()

void vulp::actuation::ServoLayout::add_servo ( const int  servo_id, const int  bus_id, const std::string &  joint_name  )

inline

Add a servo to the layout.

Parameters

[in]	servo_id	Servo ID (id.id for moteus)
[in]	bus_id	CAN bus the servo is connected to.
[in]	joint_name	Name of the joint the servo actuates.

Definition at line 20 of file ServoLayout.h.

bus()

int vulp::actuation::ServoLayout::bus ( const int  servo_id ) const

inline

Get identifier of the CAN bus a servo is connected to.

Parameters

[in]

servo_id

Servo ID.

Returns

CAN bus the servo is connected to.

Exceptions

std::out_of_range

if the servo is not in the layout.

Definition at line 34 of file ServoLayout.h.

joint_name()

const std::string& vulp::actuation::ServoLayout::joint_name ( const int  servo_id ) const

inline

Get the name of the joint a servo actuates.

Parameters

[in]

servo_id

Servo ID.

Returns

Name of the joint the servo actuates.

Exceptions

std::out_of_range

if the servo is not in the layout.

Definition at line 44 of file ServoLayout.h.

servo_bus_map()

const std::map<int, int>& vulp::actuation::ServoLayout::servo_bus_map ( ) const

inlinenoexcept

Get the full servo-bus map.

Definition at line 49 of file ServoLayout.h.

servo_joint_map()

const std::map<int, std::string>& vulp::actuation::ServoLayout::servo_joint_map ( ) const

inlinenoexcept

Get the full servo-joint map.

Definition at line 54 of file ServoLayout.h.

size()

size_t vulp::actuation::ServoLayout::size ( ) const

inlinenoexcept

Get the number of servos in the layout.

Definition at line 59 of file ServoLayout.h.

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

• vulp/actuation/ServoLayout.h