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<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
<div class="summary">
<a href="#nested-classes">Classes</a> |
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<h1>limb<br/>
<small>
[<a class="el" href="group__playerc__proxies.html">Device proxies</a>]</small>
</h1> </div>
</div>
<div class="contents">
<p>The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm.
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Limb device data. <a href="structplayerc__limb__t.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT <a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gacaf5bfd25a712cbf57f46ae3612e3b1e">playerc_limb_create</a> (<a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> *client, int index)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create a limb proxy. <a href="#gacaf5bfd25a712cbf57f46ae3612e3b1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga3f33f7211ae7b164b770f62211f38477">playerc_limb_destroy</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destroy a limb proxy. <a href="#ga3f33f7211ae7b164b770f62211f38477"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gaa26e9f3016d4fe39734242d162705d5e">playerc_limb_subscribe</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, int access)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to the limb device. <a href="#gaa26e9f3016d4fe39734242d162705d5e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gae4e8ae0406977d5a1ccf799fe88ddbee">playerc_limb_unsubscribe</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Un-subscribe from the limb device. <a href="#gae4e8ae0406977d5a1ccf799fe88ddbee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gad5184d5c2f079593758d1bed994d2c80">playerc_limb_get_geom</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the limb geometry. <a href="#gad5184d5c2f079593758d1bed994d2c80"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga8311b68c4e56221e51ca2f6327c7f59e">playerc_limb_home_cmd</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command the end effector to move home. <a href="#ga8311b68c4e56221e51ca2f6327c7f59e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gac405037a528c42891d0384a1e923c5d0">playerc_limb_stop_cmd</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command the end effector to stop immediatly. <a href="#gac405037a528c42891d0384a1e923c5d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gaca346383295fdb096c0096a8ea08e783">playerc_limb_setpose_cmd</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command the end effector to move to a specified pose. <a href="#gaca346383295fdb096c0096a8ea08e783"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#gaf281ed470b334af31855ad93765f812f">playerc_limb_setposition_cmd</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, float pX, float pY, float pZ)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command the end effector to move to a specified position (ignoring approach and orientation vectors). <a href="#gaf281ed470b334af31855ad93765f812f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga7932ba84d96daff1a80ebfe6e99de345">playerc_limb_vecmove_cmd</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, float x, float y, float z, float length)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command the end effector to move along the provided vector from its current position for the provided distance. <a href="#ga7932ba84d96daff1a80ebfe6e99de345"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga771825dee5ec32abd78508392dce3e8b">playerc_limb_power</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, uint32_t enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Turn the power to the limb on or off. <a href="#ga771825dee5ec32abd78508392dce3e8b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga623faaab7a6264478ce1c7c44bc4b0a3">playerc_limb_brakes</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, uint32_t enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Turn the brakes of all actuators in the limb that have them on or off. <a href="#ga623faaab7a6264478ce1c7c44bc4b0a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__limb.html#ga18f33481b51e8f5cab537a1ec4950cd6">playerc_limb_speed_config</a> (<a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> *device, float speed)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the speed of the end effector (m/s) for all subsequent movement commands. <a href="#ga18f33481b51e8f5cab537a1ec4950cd6"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The limb proxy provides an interface to limbs using forward/inverse kinematics, such as the ActivMedia Pioneer Arm. </p>
<p>See the Player User Manual for a complete description of the drivers that support this interface. </p>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga623faaab7a6264478ce1c7c44bc4b0a3"></a><!-- doxytag: member="playerc.h::playerc_limb_brakes" ref="ga623faaab7a6264478ce1c7c44bc4b0a3" args="(playerc_limb_t *device, uint32_t enable)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_brakes </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint32_t </td>
<td class="paramname"> <em>enable</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Turn the brakes of all actuators in the limb that have them on or off. </p>
</div>
</div>
<a class="anchor" id="gacaf5bfd25a712cbf57f46ae3612e3b1e"></a><!-- doxytag: member="playerc.h::playerc_limb_create" ref="gacaf5bfd25a712cbf57f46ae3612e3b1e" args="(playerc_client_t *client, int index)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT <a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a>* playerc_limb_create </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> * </td>
<td class="paramname"> <em>client</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"> <em>index</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Create a limb proxy. </p>
</div>
</div>
<a class="anchor" id="ga3f33f7211ae7b164b770f62211f38477"></a><!-- doxytag: member="playerc.h::playerc_limb_destroy" ref="ga3f33f7211ae7b164b770f62211f38477" args="(playerc_limb_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT void playerc_limb_destroy </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destroy a limb proxy. </p>
</div>
</div>
<a class="anchor" id="gad5184d5c2f079593758d1bed994d2c80"></a><!-- doxytag: member="playerc.h::playerc_limb_get_geom" ref="gad5184d5c2f079593758d1bed994d2c80" args="(playerc_limb_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_get_geom </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the limb geometry. </p>
<p>The writes the result into the proxy rather than returning it to the caller. </p>
</div>
</div>
<a class="anchor" id="ga8311b68c4e56221e51ca2f6327c7f59e"></a><!-- doxytag: member="playerc.h::playerc_limb_home_cmd" ref="ga8311b68c4e56221e51ca2f6327c7f59e" args="(playerc_limb_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_home_cmd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Command the end effector to move home. </p>
</div>
</div>
<a class="anchor" id="ga771825dee5ec32abd78508392dce3e8b"></a><!-- doxytag: member="playerc.h::playerc_limb_power" ref="ga771825dee5ec32abd78508392dce3e8b" args="(playerc_limb_t *device, uint32_t enable)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_power </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint32_t </td>
<td class="paramname"> <em>enable</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Turn the power to the limb on or off. </p>
<p>Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). </p>
</div>
</div>
<a class="anchor" id="gaca346383295fdb096c0096a8ea08e783"></a><!-- doxytag: member="playerc.h::playerc_limb_setpose_cmd" ref="gaca346383295fdb096c0096a8ea08e783" args="(playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_setpose_cmd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pX</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pY</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pZ</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>aX</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>aY</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>aZ</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>oX</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>oY</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>oZ</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Command the end effector to move to a specified pose. </p>
</div>
</div>
<a class="anchor" id="gaf281ed470b334af31855ad93765f812f"></a><!-- doxytag: member="playerc.h::playerc_limb_setposition_cmd" ref="gaf281ed470b334af31855ad93765f812f" args="(playerc_limb_t *device, float pX, float pY, float pZ)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">PLAYERC_EXPORT int playerc_limb_setposition_cmd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pX</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pY</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>pZ</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
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<div class="memdoc">
<p>Command the end effector to move to a specified position (ignoring approach and orientation vectors). </p>
</div>
</div>
<a class="anchor" id="ga18f33481b51e8f5cab537a1ec4950cd6"></a><!-- doxytag: member="playerc.h::playerc_limb_speed_config" ref="ga18f33481b51e8f5cab537a1ec4950cd6" args="(playerc_limb_t *device, float speed)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">PLAYERC_EXPORT int playerc_limb_speed_config </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>speed</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
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<div class="memdoc">
<p>Set the speed of the end effector (m/s) for all subsequent movement commands. </p>
</div>
</div>
<a class="anchor" id="gac405037a528c42891d0384a1e923c5d0"></a><!-- doxytag: member="playerc.h::playerc_limb_stop_cmd" ref="gac405037a528c42891d0384a1e923c5d0" args="(playerc_limb_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
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<td class="memname">PLAYERC_EXPORT int playerc_limb_stop_cmd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
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</table>
</div>
<div class="memdoc">
<p>Command the end effector to stop immediatly. </p>
</div>
</div>
<a class="anchor" id="gaa26e9f3016d4fe39734242d162705d5e"></a><!-- doxytag: member="playerc.h::playerc_limb_subscribe" ref="gaa26e9f3016d4fe39734242d162705d5e" args="(playerc_limb_t *device, int access)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_subscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"> <em>access</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Subscribe to the limb device. </p>
</div>
</div>
<a class="anchor" id="gae4e8ae0406977d5a1ccf799fe88ddbee"></a><!-- doxytag: member="playerc.h::playerc_limb_unsubscribe" ref="gae4e8ae0406977d5a1ccf799fe88ddbee" args="(playerc_limb_t *device)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_unsubscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em></td>
<td> ) </td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Un-subscribe from the limb device. </p>
</div>
</div>
<a class="anchor" id="ga7932ba84d96daff1a80ebfe6e99de345"></a><!-- doxytag: member="playerc.h::playerc_limb_vecmove_cmd" ref="ga7932ba84d96daff1a80ebfe6e99de345" args="(playerc_limb_t *device, float x, float y, float z, float length)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">PLAYERC_EXPORT int playerc_limb_vecmove_cmd </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayerc__limb__t.html">playerc_limb_t</a> * </td>
<td class="paramname"> <em>device</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>length</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Command the end effector to move along the provided vector from its current position for the provided distance. </p>
</div>
</div>
</div>
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