Libbarrett  1.2.4
Namespaces | Classes | Functions | Variables
barrett Namespace Reference

Namespaces

namespace  log
namespace  math
namespace  systems
namespace  units

Classes

class  PeriodicLoopTimer
class  MultiPuckProduct
class  SpecialPuck
class  ForceTorqueSensor
class  GimbalsHandController
class  Hand
class  LowLevelWam
class  MotorPuck
class  ProductManager
class  Puck
class  PuckGroup
class  SafetyModule
class  TactilePuck

Functions

void installExceptionHandler ()
void btsleep (double duration_s)
void btsleepRT (double duration_s)
void btsleep (double duration_s, bool realtime)
double highResolutionSystemTime ()
detail::LogFormatter logMessage (const std::string &message, bool outputToStderr=false)

Variables

enum Puck::Property LowLevelWam< DOF >
const boost::posix_time::ptime START_OF_PROGRAM_TIME = boost::posix_time::microsec_clock::local_time()
enum Puck::Property Hand
const int PL_Monitor [][Puck::NUM_PROPERTIES]
const int PL_Safety [][Puck::NUM_PROPERTIES]
const int PL_Motor [][Puck::NUM_PROPERTIES]
const int PL_ForceTorque [][Puck::NUM_PROPERTIES]
const int PL_Unknown [Puck::NUM_PROPERTIES] = {-1, -1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 2, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 7, -1, -1, -1, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}
const char propertyStrs [Puck::NUM_PROPERTIES][8]

Detailed Description

Copyright 2009-2014 Barrett Technology <support@barrett.com>

This file is part of libbarrett.

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This version of libbarrett is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this version of libbarrett. If not, see <http://www.gnu.org/licenses/>.

Barrett Technology Inc. 73 Chapel Street Newton, MA 02458

The root namespace for libbarrett.

Function Documentation

void barrett::btsleep ( double  duration_s)

btsleep and btsleepRT are a functions designed to allow pauses in operation. btsleepRT is real-time safe.

double barrett::highResolutionSystemTime ( )

highResolutionSystemTime maintains the current system time measured in seconds. The resolution is 1 nanosecond when using Xenomai.

void barrett::installExceptionHandler ( )

Modifies the default unhandled exception behavior.

Installs a new terminate() function that, when no catch clauses handle an exception, prints a stacktrace to stderr before performing the default behavior (terminating the process and generating a core file).

detail::LogFormatter barrett::logMessage ( const std::string &  message,
bool  outputToStderr = false 
)

logMessage function returns an object that can be used in the same way as a boost::format object. http://www.boost.org/doc/libs/1_49_0/libs/format/ The formatted message is output to syslog() and optionally stderr. Use the raise<ExceptionType>() member function to throw an exception passing the formatted message as the "what()" string. Examples: barrett::logMessage("%s: Error %d", true) % __func__ % 5; (barrett::logMessage("Bad parameter value: %.2f") % 5.3277).raise<std::runtime_error>();

Variable Documentation

const int barrett::PL_ForceTorque[][Puck::NUM_PROPERTIES]
Initial value:
 {
{ 64, -1, 6, 18, 19, -1, 55, 56, 57, 16, 12, 29, -1, -1, -1, 32, 14, 15, -1, -1, -1, -1, -1, -1, -1, 4, 16, 17, 33, 54, 48, 49, 50, -1, -1, -1, 58, 26, 27, 28, -1, -1, -1, -1, 3, -1, -1, -1, -1, -1, 24, 22, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 60, -1, -1, -1, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 11, 59, -1, -1, -1, -1, -1, -1, 10, -1, -1, 1, -1, -1, 30, 25, 42, 43, 44, 45, 46, 47, 2, 5, -1, 61, 62, 63, -1, -1, 9, 17, -1, -1, -1, 20, -1, -1, -1, -1, -1, 51, 52, 53, -1, -1, -1, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 }
}
const int barrett::PL_Monitor[][Puck::NUM_PROPERTIES]
Initial value:
 {
{ -1, -1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 10, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, -1, 9, -1, -1, -1, -1, -1, -1, -1, 2, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 7, -1, -1, -1, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 }
}
const int barrett::PL_Motor[][Puck::NUM_PROPERTIES]
Initial value:
 {
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, -1, -1, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, -1, -1, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, -1, -1, -1, 60, -1, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, -1, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, -1, -1, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 71, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 91, 42, 43, 32, 61, 76, 13, -1, -1, 65, 4, 14, 72, -1, -1, -1, -1, -1, 81, 82, 83, -1, 51, 52, 53, -1, -1, -1, 59, 3, 102, -1, 105, 104, 103, 50, 48, 63, 21, 57, -1, -1, 62, 55, -1, -1, 68, 69, 67, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 90, 41, 75, 77, 78, 79, 80, 60, -1, 100, 18, 15, 25, 28, 8, 20, 19, 64, 16, 17, 24, 84, 85, 86, 34, 40, -1, 26, -1, 87, 54, -1, -1, 22, 101, 74, 1, 88, 70, 89, 58, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 72, 108, 107, -1, 46, -1, 94, 95, 10, 66, -1, -1, -1, 73, 23, 12, 7, -1, 47, -1, 0, 92, 93, 49, 106, 98, 99, 96, 97, -1, -1, -1, -1, -1, -1, -1, -1, 56 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, -1, -1, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, -1, -1, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, -1, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, -1, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, 113, 114, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, -1, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, 113, 114, 63, 4, 14, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 13, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 13, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 11, 38, -1, 36, 30, -1, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 11, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, 118, -1, -1, 121, 122, -1, 120, 123, 119, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 9, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 9, 64, -1, -1, -1, 71, 23, 10, 7, 124, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 11, 38, -1, 36, 30, -1, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 11, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, 118, 119, -1, 122, 123, -1, 121, 124, 120, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 9, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 9, 64, -1, -1, -1, 71, 23, 10, 7, 125, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 79, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 65, -1, 32, 14, 15, 50, 70, -1, 52, 91, 92, 74, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 85, 84, -1, 68, 3, -1, -1, 90, 89, 88, 24, 22, 72, 59, 83, -1, -1, 71, 82, -1, -1, 77, 78, 76, 95, -1, 94, -1, -1, -1, 93, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 69, 96, -1, 46, -1, 62, 63, 8, 58, 47, 73, 43, 45, 61, -1, -1, -1, 54, 11, -1, 48, -1, -1, 67, -1, 87, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 81, 80, -1, 20, -1, -1, -1, 42, 75, -1, -1, -1, -1, 60, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 79, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 65, -1, 32, 14, 15, 50, 70, -1, 52, 91, 92, 74, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 85, 84, -1, 68, 3, -1, -1, 90, 89, 88, 24, 22, 72, 59, 83, -1, -1, 71, 82, -1, -1, 77, 78, 76, 94, -1, 95, -1, -1, -1, 93, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 69, 96, -1, 46, -1, 62, 63, 8, 58, 47, 73, 43, 45, 61, -1, -1, -1, 54, 11, -1, 48, -1, -1, 67, -1, 87, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 81, 80, -1, 20, -1, -1, -1, 42, 75, -1, -1, -1, -1, 60, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 79, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 66, -1, 32, 14, 15, 50, 58, -1, 52, 91, 92, 74, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 84, 86, -1, 69, 3, -1, -1, 90, 89, 88, 24, 22, 72, 60, 83, -1, -1, 71, 82, -1, -1, 77, 78, 76, 94, -1, 95, -1, -1, -1, 93, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 70, 96, -1, 46, -1, 63, 64, 8, 59, 47, 73, 43, 45, 62, -1, -1, -1, 54, 11, -1, 48, -1, -1, 68, -1, 87, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 81, 80, -1, 20, -1, -1, -1, 42, 75, -1, -1, -1, -1, 61, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 96, 97, 77, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 87, 89, 94, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, -1, -1, 80, 81, 79, 99, -1, 100, -1, -1, -1, 98, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 95, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 96, 97, 77, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 94, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, -1, -1, 80, 81, 79, 99, -1, 100, -1, -1, -1, 98, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 95, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ 104, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 96, 97, 77, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 94, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, -1, -1, 80, 81, 79, 99, -1, 100, -1, -1, -1, 98, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, 102, -1, 70, 101, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 95, -1, -1, 42, 78, -1, -1, -1, -1, 63, 106, 7, -1, 21, 44, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 96, 97, 77, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 94, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, -1, -1, 80, 81, 79, 99, -1, 100, -1, -1, -1, 98, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 95, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 100, 101, 77, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 94, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, 98, 96, 80, 81, 79, 103, -1, 104, -1, -1, -1, 102, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 95, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 101, 102, 94, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 77, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, 98, 96, 80, 81, 79, 104, -1, 105, -1, -1, -1, 103, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, -1, -1, 9, 17, 84, 83, -1, 20, 100, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 101, 102, 94, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 77, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, 98, 96, 80, 81, 79, 104, -1, 105, -1, -1, -1, 103, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, 106, -1, 9, 17, 84, 83, -1, 20, 100, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 101, 102, 94, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 77, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, 98, 96, 80, 81, 79, 104, -1, 105, -1, -1, -1, 103, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, 106, 107, 9, 17, 84, 83, -1, 20, 100, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 101, 102, 94, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 77, 71, 3, -1, -1, 93, 92, 91, 24, 22, 74, 62, 86, -1, 108, 73, 85, 98, 96, 80, 81, 79, 104, -1, 105, -1, -1, -1, 103, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, 106, 107, 9, 17, 84, 83, -1, 20, 100, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 } ,
{ -1, 82, 6, 18, 19, 48, -1, -1, -1, 16, 12, 29, 56, 68, -1, 32, 14, 15, 50, 60, -1, 52, 101, 102, 94, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, 88, 87, 77, 71, 3, -1, 108, 93, 92, 91, 24, 22, 74, 62, 86, -1, -1, 73, 85, 98, 96, 80, 81, 79, 104, -1, 105, -1, -1, -1, 103, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, 72, 58, -1, 46, -1, 65, 66, 8, 61, 47, 76, 43, 45, 64, -1, -1, -1, 54, 11, -1, 48, -1, -1, 70, -1, 90, 10, -1, -1, 1, -1, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, 42, -1, -1, -1, 106, 107, 9, 17, 84, 83, -1, 20, 100, -1, -1, 42, 78, -1, -1, -1, -1, 63, 44, 7, -1, 21, -1, 0, -1, -1, 23, -1, -1, -1, -1, -1, 34, 35, 36, 37, 38, 39, 40, 41, -1 }
}
const int barrett::PL_Safety[][Puck::NUM_PROPERTIES]
Initial value:
 {
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, -1, -1, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, -1, -1, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, -1, -1, -1, 60, -1, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, -1, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, -1, -1, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 71, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 91, 42, 43, 32, 61, 76, 13, -1, -1, 65, 4, 14, 72, -1, -1, -1, -1, -1, 81, 82, 83, -1, 51, 52, 53, -1, -1, -1, 59, 3, 102, -1, 105, 104, 103, 50, 48, 63, 21, 57, -1, -1, 62, 55, -1, -1, 68, 69, 67, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 90, 41, 75, 77, 78, 79, 80, 60, -1, 100, 18, 15, 25, 28, 8, 20, 19, 64, 16, 17, 24, 84, 85, 86, 34, 40, -1, 26, -1, 87, 54, -1, -1, 22, 101, 74, 1, 88, 70, 89, 58, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 72, 108, 107, -1, 46, -1, 94, 95, 10, 66, -1, -1, -1, 73, 23, 12, 7, -1, 47, -1, 0, 92, 93, 49, 106, 98, 99, 96, 97, -1, -1, -1, -1, -1, -1, -1, -1, 56 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, -1, -1, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, -1, -1, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, -1, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, -1, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, 113, 114, 63, 4, 14, 70, -1, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, -1, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, -1, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 14, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 13, 113, 114, 63, 4, 14, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, 15, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 13, 38, -1, 36, 30, 9, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 13, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 10, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 10, 64, -1, -1, -1, 71, 23, 12, 7, -1, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 11, 38, -1, 36, 30, -1, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 11, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, 118, -1, -1, 121, 122, -1, 120, 123, 119, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 9, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 9, 64, -1, -1, -1, 71, 23, 10, 7, 124, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, 69, 6, 44, 45, 26, -1, -1, -1, 11, 38, -1, 36, 30, -1, 89, 42, 43, 32, 59, 74, 14, 113, 114, 63, 4, 11, 70, 117, -1, -1, -1, -1, 79, 80, 81, -1, 51, 52, 53, 110, 109, -1, 57, 3, 100, -1, 103, 102, 101, 50, 48, 61, 21, 108, 115, -1, 60, 107, -1, -1, 66, 67, 65, -1, 118, 119, -1, 122, 123, -1, 121, 124, 120, 88, 41, 73, 75, 76, 77, 78, 58, -1, 98, 18, -1, 25, 28, 8, 20, 19, 62, 16, 17, 24, 82, 83, 84, 34, 40, -1, 26, -1, 85, 54, -1, 112, 22, 99, 72, 1, 86, 68, 87, 56, -1, -1, -1, -1, -1, -1, 2, 5, 9, -1, -1, -1, -1, -1, 39, 70, 106, 105, 116, 46, -1, 92, 93, 9, 64, -1, -1, -1, 71, 23, 10, 7, 125, 47, -1, 0, 90, 91, 49, 104, 96, 97, 94, 95, -1, -1, -1, -1, -1, -1, -1, -1, 55 } ,
{ -1, -1, 6, 18, 19, -1, -1, -1, -1, 16, 12, 29, -1, -1, -1, 32, 14, 15, -1, -1, -1, -1, -1, -1, -1, 4, 16, 17, 33, -1, -1, -1, -1, -1, -1, -1, -1, 26, 27, 28, -1, -1, -1, -1, 3, 55, -1, -1, -1, -1, 24, 22, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 31, 13, -1, -1, -1, -1, -1, -1, -1, 54, -1, -1, -1, -1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 11, -1, -1, -1, 43, -1, -1, -1, 10, 53, -1, 1, 44, -1, 30, 25, -1, -1, -1, -1, -1, -1, 2, 5, -1, -1, -1, -1, -1, -1, 9, 17, -1, -1, -1, 20, -1, 47, 48, -1, -1, -1, -1, -1, -1, -1, -1, 7, -1, 21, -1, 0, 45, 46, 23, 56, 51, 52, 49, 50, 34, 35, 36, 37, 38, 39, 40, 41, 42 }
}
const char barrett::propertyStrs[Puck::NUM_PROPERTIES][8]
Initial value:
 {
"A", "ACCEL", "ADDR", "ANA0", "ANA1", "AP", "AX", "AY", "AZ", "B", "BAUD", "CMD", "CT", "CTS", "D", "DEF", "DIG0", "DIG1", "DP", "DS", "DUMP", "E", "ECMAX", "ECMIN", "EN", "ERROR", "FET0", "FET1", "FIND", "FT", "FX", "FY", "FZ", "GAIN1", "GAIN2", "GAIN3", "GM", "GRPA", "GRPB", "GRPC", "HALLH", "HALLS", "HOLD", "HSG", "ID", "IFAULT", "IHIT", "IKCOR", "IKI", "IKP", "ILOGIC", "IMOTOR", "IOFF", "IOFST", "IPNM", "ISQ", "ITOR", "IVEL", "JIDX", "JOFST", "JP", "KD", "KI", "KP", "LCTC", "LCV", "LCVC", "LED", "LFAP", "LFDP", "LFLAGS", "LFS", "LFT", "LFV", "LOAD", "LOCK", "LOG", "LOG1", "LOG2", "LOG3", "LOG4", "LSG", "M", "MAXPWR", "MCV", "MD", "MDS", "MECH", "MODE", "MOFST", "MOV", "MPE", "MT", "MV", "OD", "OFFSET1", "OFFSET2", "OFFSET3", "OT", "OTEMP", "OV", "P", "PDATA", "PEN", "PIDX", "PLOG", "POLES", "PTEMP", "PWR", "RATIO", "ROLE", "SAFE", "SAMPLE", "SAVE", "SG", "SG1", "SG2", "SG3", "SG4", "SG5", "SG6", "SN", "STAT", "T", "T1", "T2", "T3", "TACT", "TACTID", "TEMP", "TENSION", "TENSO", "TENST", "TETAE", "THERM", "TIE", "TL1", "TL2", "TORQ", "TSTOP", "TX", "TY", "TZ", "UNITS", "UPSECS", "V", "VALUE", "VALUE32", "VBUS", "VCMD", "VERS", "VL1", "VL2", "VLOGIC", "VNOM", "VOLTH1", "VOLTH2", "VOLTL1", "VOLTL2", "X0", "X1", "X2", "X3", "X4", "X5", "X6", "X7", "ZERO"
}
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Generated on Wed Nov 25 2015 12:51:36 for Libbarrett by   doxygen 1.7.6.1