ANYdrive SDK
The SDK for interfacing ANYdrive.
anydrive::StateExtended Class Reference

Extended state of the ANYdrive, containing additional information to the state. More...

#include <StateExtended.hpp>

Inheritance diagram for anydrive::StateExtended:
Inheritance graph

Public Member Functions

 StateExtended ()
 
virtual ~StateExtended ()
 
double getMotorPosition () const
 
void setMotorPosition (const double motorPosition)
 
double getMotorVelocity () const
 
void setMotorVelocity (const double motorVelocity)
 
int32_t getGearPositionTicks () const
 
void setGearPositionTicks (const int32_t gearPositionTicks)
 
int32_t getJointPositionTicks () const
 
void setJointPositionTicks (const int32_t jointPositionTicks)
 
double getTemperature () const
 
void setTemperature (const double temperature)
 
double getVoltage () const
 
void setVoltage (const double voltage)
 
uint64_t getTimestamp () const
 
void setTimestamp (const uint64_t timestamp)
 
double getDesiredCurrentD () const
 
void setDesiredCurrentD (const double current)
 
double getMeasuredCurrentD () const
 
void setMeasuredCurrentD (const double current)
 
double getDesiredCurrentQ () const
 
void setDesiredCurrentQ (const double current)
 
double getMeasuredCurrentQ () const
 
void setMeasuredCurrentQ (const double current)
 
double getAlpha () const
 
void setAlpha (const double alpha)
 
double getBeta () const
 
void setBeta (const double beta)
 
double getMeasuredCurrentPhaseU () const
 
void setMeasuredCurrentPhaseU (const double current)
 
double getMeasuredCurrentPhaseV () const
 
void setMeasuredCurrentPhaseV (const double current)
 
double getMeasuredCurrentPhaseW () const
 
void setMeasuredCurrentPhaseW (const double current)
 
double getMeasuredVoltagePhaseU () const
 
void setMeasuredVoltagePhaseU (const double voltage)
 
double getMeasuredVoltagePhaseV () const
 
void setMeasuredVoltagePhaseV (const double voltage)
 
double getMeasuredVoltagePhaseW () const
 
void setMeasuredVoltagePhaseW (const double voltage)
 
double getDutyCycleU () const
 
void setDutyCycleU (const double dutyCycle)
 
double getDutyCycleV () const
 
void setDutyCycleV (const double dutyCycle)
 
double getDutyCycleW () const
 
void setDutyCycleW (const double dutyCycle)
 
virtual std::string asString (const std::string &prefix="") const
 
- Public Member Functions inherited from anydrive::State
 State ()
 
virtual ~State ()
 
const any_measurements::Time & getStamp () const
 
void setStamp (const any_measurements::Time &stamp)
 
const StatuswordgetStatusword () const
 
void setStatusword (const Statusword &statusword)
 
double getCurrent () const
 
void setCurrent (const double current)
 
double getGearPosition () const
 
void setGearPosition (const double gearPosition)
 
double getGearVelocity () const
 
void setGearVelocity (const double gearVelocity)
 
double getJointPosition () const
 
void setJointPosition (const double jointPosition)
 
double getJointVelocity () const
 
void setJointVelocity (const double jointVelocity)
 
double getJointAcceleration () const
 
void setJointAcceleration (const double jointAcceleration)
 
double getJointTorque () const
 
void setJointTorque (const double jointTorque)
 
const any_measurements::Imu & getImu () const
 
void setImu (const any_measurements::Imu &imu)
 
bool isValid () const
 

Protected Attributes

double motorPosition_ = 0.0
 Motor position [rad]. More...
 
double motorVelocity_ = 0.0
 Motor velocity [rad/s]. More...
 
int32_t gearPositionTicks_ = 0
 Position of the spring on the gear side [ticks]. More...
 
int32_t jointPositionTicks_ = 0
 Position of the spring on the joint side [ticks]. More...
 
double temperature_ = 0.0
 Temperature of the actuator [°C]. More...
 
double voltage_ = 0.0
 Measured input voltage [V]. More...
 
uint64_t timestamp_ = 0
 Time on the ANYdrive [1/(25e6s)]. More...
 
double desiredCurrentD_ = 0.0
 D part of the desired current [A]. More...
 
double measuredCurrentD_ = 0.0
 D part of the measured current [A]. More...
 
double desiredCurrentQ_ = 0.0
 Q part of the desired current [A]. More...
 
double measuredCurrentQ_ = 0.0
 Q part of the measured current [A]. More...
 
double alpha_ = 0.0
 Alpha from Inverse Park Transform. More...
 
double beta_ = 0.0
 Beta from Inverse Park Transform. More...
 
double measuredCurrentPhaseU_ = 0.0
 U phase of the measured current [A]. More...
 
double measuredVoltagePhaseU_ = 0.0
 U phase of the measured voltage [V]. More...
 
double measuredCurrentPhaseV_ = 0.0
 V phase of the measured current [A]. More...
 
double measuredVoltagePhaseV_ = 0.0
 V phase of the measured voltage [V]. More...
 
double measuredCurrentPhaseW_ = 0.0
 W phase of the measured current [A]. More...
 
double measuredVoltagePhaseW_ = 0.0
 W phase of the measured voltage [V]. More...
 
double dutyCycleU_ = 0.0
 U duty cycle. More...
 
double dutyCycleV_ = 0.0
 V duty cycle. More...
 
double dutyCycleW_ = 0.0
 W duty cycle. More...
 
- Protected Attributes inherited from anydrive::State
any_measurements::Time stamp_
 Time when the state was read out. More...
 
Statusword statusword_
 Statusword. More...
 
double current_ = 0.0
 Current [A]. More...
 
double gearPosition_ = 0.0
 Gear position [rad]. More...
 
double gearVelocity_ = 0.0
 Gear velocity [rad/s]. More...
 
double jointPosition_ = 0.0
 Joint position [rad]. More...
 
double jointVelocity_ = 0.0
 Joint velocity [rad/s]. More...
 
double jointAcceleration_ = 0.0
 Joint velocity [rad/s²]. More...
 
double jointTorque_ = 0.0
 Joint torque [Nm]. More...
 
any_measurements::Imu imu_
 IMU. More...
 

Detailed Description

Extended state of the ANYdrive, containing additional information to the state.

Constructor & Destructor Documentation

◆ StateExtended()

anydrive::StateExtended::StateExtended ( )

◆ ~StateExtended()

anydrive::StateExtended::~StateExtended ( )
virtual

Member Function Documentation

◆ asString()

std::string anydrive::StateExtended::asString ( const std::string &  prefix = "") const
virtual

Reimplemented from anydrive::State.

◆ getAlpha()

double anydrive::StateExtended::getAlpha ( ) const

◆ getBeta()

double anydrive::StateExtended::getBeta ( ) const

◆ getDesiredCurrentD()

double anydrive::StateExtended::getDesiredCurrentD ( ) const

◆ getDesiredCurrentQ()

double anydrive::StateExtended::getDesiredCurrentQ ( ) const

◆ getDutyCycleU()

double anydrive::StateExtended::getDutyCycleU ( ) const

◆ getDutyCycleV()

double anydrive::StateExtended::getDutyCycleV ( ) const

◆ getDutyCycleW()

double anydrive::StateExtended::getDutyCycleW ( ) const

◆ getGearPositionTicks()

int32_t anydrive::StateExtended::getGearPositionTicks ( ) const

◆ getJointPositionTicks()

int32_t anydrive::StateExtended::getJointPositionTicks ( ) const

◆ getMeasuredCurrentD()

double anydrive::StateExtended::getMeasuredCurrentD ( ) const

◆ getMeasuredCurrentPhaseU()

double anydrive::StateExtended::getMeasuredCurrentPhaseU ( ) const

◆ getMeasuredCurrentPhaseV()

double anydrive::StateExtended::getMeasuredCurrentPhaseV ( ) const

◆ getMeasuredCurrentPhaseW()

double anydrive::StateExtended::getMeasuredCurrentPhaseW ( ) const

◆ getMeasuredCurrentQ()

double anydrive::StateExtended::getMeasuredCurrentQ ( ) const

◆ getMeasuredVoltagePhaseU()

double anydrive::StateExtended::getMeasuredVoltagePhaseU ( ) const

◆ getMeasuredVoltagePhaseV()

double anydrive::StateExtended::getMeasuredVoltagePhaseV ( ) const

◆ getMeasuredVoltagePhaseW()

double anydrive::StateExtended::getMeasuredVoltagePhaseW ( ) const

◆ getMotorPosition()

double anydrive::StateExtended::getMotorPosition ( ) const

◆ getMotorVelocity()

double anydrive::StateExtended::getMotorVelocity ( ) const

◆ getTemperature()

double anydrive::StateExtended::getTemperature ( ) const

◆ getTimestamp()

uint64_t anydrive::StateExtended::getTimestamp ( ) const

◆ getVoltage()

double anydrive::StateExtended::getVoltage ( ) const

◆ setAlpha()

void anydrive::StateExtended::setAlpha ( const double  alpha)

◆ setBeta()

void anydrive::StateExtended::setBeta ( const double  beta)

◆ setDesiredCurrentD()

void anydrive::StateExtended::setDesiredCurrentD ( const double  current)

◆ setDesiredCurrentQ()

void anydrive::StateExtended::setDesiredCurrentQ ( const double  current)

◆ setDutyCycleU()

void anydrive::StateExtended::setDutyCycleU ( const double  dutyCycle)

◆ setDutyCycleV()

void anydrive::StateExtended::setDutyCycleV ( const double  dutyCycle)

◆ setDutyCycleW()

void anydrive::StateExtended::setDutyCycleW ( const double  dutyCycle)

◆ setGearPositionTicks()

void anydrive::StateExtended::setGearPositionTicks ( const int32_t  gearPositionTicks)

◆ setJointPositionTicks()

void anydrive::StateExtended::setJointPositionTicks ( const int32_t  jointPositionTicks)

◆ setMeasuredCurrentD()

void anydrive::StateExtended::setMeasuredCurrentD ( const double  current)

◆ setMeasuredCurrentPhaseU()

void anydrive::StateExtended::setMeasuredCurrentPhaseU ( const double  current)

◆ setMeasuredCurrentPhaseV()

void anydrive::StateExtended::setMeasuredCurrentPhaseV ( const double  current)

◆ setMeasuredCurrentPhaseW()

void anydrive::StateExtended::setMeasuredCurrentPhaseW ( const double  current)

◆ setMeasuredCurrentQ()

void anydrive::StateExtended::setMeasuredCurrentQ ( const double  current)

◆ setMeasuredVoltagePhaseU()

void anydrive::StateExtended::setMeasuredVoltagePhaseU ( const double  voltage)

◆ setMeasuredVoltagePhaseV()

void anydrive::StateExtended::setMeasuredVoltagePhaseV ( const double  voltage)

◆ setMeasuredVoltagePhaseW()

void anydrive::StateExtended::setMeasuredVoltagePhaseW ( const double  voltage)

◆ setMotorPosition()

void anydrive::StateExtended::setMotorPosition ( const double  motorPosition)

◆ setMotorVelocity()

void anydrive::StateExtended::setMotorVelocity ( const double  motorVelocity)

◆ setTemperature()

void anydrive::StateExtended::setTemperature ( const double  temperature)

◆ setTimestamp()

void anydrive::StateExtended::setTimestamp ( const uint64_t  timestamp)

◆ setVoltage()

void anydrive::StateExtended::setVoltage ( const double  voltage)

Member Data Documentation

◆ alpha_

double anydrive::StateExtended::alpha_ = 0.0
protected

Alpha from Inverse Park Transform.

◆ beta_

double anydrive::StateExtended::beta_ = 0.0
protected

Beta from Inverse Park Transform.

◆ desiredCurrentD_

double anydrive::StateExtended::desiredCurrentD_ = 0.0
protected

D part of the desired current [A].

◆ desiredCurrentQ_

double anydrive::StateExtended::desiredCurrentQ_ = 0.0
protected

Q part of the desired current [A].

◆ dutyCycleU_

double anydrive::StateExtended::dutyCycleU_ = 0.0
protected

U duty cycle.

◆ dutyCycleV_

double anydrive::StateExtended::dutyCycleV_ = 0.0
protected

V duty cycle.

◆ dutyCycleW_

double anydrive::StateExtended::dutyCycleW_ = 0.0
protected

W duty cycle.

◆ gearPositionTicks_

int32_t anydrive::StateExtended::gearPositionTicks_ = 0
protected

Position of the spring on the gear side [ticks].

◆ jointPositionTicks_

int32_t anydrive::StateExtended::jointPositionTicks_ = 0
protected

Position of the spring on the joint side [ticks].

◆ measuredCurrentD_

double anydrive::StateExtended::measuredCurrentD_ = 0.0
protected

D part of the measured current [A].

◆ measuredCurrentPhaseU_

double anydrive::StateExtended::measuredCurrentPhaseU_ = 0.0
protected

U phase of the measured current [A].

◆ measuredCurrentPhaseV_

double anydrive::StateExtended::measuredCurrentPhaseV_ = 0.0
protected

V phase of the measured current [A].

◆ measuredCurrentPhaseW_

double anydrive::StateExtended::measuredCurrentPhaseW_ = 0.0
protected

W phase of the measured current [A].

◆ measuredCurrentQ_

double anydrive::StateExtended::measuredCurrentQ_ = 0.0
protected

Q part of the measured current [A].

◆ measuredVoltagePhaseU_

double anydrive::StateExtended::measuredVoltagePhaseU_ = 0.0
protected

U phase of the measured voltage [V].

◆ measuredVoltagePhaseV_

double anydrive::StateExtended::measuredVoltagePhaseV_ = 0.0
protected

V phase of the measured voltage [V].

◆ measuredVoltagePhaseW_

double anydrive::StateExtended::measuredVoltagePhaseW_ = 0.0
protected

W phase of the measured voltage [V].

◆ motorPosition_

double anydrive::StateExtended::motorPosition_ = 0.0
protected

Motor position [rad].

◆ motorVelocity_

double anydrive::StateExtended::motorVelocity_ = 0.0
protected

Motor velocity [rad/s].

◆ temperature_

double anydrive::StateExtended::temperature_ = 0.0
protected

Temperature of the actuator [°C].

◆ timestamp_

uint64_t anydrive::StateExtended::timestamp_ = 0
protected

Time on the ANYdrive [1/(25e6s)].

◆ voltage_

double anydrive::StateExtended::voltage_ = 0.0
protected

Measured input voltage [V].


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