PLEN2::MotionController Class Reference

Management class of a motion. More...

#include <MotionController.h>

Public Member Functions
	MotionController (JointController &joint_ctrl)
	Constructor. More...
bool	playing ()
	Decide if a motion is playing. More...
bool	frameUpdatable ()
	Decide if a motion frame is updatable. More...
bool	updatingFinished ()
	Decide that updating a frame has finished. More...
bool	nextFrameLoadable ()
	Decide if there is a loadable frame at the next time. More...
void	play (uint8_t slot)
	Play a motion. More...
void	playFrameDirectly (const Motion::Frame &frame)
	Play a frame directly. More...
void	willStop ()
	Will stop playing a motion. More...
void	stop ()
	Stop playing a motion. More...
void	updateFrame ()
void	loadNextFrame ()
	Load next frame. More...
void	dump (uint8_t slot)
	Dump a motion with JSON format. More...

Detailed Description

Management class of a motion.

Constructor & Destructor Documentation

PLEN2::MotionController::MotionController

(

JointController &

joint_ctrl

)

Constructor.

Parameters

[in]

joint_ctrl

An instance of joint controller.

Member Function Documentation

void PLEN2::MotionController::dump

(

uint8_t

slot

)

Dump a motion with JSON format.

Output JSON string like a "motion.json", however, property "device"'s type is not string but integer defined as device id in "device_map.json".

See also

• https://github.com/plenprojectcompany/PLEN2/tree/master/motion
• https://github.com/plenprojectcompany/plen-ControlServer/blob/master/control_server/device_map.json

Parameters

[in]

slot

Slot of a motion.

bool PLEN2::MotionController::frameUpdatable

(

)

Decide if a motion frame is updatable.

Returns

Result

void PLEN2::MotionController::loadNextFrame

(

)

Load next frame.

bool PLEN2::MotionController::nextFrameLoadable

(

)

Decide if there is a loadable frame at the next time.

Returns

Result

void PLEN2::MotionController::play

(

uint8_t

slot

)

Play a motion.

Parameters

[in]

slot

Number of a motion.

void PLEN2::MotionController::playFrameDirectly

(

const Motion::Frame &

frame

)

Play a frame directly.

Parameters

[in]

frame

An instance of frame

bool PLEN2::MotionController::playing

(

)

Decide if a motion is playing.

Returns

Result

void PLEN2::MotionController::stop

(

)

Stop playing a motion.

void PLEN2::MotionController::updateFrame

(

)

bool PLEN2::MotionController::updatingFinished

(

)

Decide that updating a frame has finished.

Returns

Result

void PLEN2::MotionController::willStop

(

)

Will stop playing a motion.

The method doesn't stop playing a motion just after running itself, but will stop it when a frame that has the stop flag is discovered.

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

• MotionController.h