M_KinematicChain::IService Class Reference

Inheritance diagram for M_KinematicChain::IService:

Public Member Functions
virtual	~IService ()
virtual void	ConfigAxisRotationConstraints (M_KinematicChain::AxisRotationConstraintsListType const &AxisRotationConstraints)
virtual void	NotifyAxisRotations (std::string const &InputSourceClientId, M_KinematicChain::AxisRotationListType const &AxisRotations)
virtual void	ConfigStoreAxisRotations (std::string const &KeyDatasetId, M_KinematicChain::AxisRotationListType const &AxisRotations, bool IsRemoved)
virtual void	CmdDeleteStoredAxisRotations (std::string const &DatasetId)
virtual void	CmdApplyStoredAxisRotation (std::string const &DatasetId)

Detailed Description

Kinematic chain service interface. Contains operations that a client can command the kinematic chain service to perform.

Constructor & Destructor Documentation

~IService()

M_KinematicChain::IService::~IService ( )

virtual

Reimplemented in M_MultiMount::IService, and M_Manipulator::IService.

Member Function Documentation

CmdApplyStoredAxisRotation()

void M_KinematicChain::IService::CmdApplyStoredAxisRotation ( std::string const &  DatasetId )

virtual

Apply an earlier assigned or persistently stored axis rotation, identified by a string key.

Parameters

DatasetId

Identifies the stored axis rotation to be applied.

CmdDeleteStoredAxisRotations()

void M_KinematicChain::IService::CmdDeleteStoredAxisRotations ( std::string const &  DatasetId )

virtual

Delete an axis rotations, identified by a string key.

Parameters

DatasetId

Identifies the axis rotation to be deleted.

ConfigAxisRotationConstraints()

void M_KinematicChain::IService::ConfigAxisRotationConstraints ( M_KinematicChain::AxisRotationConstraintsListType const &  AxisRotationConstraints )

virtual

Configure axis rotation constraints.

Parameters

AxisRotationConstraints

Axis rotation constraints.

ConfigStoreAxisRotations()

void M_KinematicChain::IService::ConfigStoreAxisRotations ( std::string const &  KeyDatasetId, M_KinematicChain::AxisRotationListType const &  AxisRotations, bool  IsRemoved  )

virtual

Store an axis rotation, identified by a string key.

Parameters

KeyDatasetId	Identifies the axis rotation to be stored.
AxisRotations	Axis rotations.
IsRemoved	Indicates if the payload is no longer available Note: This will always be set to true when the instance has been shut down After this has been set to true, the payload will no longer be available to late joiners.

NotifyAxisRotations()

void M_KinematicChain::IService::NotifyAxisRotations ( std::string const &  InputSourceClientId, M_KinematicChain::AxisRotationListType const &  AxisRotations  )

virtual

Notify to rotate about axes.

Parameters

InputSourceClientId	The client name of the calling instance associated with the axis rotations
AxisRotations	Axis rotations.