fastcat Namespace Reference

Classes
class	Actuator
class	AtiFts
class	AtiFtsOffline
class	Commander
class	Conditional
class	DeviceBase
class	DigitalABFilter
class	Egd
class	EgdOffline
class	El1008
class	El1008Offline
class	El2124
class	El2124Offline
class	El2798
class	El2798Offline
class	El2809
class	El2809Offline
class	El2828
class	El2828Offline
class	El3104
class	El3104Offline
class	El3162
class	El3162Offline
class	El3202
class	El3202Offline
class	El3208
class	El3208Offline
class	El3314
class	El3314Offline
class	El3318
class	El3318Offline
class	El3602
class	El3602Offline
class	El4102
class	El4102Offline
class	El5042
class	El5042Offline
struct	ExponentialParams
class	Faulter
	Fastcat device class that can be used to trigger a fault based on a signal. More...
class	Filter
class	Fts
	Class implementing force-torque sensor through fastcat. More...
class	Function
struct	GaussianRandomParams
class	GoldActuator
class	GoldActuatorOffline
class	Ild1900
class	Ild1900Offline
class	Jed0101
class	Jed0101Offline
class	Jed0200
class	Jed0200Offline
class	JsdDeviceBase
class	LinearInterpolation
class	Manager
	Fastcat::Manager is the main application interface to manage all fastcat devices. More...
class	MovingAverageFilter
class	Pid
class	PlatinumActuator
class	PlatinumActuatorOffline
struct	PolynomialParams
struct	PowerParams
class	RingBuffer
class	Saturation
struct	SawToothParams
class	SchmittTrigger
class	SignalGenerator
struct	SineWaveParams
class	ThreadSafeQueue
class	ThreeNodeThermalModel
	Class implementing a Three-Node Thermal Model for estimating internal motor temperatures, through fastcat. More...
struct	UniformRandomParams
class	VirtualFts
	Class that takes in the output of an FTS device and applies a transform to it. More...

Typedefs
typedef std::pair< std::string, std::shared_ptr< DeviceBase > >	DevicePair
typedef std::pair< std::string, jsd_t * >	JSDPair

Enumerations
enum	ConditionalType {   LT , LE , GT , GE ,   EQ , NE , BAD_CONDITIONAL_TYPE }
enum	FilterType { MOVING_AVERAGE , DIGITAL_AB , BAD_FILTER_TYPE }
enum	FunctionType {   POLYNOMIAL , SUMMATION , MULTIPLICATION , POWER ,   EXPONENTIAL , SIGMOID , BAD_FUNCTION_TYPE }
enum	SignalGeneratorType {   SINE_WAVE , SAW_TOOTH , GAUSSIAN_RANDOM , UNIFORM_RANDOM ,   BAD_SIGNAL_GENERATOR_TYPE }
enum	ActuatorStateMachineState {   ACTUATOR_SMS_FAULTED , ACTUATOR_SMS_HALTED , ACTUATOR_SMS_HOLDING , ACTUATOR_SMS_PROF_POS ,   ACTUATOR_SMS_PROF_POS_DISENGAGING , ACTUATOR_SMS_PROF_VEL , ACTUATOR_SMS_PROF_VEL_DISENGAGING , ACTUATOR_SMS_PROF_TORQUE ,   ACTUATOR_SMS_PROF_TORQUE_DISENGAGING , ACTUATOR_SMS_CSP , ACTUATOR_SMS_CSV , ACTUATOR_SMS_CST ,   ACTUATOR_SMS_CAL_MOVE_TO_HARDSTOP , ACTUATOR_SMS_CAL_UPDATE_POSITION , ACTUATOR_SMS_CAL_AT_HARDSTOP , ACTUATOR_SMS_CAL_MOVE_TO_SOFTSTOP }
enum	ActuatorType { ACTUATOR_TYPE_REVOLUTE , ACTUATOR_TYPE_PRISMATIC }
enum	ActuatorFastcatFault {   ACTUATOR_FASTCAT_FAULT_OKAY = 0 , ACTUATOR_FASTCAT_FAULT_CMD_LIMIT_EXCEEDED , ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_MOTION , ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_CAL ,   ACTUATOR_FASTCAT_FAULT_INVALID_CAL_MOTION_RANGE , ACTUATOR_FASTCAT_FAULT_STO_ENGAGED , ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION , ACTUATOR_FASTCAT_FAULT_BRAKE_DISENGAGE_TIMEOUT_EXCEEDED ,   ACTUATOR_FASTCAT_FAULT_NO_HARDSTOP_DURING_CAL , ACTUATOR_FASTCAT_FAULT_CAL_RESET_TIMEOUT_EXCEEDED , ACTUATOR_FASTCAT_FAULT_PROF_POS_CMD_ACK_TIMEOUT_EXCEEDED }
enum	ActuatorExplicitInterpolationAlgorithm { ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_CUBIC = 0 , ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_LINEAR }
enum	ActuatorExplicitInterpolationTimestamp { ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_CSP_MESSAGE = 0 , ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_FASTCAT_CLOCK }

Functions
ConditionalType	ConditionalTypeFromString (std::string cond_type)
FilterType	FilterTypeFromString (std::string str)
FunctionType	FunctionTypeFromString (const std::string &)
SignalGeneratorType	SignalGeneratorTypeFromString (const std::string &)
bool	UpdateSignal (Signal &signal)
bool	ConfigSignalsFromYaml (const YAML::Node &node, std::vector< Signal > &signals, bool is_commander)
bool	ConfigSignalByteIndexing (DeviceState *state, Signal &signal)
enum DeviceCmdType	DeviceCmdTypeFromString (std::string str)
bool	ParseNode (const YAML::Node &node, const std::string &field, YAML::Node &val)
bool	ParseList (const YAML::Node &node, const std::string &field, YAML::Node &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, double &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, float &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, std::string &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, int32_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, uint32_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, int64_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, uint64_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, int16_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, uint16_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, int8_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, uint8_t &val)
bool	ParseVal (const YAML::Node &node, const std::string &field, bool &val)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, double &val, double lower, double upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, float &val, float lower, float upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, int32_t &val, int32_t lower, int32_t upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, uint32_t &val, uint32_t lower, uint32_t upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, int16_t &val, int16_t lower, int16_t upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, uint16_t &val, int16_t lower, int16_t upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, int8_t &val, int8_t lower, int8_t upper)
bool	ParseValCheckRange (const YAML::Node &node, const std::string &field, uint8_t &val, uint8_t lower, uint8_t upper)
bool	ParseOptVal (const YAML::Node &node, const std::string &field, double &val)
bool	ParseOptVal (const YAML::Node &node, const std::string &field, std::string &val)
bool	ParseOptVal (const YAML::Node &node, const std::string &field, bool &val)
bool	ParseOptValCheckRange (const YAML::Node &node, const std::string &field, double &val, double lower, double upper)

Typedef Documentation

DevicePair

typedef std::pair<std::string, std::shared_ptr<DeviceBase> > fastcat::DevicePair

JSDPair

typedef std::pair<std::string, jsd_t*> fastcat::JSDPair

Enumeration Type Documentation

ActuatorExplicitInterpolationAlgorithm

enum fastcat::ActuatorExplicitInterpolationAlgorithm

Enumerator
ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_CUBIC
ACTUATOR_EXPLICIT_INTERPOLATION_ALGORITHM_LINEAR

ActuatorExplicitInterpolationTimestamp

enum fastcat::ActuatorExplicitInterpolationTimestamp

Enumerator
ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_CSP_MESSAGE
ACTUATOR_EXPLICIT_INTERPOLATION_TIMESTAMP_FASTCAT_CLOCK

ActuatorFastcatFault

enum fastcat::ActuatorFastcatFault

Enumerator
ACTUATOR_FASTCAT_FAULT_OKAY
ACTUATOR_FASTCAT_FAULT_CMD_LIMIT_EXCEEDED
ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_MOTION
ACTUATOR_FASTCAT_FAULT_INVALID_CMD_DURING_CAL
ACTUATOR_FASTCAT_FAULT_INVALID_CAL_MOTION_RANGE
ACTUATOR_FASTCAT_FAULT_STO_ENGAGED
ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION
ACTUATOR_FASTCAT_FAULT_BRAKE_DISENGAGE_TIMEOUT_EXCEEDED
ACTUATOR_FASTCAT_FAULT_NO_HARDSTOP_DURING_CAL
ACTUATOR_FASTCAT_FAULT_CAL_RESET_TIMEOUT_EXCEEDED
ACTUATOR_FASTCAT_FAULT_PROF_POS_CMD_ACK_TIMEOUT_EXCEEDED

ActuatorStateMachineState

enum fastcat::ActuatorStateMachineState

Enumerator
ACTUATOR_SMS_FAULTED
ACTUATOR_SMS_HALTED
ACTUATOR_SMS_HOLDING
ACTUATOR_SMS_PROF_POS
ACTUATOR_SMS_PROF_POS_DISENGAGING
ACTUATOR_SMS_PROF_VEL
ACTUATOR_SMS_PROF_VEL_DISENGAGING
ACTUATOR_SMS_PROF_TORQUE
ACTUATOR_SMS_PROF_TORQUE_DISENGAGING
ACTUATOR_SMS_CSP
ACTUATOR_SMS_CSV
ACTUATOR_SMS_CST
ACTUATOR_SMS_CAL_MOVE_TO_HARDSTOP
ACTUATOR_SMS_CAL_UPDATE_POSITION
ACTUATOR_SMS_CAL_AT_HARDSTOP
ACTUATOR_SMS_CAL_MOVE_TO_SOFTSTOP

ActuatorType

enum fastcat::ActuatorType

Enumerator
ACTUATOR_TYPE_REVOLUTE
ACTUATOR_TYPE_PRISMATIC

ConditionalType

enum fastcat::ConditionalType

Enumerator
LT
LE
GT
GE
EQ
NE
BAD_CONDITIONAL_TYPE

FilterType

enum fastcat::FilterType

Enumerator
MOVING_AVERAGE
DIGITAL_AB
BAD_FILTER_TYPE

FunctionType

enum fastcat::FunctionType

Enumerator
POLYNOMIAL
SUMMATION
MULTIPLICATION
POWER
EXPONENTIAL
SIGMOID
BAD_FUNCTION_TYPE

SignalGeneratorType

enum fastcat::SignalGeneratorType

Enumerator
SINE_WAVE
SAW_TOOTH
GAUSSIAN_RANDOM
UNIFORM_RANDOM
BAD_SIGNAL_GENERATOR_TYPE

Function Documentation

ConditionalTypeFromString()

fastcat::ConditionalType fastcat::ConditionalTypeFromString

(

std::string

cond_type

)

Here is the caller graph for this function:

ConfigSignalByteIndexing()

bool fastcat::ConfigSignalByteIndexing	(	DeviceState *	state,
		Signal &	signal
	)

ConfigSignalsFromYaml()

bool fastcat::ConfigSignalsFromYaml	(	const YAML::Node &	node,
		std::vector< Signal > &	signals,
		bool	is_commander
	)

Here is the caller graph for this function:

DeviceCmdTypeFromString()

enum DeviceCmdType fastcat::DeviceCmdTypeFromString

(

std::string

str

)

FilterTypeFromString()

fastcat::FilterType fastcat::FilterTypeFromString

(

std::string

str

)

Here is the caller graph for this function:

FunctionTypeFromString()

fastcat::FunctionType fastcat::FunctionTypeFromString

(

const std::string &

function_type

)

Here is the caller graph for this function:

ParseList()

bool fastcat::ParseList	(	const YAML::Node &	node,
		const std::string &	field,
		YAML::Node &	val
	)

Here is the caller graph for this function:

ParseNode()

bool fastcat::ParseNode	(	const YAML::Node &	node,
		const std::string &	field,
		YAML::Node &	val
	)

Here is the caller graph for this function:

ParseOptVal() [1/3]

bool fastcat::ParseOptVal	(	const YAML::Node &	node,
		const std::string &	field,
		bool &	val
	)

ParseOptVal() [2/3]

bool fastcat::ParseOptVal	(	const YAML::Node &	node,
		const std::string &	field,
		double &	val
	)

Here is the caller graph for this function:

ParseOptVal() [3/3]

bool fastcat::ParseOptVal	(	const YAML::Node &	node,
		const std::string &	field,
		std::string &	val
	)

ParseOptValCheckRange()

bool fastcat::ParseOptValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		double &	val,
		double	lower,
		double	upper
	)

Here is the call graph for this function:

Here is the caller graph for this function:

ParseVal() [1/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		bool &	val
	)

ParseVal() [2/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		double &	val
	)

Here is the caller graph for this function:

ParseVal() [3/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		float &	val
	)

ParseVal() [4/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		int16_t &	val
	)

ParseVal() [5/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		int32_t &	val
	)

ParseVal() [6/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		int64_t &	val
	)

ParseVal() [7/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		int8_t &	val
	)

ParseVal() [8/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		std::string &	val
	)

ParseVal() [9/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		uint16_t &	val
	)

ParseVal() [10/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		uint32_t &	val
	)

ParseVal() [11/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		uint64_t &	val
	)

ParseVal() [12/12]

bool fastcat::ParseVal	(	const YAML::Node &	node,
		const std::string &	field,
		uint8_t &	val
	)

ParseValCheckRange() [1/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		double &	val,
		double	lower,
		double	upper
	)

Here is the call graph for this function:

Here is the caller graph for this function:

ParseValCheckRange() [2/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		float &	val,
		float	lower,
		float	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [3/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		int16_t &	val,
		int16_t	lower,
		int16_t	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [4/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		int32_t &	val,
		int32_t	lower,
		int32_t	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [5/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		int8_t &	val,
		int8_t	lower,
		int8_t	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [6/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		uint16_t &	val,
		int16_t	lower,
		int16_t	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [7/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		uint32_t &	val,
		uint32_t	lower,
		uint32_t	upper
	)

Here is the call graph for this function:

ParseValCheckRange() [8/8]

bool fastcat::ParseValCheckRange	(	const YAML::Node &	node,
		const std::string &	field,
		uint8_t &	val,
		uint8_t	lower,
		uint8_t	upper
	)

Here is the call graph for this function:

SignalGeneratorTypeFromString()

fastcat::SignalGeneratorType fastcat::SignalGeneratorTypeFromString

(

const std::string &

signal_generator_type

)

Here is the caller graph for this function:

UpdateSignal()

bool fastcat::UpdateSignal

(

Signal &

signal

)

Here is the caller graph for this function: