It represents the power saving mode of the robot. More...

#include <RoboticLine.h>

Collaboration diagram for RobotPowerMode:

Public Member Functions
	RobotPowerMode (const uint32_t &pid, const double &delay)
	It constructs the robot's power saving mode. More...

uint32_t	pid () const

void	pid (const uint32_t &pid)

void	powerSaveModeName (const std::string &name)

std::string	powerSaveModeName () const

double	minimalDelay () const

double	expectedInputPower () const

void	expectedInputPower (const double &expectedInputPower)

Private Attributes
uint32_t	mPid
	Identification of the robot power saving mode, unique for the robot.

std::string	mName
	The name of the power saving mode, e.g. "motors", "brakes", etc.

double	mMinimalDelay
	The minimal time in seconds which is required for the stationary robot to apply this power saving mode.

double	mExpectedInputPower
	Expected input power of the robot if it is not dependent on the robot configuration (joint values), otherwise -1.

Detailed Description

It represents the power saving mode of the robot.

The class represents the power saving mode of the robot, which can be applied if the robot is in a stationary position. For example, the stationary robot can usually be held by electric motors (dummy power saving mode) or brakes. However, even deeper power saving modes such as bus-power-off and hibernate are possible for e.g. KUKA robots.

Definition at line 107 of file RoboticLine.h.

Constructor & Destructor Documentation

RobotPowerMode::RobotPowerMode	(	const uint32_t &	pid,
		const double &	delay
	)

inline

It constructs the robot's power saving mode.

Parameters

pid	Identification of the power saving mode.
delay	The power saving mode is possible to apply if the robot is at least delay seconds in a stationary position.

Note: If mExpectedInputPower is equal to -1, then the input power is dependent on the robot configuration, i.e. position.

Definition at line 115 of file RoboticLine.h.

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

/home/bukatlib/Downloads/GeneratorEquationsAsImages/inc/RoboticLine.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation