Inheritance diagram for barrett::SafetyModule:

Classes
struct	PendantState
Public Types
enum	SafetyMode { ESTOP, IDLE, ACTIVE }
Public Member Functions
	SafetyModule (Puck *puck=NULL)
enum SafetyMode	getMode (bool realtime=false) const
void	waitForMode (enum SafetyMode mode, bool printMessage=true, double pollingPeriod_s=0.25)
enum SafetyMode	waitForModeChange (double pollingPeriod_s=0.25)
void	setMode (enum SafetyMode mode)
bool	wamIsZeroed () const
void	setWamZeroed (bool zeroed=true) const
void	ignoreNextVelocityFault ()
void	setDefaultSafetyLimits ()
void	setTorqueLimit (double fault, double warning=-1.0, int ipnm=Puck::DEFAULT_IPNM)
void	setVelocityLimit (double fault, double warning=-1.0)
void	getPendantState (PendantState *ps, bool realtime=false) const
Static Public Member Functions
static const char *	getSafetyModeStr (enum SafetyMode mode)
Static Protected Attributes
static const int	VELOCITY_FAULT_HISTORY_BUFFER_SIZE = 5

Member Enumeration Documentation

SafetyMode States

Constructor & Destructor Documentation

barrett::SafetyModule::SafetyModule ( Puck * puck = NULL )

SafetyModule Constructor and Destructors

enum SafetyModule::SafetyMode barrett::SafetyModule::getMode ( bool realtime = false ) const

getMode Method returns current state of Safety Pendant (E-Stopped/Idle/Active)

void barrett::SafetyModule::getPendantState	(	PendantState *	ps,
		bool	realtime = `false`
	)		const

getPendantState Method updates PendantState Structure values

Method will update the current button, mode and parameter status values.

static const char* barrett::SafetyModule::getSafetyModeStr ( enum SafetyMode mode ) [inline, static]

getSafetyModeStr Method

void barrett::SafetyModule::ignoreNextVelocityFault ( )

ignoreNextVelocityFault Method overrides next velocity fault.

void barrett::SafetyModule::setDefaultSafetyLimits ( )

setDefaultSeafetyLimits Method resets all current safetly limits to default values.

void barrett::SafetyModule::setMode ( enum SafetyMode mode ) [inline]

setMode Method

For safety reasons, the SafetyModule will ignore requests to move from ESTOP to IDLE, or from IDLE to ACTIVE.

void barrett::SafetyModule::setTorqueLimit	(	double	fault,
		double	warning = `-1.0`,
		int	ipnm = `Puck::DEFAULT_IPNM`
	)

setTorqueLimit Method changes the absolute limit of the Torque Fault in Nm.

Measured in Newton*meters at each motor, assuming equal IPNM.

void barrett::SafetyModule::setVelocityLimit	(	double	fault,
		double	warning = `-1.0`
	)

setVelocityLimit Method changes the absolute limit of the velocity fault in m/s.

Measured in meters/second at the elbow and 4-DOF end-point.

void barrett::SafetyModule::setWamZeroed ( bool zeroed = true ) const [inline]

setWamZeroed Method

void barrett::SafetyModule::waitForMode	(	enum SafetyMode	mode,
		bool	printMessage = `true`,
		double	pollingPeriod_s = `0.25`
	)

waitForMode Method

bool barrett::SafetyModule::wamIsZeroed ( ) const [inline]

wamIsZeroed Method returns true/false flag that wam has been zeroed by user.

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