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<h1>CSctBase Class Reference</h1> </div>
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<!-- doxytag: class="CSctBase" -->
<p>Sensor Controller class.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>></code></p>
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Collaboration diagram for CSctBase:</div>
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<div class="center"><img src="classCSctBase__coll__graph.png" border="0" usemap="#CSctBase_coll__map" alt="Collaboration graph"/></div>
<map name="CSctBase_coll__map" id="CSctBase_coll__map">
<area shape="rect" id="node10" href="structTKatSCT.html" title="[SCT] every sens ctrl's attributes" alt="" coords="771,688,848,808"/><area shape="rect" id="node2" href="structTSctGNL.html" title="[GNL] controller generals" alt="" coords="793,1852,871,1972"/><area shape="rect" id="node4" href="classCKatBase.html" title="Base Katana class." alt="" coords="440,875,637,1741"/><area shape="rect" id="node33" href="structTMotGNL.html" title="[GNL] motor generals" alt="" coords="692,1861,769,1963"/><area shape="rect" id="node6" href="structTKatMFW.html" title="[MFW] master firmware version/revision number" alt="" coords="664,697,747,799"/><area shape="rect" id="node8" href="structTKatCBX.html" title="[CBX] connector box" alt="" coords="467,697,544,799"/><area shape="rect" id="node12" href="structTSctDesc.html" title="sensor controller description (partly)" alt="" coords="705,467,807,587"/><area shape="rect" id="node15" href="structTKatCTB.html" title="[CTB] command table defined in the firmware" alt="" coords="5,705,83,791"/><area shape="rect" id="node17" href="structTKatECH.html" title="[ECH] echo" alt="" coords="107,705,184,791"/><area shape="rect" id="node19" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor." alt="" coords="208,705,315,791"/><area shape="rect" id="node21" href="structTKatGNL.html" title="[GNL] general robot attributes" alt="" coords="339,697,443,799"/><area shape="rect" id="node23" href="structTKatMOT.html" title="[MOT] every motor's attributes" alt="" coords="613,3432,691,3552"/><area shape="rect" id="node25" href="structTMotDesc.html" title="motor description (partly)" alt="" coords="611,2681,693,2767"/><area shape="rect" id="node27" href="classCMotBase.html" title="Motor class." alt="" coords="1004,2083,1193,3365"/><area shape="rect" id="node29" href="structTMotENL.html" title="[ENL] limits in encoder values (INTERNAL STRUCTURE!)" alt="" coords="1573,1835,1691,1989"/><area shape="rect" id="node31" href="structTMotSFW.html" title="[SFW] slave firmware" alt="" coords="407,1835,503,1989"/><area shape="rect" id="node36" href="structTMotInit.html" title="Initial motor parameters." alt="" coords="527,1826,668,1998"/><area shape="rect" id="node38" href="structTMotCLB.html" title="Calibration structure for single motors." alt="" coords="964,1809,1119,2015"/><area shape="rect" id="node40" href="structTMotSCP.html" title="[SCP] static controller parameters" alt="" coords="935,1135,1084,1481"/><area shape="rect" id="node42" href="structTMotDYL.html" title="[DYL] dynamic limits" alt="" coords="1243,1179,1376,1437"/><area shape="rect" id="node44" href="structTMotPVP.html" title="[PVP] position, velocity, pulse width modulation" alt="" coords="1143,1843,1220,1981"/><area shape="rect" id="node46" href="structTMotAPS.html" title="[APS] actual position" alt="" coords="1244,1861,1327,1963"/><area shape="rect" id="node49" href="structTMotTPS.html" title="[TPS] target position" alt="" coords="1351,1861,1433,1963"/><area shape="rect" id="node51" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="927,193,1081,365"/><area shape="rect" id="node53" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="949,5,1059,125"/><area shape="rect" id="node56" href="structTKatIDS.html" title="[IDS] identification string" alt="" coords="568,705,640,791"/><area shape="rect" id="node59" href="structTSctDAT.html" title="[DAT] sensor data" alt="" coords="825,227,903,330"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classCSctBase-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTSctGNL.html">TSctGNL</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#a6bd16882abfd2b120f05b78212eb4b39">GetGNL</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTSctDAT.html">TSctDAT</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#a4e3e9cafe3cd311a337a056d221a8be9">GetDAT</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#a7b7f147d14b2a9a43db01212e4e78df0">~CSctBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#a276b7943863617fc264f36762451a027">init</a> (<a class="el" href="classCKatBase.html">CKatBase</a> *_own, const <a class="el" href="structTSctDesc.html">TSctDesc</a> _sctDesc, <a class="el" href="classCCplBase.html">CCplBase</a> *<a class="el" href="classCSctBase.html#add878112401157c594594d6a171d8d9d">protocol</a>)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#aeacd0f7078569e638dcc042bc998d033">recvDAT</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#aeacd0f7078569e638dcc042bc998d033"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTSctGNL.html">TSctGNL</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#aaeece9f1c11058a4413adf599d73bbb8">gnl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">controller generals <a href="#aaeece9f1c11058a4413adf599d73bbb8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTSctDAT.html">TSctDAT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#aa622bb2bf7c108763ea6a839f450548b">dat</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sensor data <a href="#aa622bb2bf7c108763ea6a839f450548b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCCplBase.html">CCplBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#add878112401157c594594d6a171d8d9d">protocol</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">protocol interface <a href="#add878112401157c594594d6a171d8d9d"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classCSctBase.html#a099603b3fbe6a04e3b0d667a5e4770f3">CKatBase</a></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Sensor Controller class. </p>
<p>By using this class you can get access to the sensor data; to do so you should (after initialization) call 'recvDat()' to updated the internal 'TSctDAT dat' structure; after the updated you can read out the values by using the 'GetDAT()' function, which will return a constant pointer to the internal 'dat' structure. </p>
<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00072">72</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a7b7f147d14b2a9a43db01212e4e78df0"></a><!-- doxytag: member="CSctBase::~CSctBase" ref="a7b7f147d14b2a9a43db01212e4e78df0" args="()" -->
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<td class="memname">virtual CSctBase::~CSctBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00088">88</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a4e3e9cafe3cd311a337a056d221a8be9"></a><!-- doxytag: member="CSctBase::GetDAT" ref="a4e3e9cafe3cd311a337a056d221a8be9" args="()" -->
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<td class="memname">const <a class="el" href="structTSctDAT.html">TSctDAT</a>* CSctBase::GetDAT </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00082">82</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<a class="anchor" id="a6bd16882abfd2b120f05b78212eb4b39"></a><!-- doxytag: member="CSctBase::GetGNL" ref="a6bd16882abfd2b120f05b78212eb4b39" args="()" -->
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<td class="memname">const <a class="el" href="structTSctGNL.html">TSctGNL</a>* CSctBase::GetGNL </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00081">81</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
<p>References <a class="el" href="kmlBase_8h_source.html#l00135">CKatBase::gnl</a>.</p>
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<a class="anchor" id="a276b7943863617fc264f36762451a027"></a><!-- doxytag: member="CSctBase::init" ref="a276b7943863617fc264f36762451a027" args="(CKatBase *_own, const TSctDesc _sctDesc, CCplBase *protocol)" -->
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<td class="memname">bool CSctBase::init </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classCKatBase.html">CKatBase</a> * </td>
<td class="paramname"><em>_own</em>, </td>
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<td class="paramtype">const <a class="el" href="structTSctDesc.html">TSctDesc</a> </td>
<td class="paramname"><em>_sctDesc</em>, </td>
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<td class="paramtype"><a class="el" href="classCCplBase.html">CCplBase</a> * </td>
<td class="paramname"><em>protocol</em> </td>
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<td>)</td>
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<a class="anchor" id="aeacd0f7078569e638dcc042bc998d033"></a><!-- doxytag: member="CSctBase::recvDAT" ref="aeacd0f7078569e638dcc042bc998d033" args="()" -->
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<td class="memname">void CSctBase::recvDAT </td>
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<p>receive data </p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a099603b3fbe6a04e3b0d667a5e4770f3"></a><!-- doxytag: member="CSctBase::CKatBase" ref="a099603b3fbe6a04e3b0d667a5e4770f3" args="" -->
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<td class="memname">friend class <a class="el" href="classCKatBase.html">CKatBase</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00074">74</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aa622bb2bf7c108763ea6a839f450548b"></a><!-- doxytag: member="CSctBase::dat" ref="aa622bb2bf7c108763ea6a839f450548b" args="" -->
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<td class="memname"><a class="el" href="structTSctDAT.html">TSctDAT</a> <a class="el" href="classCSctBase.html#aa622bb2bf7c108763ea6a839f450548b">CSctBase::dat</a><code> [protected]</code></td>
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<p>sensor data </p>
<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00078">78</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<a class="anchor" id="aaeece9f1c11058a4413adf599d73bbb8"></a><!-- doxytag: member="CSctBase::gnl" ref="aaeece9f1c11058a4413adf599d73bbb8" args="" -->
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<td class="memname"><a class="el" href="structTSctGNL.html">TSctGNL</a> <a class="el" href="classCSctBase.html#aaeece9f1c11058a4413adf599d73bbb8">CSctBase::gnl</a><code> [protected]</code></td>
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<p>controller generals </p>
<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00077">77</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<a class="anchor" id="add878112401157c594594d6a171d8d9d"></a><!-- doxytag: member="CSctBase::protocol" ref="add878112401157c594594d6a171d8d9d" args="" -->
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<td class="memname"><a class="el" href="classCCplBase.html">CCplBase</a>* <a class="el" href="classCSctBase.html#add878112401157c594594d6a171d8d9d">CSctBase::protocol</a><code> [protected]</code></td>
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<p>protocol interface </p>
<p>Definition at line <a class="el" href="kmlSctBase_8h_source.html#l00085">85</a> of file <a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="kmlSctBase_8h_source.html">kmlSctBase.h</a></li>
</ul>
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<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
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