BHandExt Class Reference
[Module to get "low-level" control of a BarrettHand]

Extended class for controlling the BarrettHand in Realtime-Mode. More...

#include <bhandext.h>

Inheritance diagram for BHandExt:

[legend]Collaboration diagram for BHandExt:

[legend]

Public Member Functions
	BHandExt (const std::string devName)
	Constructor for class BHandExt.
Real-Time Mode commands
If you set the BarrettHand to real-time Mode, these commands can be used to controll it.
FeedbackBlock	getFeedbackBlock () throw (BHandException)
	Returns a FeedbackBlock without sending any control data.
void	rtMode (const Motors motors)
	Enters realtime mode for the specified motors.
FeedbackBlock	send (ControlBlock cb) throw (BHandException)
	Sends a control block to the BarrettHand.

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Detailed Description

Extended class for controlling the BarrettHand in Realtime-Mode.

This class provides features for easy control of the BarrettHand in Realtime-Mode.

Author:

Bernd Roessler

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Constructor & Destructor Documentation

BHandExt::BHandExt

(

const std::string

devName

)

Constructor for class BHandExt.

Parameters:

devName

Name for the device the BarrettHand is connected to (e.g. /dev/ttyS0).

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Member Function Documentation

FeedbackBlock BHandExt::getFeedbackBlock

(

)

throw (BHandException)

Returns a FeedbackBlock without sending any control data.

Returns:

FeedbackBlock

void BHandExt::rtMode

(

const Motors

motors

)

Enters realtime mode for the specified motors.

Parameters:

motors

motors for which realtime mode should be entered

Reimplemented from BHand.

FeedbackBlock BHandExt::send

(

ControlBlock

cb

)

throw (BHandException)

Sends a control block to the BarrettHand.

Parameters:

cb

ControlBlock containing control data for the hand.

Returns:

FeedbackBlock

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

• bhandext.h
• bhandext.cpp

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Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:58:41 2006 by 1.4.7