EncoderInterface Class Reference
[Device Interfaces]

#include </home/sspr/src/www/orocos-1.0/export/build/orocos-rtt-1.2.2/build/rtt/dev/EncoderInterface.hpp>

Inheritance diagram for EncoderInterface:

List of all members.

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Detailed Description

The most generic interface to a position/turn counter, for encoding positions.

Within one turn, there are resolution() position increments. After a turn-increment, the position will be exactly zero or resolution(). An upcounting() == true encoder will count from zero to resolution() between two turn increments. An upcounting() == false encoder will count from resolution() to zero between two turn increments.

Public Member Functions
	EncoderInterface (const std::string &name)
	Create a EncoderInterface with a name.
	EncoderInterface ()
	Create a not nameserverd EncoderInterface instance.
virtual int	positionGet () const=0
	Get the position within the current turn.
virtual int	turnGet () const=0
	Get the current turn.
virtual void	positionSet (int p)=0
	Set the position within the current turn.
virtual void	turnSet (int t)=0
	Set the current turn.
virtual int	resolution () const=0
	Return the position resolution.
virtual bool	upcounting () const=0
	Returns true if after a positive turn increment, position increments positively.
Static Public Attributes
static NameServer< EncoderInterface * >	nameserver
	The NameServer of this interface.

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Constructor & Destructor Documentation

EncoderInterface

(

const std::string &

name

)

[inline]

Create a EncoderInterface with a name.

When name is not "", and unique, it can be retrieved through EncoderInterface::nameserver .

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Member Function Documentation

virtual int resolution

(

)

const [pure virtual]

Return the position resolution.

This number can be negative or positive and denotes the the maximal or minimal value positionGet().

virtual bool upcounting

(

)

const [pure virtual]

Returns true if after a positive turn increment, position increments positively.

Meaning from 0 to |resolution()| or from resolution() to zero if resolution() < 0

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Member Data Documentation

NameServer<EncoderInterface*> nameserver [static]

The NameServer of this interface.

See also:

NameServer

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

• rtt/dev/EncoderInterface.hpp

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