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<div class="title">mrpt::hwdrivers::CServoeNeck Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CServoeNeck" --><!-- doxytag: inherits="mrpt::hwdrivers::CInterfaceFTDI" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A USB-interface for a custom "robotic neck" designed at MAPIR lab. </p>
</div>
<p><code>#include <<a class="el" href="_c_servoe_neck_8h_source.html">mrpt/hwdrivers/CServoeNeck.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CServoeNeck:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_servoe_neck__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_servoe_neck_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_servoe_neck_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_servoe_neck_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html" title="A definition of a CStream actually representing a USB connection to a FTDI chip." alt="" coords="4,80,240,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv..." alt="" coords="53,5,192,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">TSeekOrigin</a> { <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb">sFromBeginning</a> = 0,
<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0">sFromCurrent</a> = 1,
<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309">sFromEnd</a> = 2
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84" title="Introduces a pure virtual method for moving to a specified position in the streamed resource...">CStream::Seek</a>. <a href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a3e8ee82c888013123b67edc8e68a6462">CServoeNeck</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#adc96941f0e44505a9607a774f054dbd6">~CServoeNeck</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a01a24e05672b7cbb81f74d6228990ef9">queryFirmwareVersion</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &out_firmwareVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the firmware version of the eNeck board. <a href="#a01a24e05672b7cbb81f74d6228990ef9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a37efe801da2786e6eaacc44c27055509">getCurrentAngle</a> (double &angle, const uint8_t servo=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the current angle of the servo (in radians within (-pi,pi)) <a href="#a37efe801da2786e6eaacc44c27055509"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a2558a5bf1a6f3b903301909bf6111672">setAngle</a> (double angle, const uint8_t servo=0, bool fast=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum) <a href="#a2558a5bf1a6f3b903301909bf6111672"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#afb782e66e948e374606decb1406069b1">setAngleWithFilter</a> (double angle, const uint8_t servo=0, bool fast=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles. <a href="#afb782e66e948e374606decb1406069b1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a1edb923f047f09f373a3178ee625ebbb">disableServo</a> (const uint8_t servo=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Disables the servo so the neck will be loose. <a href="#a1edb923f047f09f373a3178ee625ebbb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a1e7fa58b3ca3757c77e98fbfe2fef903">enableServo</a> (const uint8_t servo=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables the servo so the neck will be tight. <a href="#a1e7fa58b3ca3757c77e98fbfe2fef903"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a83026d7b30cf798db490690cfb51df2d">center</a> (const uint8_t servo=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Centers the servo at zero position. <a href="#a83026d7b30cf798db490690cfb51df2d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a4a3a142c1b553b73e6e686d14f779ef1">getTruncateFactor</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the truncate factor of the turn. <a href="#a4a3a142c1b553b73e6e686d14f779ef1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aec4504222682faddbd4320a1997ef083">setTruncateFactor</a> (const double factor)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the truncate factor of the turn. <a href="#aec4504222682faddbd4320a1997ef083"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a6f813c00c46aa973f4b294e306820919">setNumberOfPreviousAngles</a> (const unsigned int number)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the truncate factor of the turn. <a href="#a6f813c00c46aa973f4b294e306820919"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a2fb36a2df67e7c8fabad484d5368fe62">getNumberOfPreviousAngles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the truncate factor of the turn. <a href="#a2fb36a2df67e7c8fabad484d5368fe62"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a2783776a1b21625a4226e75de872ee0c">isOpen</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks whether the chip has been successfully open. <a href="#a2783776a1b21625a4226e75de872ee0c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a4f239110f1e2011aeeb40a959db2b299">OpenBySerialNumber</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &serialNumber)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Open by device serial number. <a href="#a4f239110f1e2011aeeb40a959db2b299"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a94d58dd4b4cf5fafcbb0fc7cd858c10d">OpenByDescription</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &description)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Open by device description. <a href="#a94d58dd4b4cf5fafcbb0fc7cd858c10d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#aaa9ba8b1a5b2d5ab50761495871c9754">Close</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Close the USB device. <a href="#aaa9ba8b1a5b2d5ab50761495871c9754"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a9feaa822a840c2cac7d32a8899d13279">ResetDevice</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the USB device. <a href="#a9feaa822a840c2cac7d32a8899d13279"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a6b864597119f41c91b389f121abbc9d1">Purge</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Purge the I/O buffers. <a href="#a6b864597119f41c91b389f121abbc9d1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a4a0e4ffe60a48230b0e350f501f562e3">SetLatencyTimer</a> (unsigned char latency_ms)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. <a href="#a4a0e4ffe60a48230b0e350f501f562e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a699bae42afa7844a289837d608593031">SetTimeouts</a> (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change read & write timeouts, in milliseconds. <a href="#a699bae42afa7844a289837d608593031"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#ae9bd14dcfc003670579407ae7afd07d9">ListAllDevices</a> (<a class="el" href="namespacemrpt_1_1hwdrivers.html#a549627d0c657fd60edd28e3c894e42cc">TFTDIDeviceList</a> &outList)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a list with all FTDI devices connected right now. <a href="#ae9bd14dcfc003670579407ae7afd07d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#ac7b6c0cf69441cd969852dcd5cf2f52f">ReadSync</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. <a href="#ac7b6c0cf69441cd969852dcd5cf2f52f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a2aafe5ee30a3e4b3086160a92465e425">WriteSync</a> (const void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. <a href="#a2aafe5ee30a3e4b3086160a92465e425"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#ad6585545a46cf2f851ff4a83aaf0c02d">ReadBufferImmediate</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). <a href="#ad6585545a46cf2f851ff4a83aaf0c02d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d">ReadBuffer</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a block of bytes from the stream into Buffer </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<a href="#a1b8cd3d084b5a95a3f65c6eed6e7cc6d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">size_t </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937">ReadBufferFixEndianness</a> (T *ptr, size_t ElementCount)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. <a href="#ab3f8382b9a971abc79414464fffc7937"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621">WriteBuffer</a> (const void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a block of bytes to the stream from Buffer. <a href="#a276005e7110c9de74ff3277b3f7bf621"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ae229ab566ba2b9e6d2c39e32c2a9ecab">WriteBufferFixEndianness</a> (const T *ptr, size_t ElementCount)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). <a href="#ae229ab566ba2b9e6d2c39e32c2a9ecab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a3d0bf6d8bf299f8c2bf08dc2798a525f">CopyFrom</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> *Source, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copies a specified number of bytes from one stream to another. <a href="#a3d0bf6d8bf299f8c2bf08dc2798a525f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa0e9fb01aaced829b0043d50bf616c03">WriteObject</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> *o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes an object to the stream. <a href="#aa0e9fb01aaced829b0043d50bf616c03"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a290510e87656433dfd093cc31d34371c">ReadObject</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. <a href="#a290510e87656433dfd093cc31d34371c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a097cb147fd764a0fa7d86de9734fce3c">ReadObject</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> *existingObj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. <a href="#a097cb147fd764a0fa7d86de9734fce3c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a0bbc0a924370c19c8afcd809272af0a9">operator<<</a> (const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> &pObj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write an object to a stream in the binary MRPT format. <a href="#a0bbc0a924370c19c8afcd809272af0a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b7e00957f3d9c15b2e689a43084e592">operator<<</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write an object to a stream in the binary MRPT format. <a href="#a1b7e00957f3d9c15b2e689a43084e592"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a47ecf9142e139b0b48526c2792bebe99">operator>></a> (<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aeb5ef746d5dc057e535f5188c5e01d74">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> &obj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3">printf</a> (const char *fmt,...) MRPT_printf_format_check(2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a string to the stream in a textual form. <a href="#a1e02f8771e15e54157cda18fb63872a3"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">virtual int void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab93e0c6185c8c3b82abd067962650947">printf_vector</a> (const char *fmt, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &V)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prints a vector in the format [A,B,C,...] using <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3" title="Writes a string to the stream in a textual form.">CStream::printf</a>, and the fmt string for <b>each</b> vector element. <a href="#ab93e0c6185c8c3b82abd067962650947"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a108c4d9cadd58b1ec0800c6c4816ff55">sendMessage</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> &msg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send a message to the device. <a href="#a108c4d9cadd58b1ec0800c6c4816ff55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a95eb299dfa91e1d5962e2acd5bb671a6">receiveMessage</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> &msg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to receive a message from the device. <a href="#a95eb299dfa91e1d5962e2acd5bb671a6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a4e9a487df9170de72ae0ecc21bc4e867">getline</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &out_str)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads from the stream until a '<br/>
' character is found ('' characters are ignored). <a href="#a4e9a487df9170de72ae0ecc21bc4e867"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a17da2742e9c5e6083423170f08cebff2">setRegisterValue</a> (const uint16_t value, const uint8_t servo=0, bool fast=false)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#ab76f16db102b12b8a7817a2309b6393c">getRegisterValue</a> (uint16_t &value, const uint8_t servo=0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#aba7d14fa4a1fb8d541022b3872084418">Read</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for reading from the stream. <a href="#aba7d14fa4a1fb8d541022b3872084418"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#af1bd931ddd9f330136dc9cf92d33e342">Write</a> (const void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to the stream. <a href="#af1bd931ddd9f330136dc9cf92d33e342"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#afa8ac0295a2ffda631b88083d6626728">Seek</a> (long Offset, <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">CStream::TSeekOrigin</a> Origin=sFromBeginning)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This virtual method does nothing in this class. <a href="#afa8ac0295a2ffda631b88083d6626728"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#ae7973a96d5044e4d02d05f0c83a48601">getTotalBytesCount</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This virtual method does nothing in this class. <a href="#ae7973a96d5044e4d02d05f0c83a48601"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a80084a394af95436a6bddb18faa37958">getPosition</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This virtual method does nothing in this class. <a href="#a80084a394af95436a6bddb18faa37958"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#aa5079a91f21be3ec19fb1ce9a073b12a">ftdi_read</a> (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a35dd2e042daaa9d9022b683ebf51d141">ftdi_write</a> (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a8cc1d6eb3358d479ee771c54a46f1421">recursive_fill_list_devices</a> (void *usb_device_structure, <a class="el" href="namespacemrpt_1_1hwdrivers.html#a549627d0c657fd60edd28e3c894e42cc">TFTDIDeviceList</a> &outList)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Process recursively a USB device and its children: <a href="#a8cc1d6eb3358d479ee771c54a46f1421"></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="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a0c21acb231a48e09a2f2e306b05a5116">m_usbSerialNumber</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A copy of the device serial number (to open the USB FTDI chip). <a href="#a0c21acb231a48e09a2f2e306b05a5116"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a26b04163b66a14fa999d60d3811646a9">m_MaxValue</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The value set in the ICR register within the ATMEGA16 controller. <a href="#a26b04163b66a14fa999d60d3811646a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aed05c2672e4021d2f43b66c9dae56ddb">m_TruncateFactor</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". <a href="#aed05c2672e4021d2f43b66c9dae56ddb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">std::deque</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a3b11c367612594c093e36a743a51b930">m_PrevAngles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A vector containing the last N angles which where passed to the servo (for averaging) <a href="#a3b11c367612594c093e36a743a51b930"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#acf6ac1fe4f998cd3afd4c81e928c3814">m_NumPrevAngles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of previous angles to store for averaging. <a href="#acf6ac1fe4f998cd3afd4c81e928c3814"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1circular__buffer.html">mrpt::utils::circular_buffer</a><br class="typebreak"/>
< uint8_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a504cf4090e6f7086882164414feaa7da">m_readBuffer</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in Read. <a href="#a504cf4090e6f7086882164414feaa7da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a80df6305dde56477e686b245cbf7e5f1">m_ftdi_context</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a99ce7d2499c9af35de0e35a460fcdd35">angle2RegValue</a> (const double angle)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only). <a href="#a99ce7d2499c9af35de0e35a460fcdd35"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a136c14f0de6d260a7df9edb590d75659">regValue2angle</a> (const uint16_t value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only). <a href="#a136c14f0de6d260a7df9edb590d75659"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a54561b55c65e6f323399da0e259eb319">checkConnectionAndConnect</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to connect to the USB device (if disconnected). <a href="#a54561b55c65e6f323399da0e259eb319"></a><br/></td></tr>
</table>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="aab22931626d22c919a50183386d24059"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::TSeekOrigin" ref="aab22931626d22c919a50183386d24059" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">mrpt::utils::CStream::TSeekOrigin</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84" title="Introduces a pure virtual method for moving to a specified position in the streamed resource...">CStream::Seek</a>. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb"></a><!-- doxytag: member="sFromBeginning" ref="aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb" args="" -->sFromBeginning</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0"></a><!-- doxytag: member="sFromCurrent" ref="aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0" args="" -->sFromCurrent</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309"></a><!-- doxytag: member="sFromEnd" ref="aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309" args="" -->sFromEnd</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00060">60</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a3e8ee82c888013123b67edc8e68a6462"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::CServoeNeck" ref="a3e8ee82c888013123b67edc8e68a6462" args="()" -->
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<td class="memname">mrpt::hwdrivers::CServoeNeck::CServoeNeck </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="adc96941f0e44505a9607a774f054dbd6"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::~CServoeNeck" ref="adc96941f0e44505a9607a774f054dbd6" args="()" -->
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<td class="memname">mrpt::hwdrivers::CServoeNeck::~CServoeNeck </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a99ce7d2499c9af35de0e35a460fcdd35"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::angle2RegValue" ref="a99ce7d2499c9af35de0e35a460fcdd35" args="(const double angle)" -->
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<td class="memname">unsigned int mrpt::hwdrivers::CServoeNeck::angle2RegValue </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>angle</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">The</td><td>angle to convert. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The value of the register to send. </dd></dl>
</div>
</div>
<a class="anchor" id="a83026d7b30cf798db490690cfb51df2d"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::center" ref="a83026d7b30cf798db490690cfb51df2d" args="(const uint8_t servo=0)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::center </td>
<td>(</td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Centers the servo at zero position. </p>
</div>
</div>
<a class="anchor" id="a54561b55c65e6f323399da0e259eb319"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect" ref="a54561b55c65e6f323399da0e259eb319" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Tries to connect to the USB device (if disconnected). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>True on connection OK, false on error. </dd></dl>
</div>
</div>
<a class="anchor" id="aaa9ba8b1a5b2d5ab50761495871c9754"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::Close" ref="aaa9ba8b1a5b2d5ab50761495871c9754" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::Close </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Close the USB device. </p>
</div>
</div>
<a class="anchor" id="a3d0bf6d8bf299f8c2bf08dc2798a525f"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::CopyFrom" ref="a3d0bf6d8bf299f8c2bf08dc2798a525f" args="(CStream *Source, size_t Count)" -->
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<div class="memproto">
<table class="memname">
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<td class="memname">size_t mrpt::utils::CStream::CopyFrom </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> * </td>
<td class="paramname"><em>Source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Copies a specified number of bytes from one stream to another. </p>
</div>
</div>
<a class="anchor" id="a1edb923f047f09f373a3178ee625ebbb"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::disableServo" ref="a1edb923f047f09f373a3178ee625ebbb" args="(const uint8_t servo=0)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::disableServo </td>
<td>(</td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Disables the servo so the neck will be loose. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">Servo,:</td><td>the id of the servo to move (in our ATMEGA16, from 0 to 2). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="a1e7fa58b3ca3757c77e98fbfe2fef903"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::enableServo" ref="a1e7fa58b3ca3757c77e98fbfe2fef903" args="(const uint8_t servo=0)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::enableServo </td>
<td>(</td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Enables the servo so the neck will be tight. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">Servo,:</td><td>the id of the servo to move (in our ATMEGA16, from 0 to 2). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="aa5079a91f21be3ec19fb1ce9a073b12a"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ftdi_read" ref="aa5079a91f21be3ec19fb1ce9a073b12a" args="(void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)" -->
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<div class="memproto">
<table class="memname">
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::ftdi_read </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>lpvBuffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned long </td>
<td class="paramname"><em>dwBuffSize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned long * </td>
<td class="paramname"><em>lpdwBytesRead</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a35dd2e042daaa9d9022b683ebf51d141"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ftdi_write" ref="a35dd2e042daaa9d9022b683ebf51d141" args="(const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)" -->
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<table class="memname">
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::ftdi_write </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>lpvBuffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned long </td>
<td class="paramname"><em>dwBuffSize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned long * </td>
<td class="paramname"><em>lpdwBytes</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a37efe801da2786e6eaacc44c27055509"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getCurrentAngle" ref="a37efe801da2786e6eaacc44c27055509" args="(double &angle, const uint8_t servo=0)" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::getCurrentAngle </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>angle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Gets the current angle of the servo (in radians within (-pi,pi)) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">Angle,:</td><td>[OUT] The current angle. </td></tr>
<tr><td class="paramname">Servo,:</td><td>[IN] The id of the servo (in our ATMEGA16, from 0 to 2). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="a4e9a487df9170de72ae0ecc21bc4e867"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getline" ref="a4e9a487df9170de72ae0ecc21bc4e867" args="(std::string &out_str)" -->
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<td class="memname">bool mrpt::utils::CStream::getline </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>out_str</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads from the stream until a '<br/>
' character is found ('' characters are ignored). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on EOF or any other read error. </dd></dl>
</div>
</div>
<a class="anchor" id="a2fb36a2df67e7c8fabad484d5368fe62"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles" ref="a2fb36a2df67e7c8fabad484d5368fe62" args="()" -->
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<td class="memname">unsigned int mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Gets the truncate factor of the turn. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00108">108</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
</div>
</div>
<a class="anchor" id="a80084a394af95436a6bddb18faa37958"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getPosition" ref="a80084a394af95436a6bddb18faa37958" args="()" -->
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<td class="memname">uint64_t mrpt::hwdrivers::CInterfaceFTDI::getPosition </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [protected, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This virtual method does nothing in this class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a4b7674b79b6c69683c30bc9e7302c88f">mrpt::utils::CStream</a>.</p>
</div>
</div>
<a class="anchor" id="ab76f16db102b12b8a7817a2309b6393c"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getRegisterValue" ref="ab76f16db102b12b8a7817a2309b6393c" args="(uint16_t &value, const uint8_t servo=0)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::getRegisterValue </td>
<td>(</td>
<td class="paramtype">uint16_t & </td>
<td class="paramname"><em>value</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ae7973a96d5044e4d02d05f0c83a48601"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getTotalBytesCount" ref="ae7973a96d5044e4d02d05f0c83a48601" args="()" -->
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<td class="memname">uint64_t mrpt::hwdrivers::CInterfaceFTDI::getTotalBytesCount </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [protected, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This virtual method does nothing in this class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a86ad2f8a14100b0d793bbf88d4b6f3c1">mrpt::utils::CStream</a>.</p>
</div>
</div>
<a class="anchor" id="a4a3a142c1b553b73e6e686d14f779ef1"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::getTruncateFactor" ref="a4a3a142c1b553b73e6e686d14f779ef1" args="()" -->
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<td class="memname">double mrpt::hwdrivers::CServoeNeck::getTruncateFactor </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Gets the truncate factor of the turn. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00096">96</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2783776a1b21625a4226e75de872ee0c"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::isOpen" ref="a2783776a1b21625a4226e75de872ee0c" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CInterfaceFTDI::isOpen </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Checks whether the chip has been successfully open. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a4f239110f1e2011aeeb40a959db2b299" title="Open by device serial number.">OpenBySerialNumber</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a94d58dd4b4cf5fafcbb0fc7cd858c10d" title="Open by device description.">OpenByDescription</a> </dd></dl>
</div>
</div>
<a class="anchor" id="ae9bd14dcfc003670579407ae7afd07d9"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ListAllDevices" ref="ae9bd14dcfc003670579407ae7afd07d9" args="(TFTDIDeviceList &outList)" -->
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<table class="memname">
<tr>
<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1hwdrivers.html#a549627d0c657fd60edd28e3c894e42cc">TFTDIDeviceList</a> & </td>
<td class="paramname"><em>outList</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Generates a list with all FTDI devices connected right now. </p>
</div>
</div>
<a class="anchor" id="a94d58dd4b4cf5fafcbb0fc7cd858c10d"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::OpenByDescription" ref="a94d58dd4b4cf5fafcbb0fc7cd858c10d" args="(const std::string &description)" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::OpenByDescription </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>description</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Open by device description. </p>
</div>
</div>
<a class="anchor" id="a4f239110f1e2011aeeb40a959db2b299"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::OpenBySerialNumber" ref="a4f239110f1e2011aeeb40a959db2b299" args="(const std::string &serialNumber)" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>serialNumber</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Open by device serial number. </p>
</div>
</div>
<a class="anchor" id="a0bbc0a924370c19c8afcd809272af0a9"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::operator<<" ref="a0bbc0a924370c19c8afcd809272af0a9" args="(const CSerializablePtr &pObj)" -->
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<div class="memproto">
<table class="memname">
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator<< </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> & </td>
<td class="paramname"><em>pObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Write an object to a stream in the binary MRPT format. </p>
</div>
</div>
<a class="anchor" id="a1b7e00957f3d9c15b2e689a43084e592"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::operator<<" ref="a1b7e00957f3d9c15b2e689a43084e592" args="(const CSerializable &obj)" -->
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<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator<< </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Write an object to a stream in the binary MRPT format. </p>
</div>
</div>
<a class="anchor" id="a47ecf9142e139b0b48526c2792bebe99"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::operator>>" ref="a47ecf9142e139b0b48526c2792bebe99" args="(CSerializablePtr &pObj)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator>> </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> & </td>
<td class="paramname"><em>pObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="aeb5ef746d5dc057e535f5188c5e01d74"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::operator>>" ref="aeb5ef746d5dc057e535f5188c5e01d74" args="(CSerializable &obj)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator>> </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a1e02f8771e15e54157cda18fb63872a3"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::printf" ref="a1e02f8771e15e54157cda18fb63872a3" args="(const char *fmt,...) MRPT_printf_format_check(2" -->
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<table class="memname">
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<td class="memname">virtual int mrpt::utils::CStream::printf </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>fmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Writes a string to the stream in a textual form. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_std_out_stream.html" title="This CStdOutStream derived class allow printing to standard out, normally the console text output...">CStdOutStream</a> </dd></dl>
</div>
</div>
<a class="anchor" id="ab93e0c6185c8c3b82abd067962650947"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::printf_vector" ref="ab93e0c6185c8c3b82abd067962650947" args="(const char *fmt, const std::vector< T > &V)" -->
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<div class="memproto">
<div class="memtemplate">
template<typename T > </div>
<table class="memname">
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<td class="memname">virtual int void mrpt::utils::CStream::printf_vector </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>fmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td>
<td class="paramname"><em>V</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Prints a vector in the format [A,B,C,...] using <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3" title="Writes a string to the stream in a textual form.">CStream::printf</a>, and the fmt string for <b>each</b> vector element. </p>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00219">219</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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<a class="anchor" id="a6b864597119f41c91b389f121abbc9d1"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::Purge" ref="a6b864597119f41c91b389f121abbc9d1" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::Purge </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Purge the I/O buffers. </p>
</div>
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<a class="anchor" id="a01a24e05672b7cbb81f74d6228990ef9"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion" ref="a01a24e05672b7cbb81f74d6228990ef9" args="(std::string &out_firmwareVersion)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>out_firmwareVersion</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Gets the firmware version of the eNeck board. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_firmwareVersion,:</td><td>[OUTPUT] A string containing the firmware version. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="aba7d14fa4a1fb8d541022b3872084418"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::Read" ref="aba7d14fa4a1fb8d541022b3872084418" args="(void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CInterfaceFTDI::Read </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Introduces a pure virtual method responsible for reading from the stream. </p>
<p>It integrates a cache buffer to speed-up sequences of many, small readings. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1ab0c4a0857bc41248808dc8b75d32d9">mrpt::utils::CStream</a>.</p>
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<a class="anchor" id="a1b8cd3d084b5a95a3f65c6eed6e7cc6d"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadBuffer" ref="a1b8cd3d084b5a95a3f65c6eed6e7cc6d" args="(void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::utils::CStream::ReadBuffer </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads a block of bytes from the stream into Buffer </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The amound of bytes actually read. </dd></dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is endianness-dependent. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa38fe9bc49615cfae5de267903b2399b" title="Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read...">ReadBufferImmediate</a> ; Important, see: <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937" title="Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...">ReadBufferFixEndianness</a>, </dd></dl>
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<a class="anchor" id="ab3f8382b9a971abc79414464fffc7937"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadBufferFixEndianness" ref="ab3f8382b9a971abc79414464fffc7937" args="(T *ptr, size_t ElementCount)" -->
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<div class="memtemplate">
template<typename T > </div>
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<td class="memname">size_t mrpt::utils::CStream::ReadBufferFixEndianness </td>
<td>(</td>
<td class="paramtype">T * </td>
<td class="paramname"><em>ptr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>ElementCount</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">ElementCount</td><td>The number of elements (not bytes) to read. </td></tr>
<tr><td class="paramname">ptr</td><td>A pointer to the first output element in an array (or std::vector<>, etc...). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The amound of *bytes* (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage: <div class="fragment"><pre class="fragment"> uint32_t N;
s >> N;
vector<float> vec(N);
<span class="keywordflow">if</span> (N)
s.ReadBufferFixEndianness<<span class="keywordtype">float</span>>(&vec[0],N);
</pre></div> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937" title="Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...">ReadBufferFixEndianness</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">ReadBuffer</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00109">109</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00172">mrpt::utils::reverseBytesInPlace()</a>.</p>
<p>Referenced by <a class="el" href="ops__vectors_8h_source.html#l00163">mrpt::math::operator>>()</a>.</p>
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<a class="anchor" id="ad6585545a46cf2f851ff4a83aaf0c02d"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadBufferImmediate" ref="ad6585545a46cf2f851ff4a83aaf0c02d" args="(void *Buffer, size_t Count)" -->
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<td class="memname">virtual size_t mrpt::hwdrivers::CInterfaceFTDI::ReadBufferImmediate </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). </p>
<p>In this class this method actually behaves as expected and does not fallback to <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">ReadBuffer()</a>. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa38fe9bc49615cfae5de267903b2399b">mrpt::utils::CStream</a>.</p>
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<a class="anchor" id="a290510e87656433dfd093cc31d34371c"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadObject" ref="a290510e87656433dfd093cc31d34371c" args="()" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> mrpt::utils::CStream::ReadObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O error or undefined class. </td></tr>
<tr><td class="paramname"><a class="el" href="classmrpt_1_1utils_1_1_c_exception_e_o_f.html" title="Used in mrpt::utils::CStream.">mrpt::utils::CExceptionEOF</a></td><td>On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain <a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a> instead. </td></tr>
</table>
</dd>
</dl>
<p>Referenced by <a class="el" href="ops__matrices_8h_source.html#l00062">mrpt::math::operator>>()</a>.</p>
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<a class="anchor" id="a097cb147fd764a0fa7d86de9734fce3c"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadObject" ref="a097cb147fd764a0fa7d86de9734fce3c" args="(CSerializable *existingObj)" -->
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<td class="memname">void mrpt::utils::CStream::ReadObject </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> * </td>
<td class="paramname"><em>existingObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O error or different class found. </td></tr>
<tr><td class="paramname"><a class="el" href="classmrpt_1_1utils_1_1_c_exception_e_o_f.html" title="Used in mrpt::utils::CStream.">mrpt::utils::CExceptionEOF</a></td><td>On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain <a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a> instead. </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="ac7b6c0cf69441cd969852dcd5cf2f52f"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ReadSync" ref="ac7b6c0cf69441cd969852dcd5cf2f52f" args="(void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CInterfaceFTDI::ReadSync </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. </p>
<p>Definition at line <a class="el" href="_c_interface_f_t_d_i_8h_source.html#l00144">144</a> of file <a class="el" href="_c_interface_f_t_d_i_8h_source.html">CInterfaceFTDI.h</a>.</p>
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<a class="anchor" id="a95eb299dfa91e1d5962e2acd5bb671a6"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::receiveMessage" ref="a95eb299dfa91e1d5962e2acd5bb671a6" args="(utils::CMessage &msg)" -->
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<td class="memname">bool mrpt::utils::CStream::receiveMessage </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> & </td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Tries to receive a message from the device. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>True if successful, false if there is no new data from the device (but communications seem to work fine) </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The frame <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a> is described in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a108c4d9cadd58b1ec0800c6c4816ff55" title="Send a message to the device.">sendMessage()</a> </dd></dl>
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<a class="anchor" id="a8cc1d6eb3358d479ee771c54a46f1421"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::recursive_fill_list_devices" ref="a8cc1d6eb3358d479ee771c54a46f1421" args="(void *usb_device_structure, TFTDIDeviceList &outList)" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::recursive_fill_list_devices </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>usb_device_structure</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1hwdrivers.html#a549627d0c657fd60edd28e3c894e42cc">TFTDIDeviceList</a> & </td>
<td class="paramname"><em>outList</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, inherited]</code></td>
</tr>
</table>
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<p>Process recursively a USB device and its children: </p>
</div>
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<a class="anchor" id="a136c14f0de6d260a7df9edb590d75659"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::regValue2angle" ref="a136c14f0de6d260a7df9edb590d75659" args="(const uint16_t value)" -->
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<td class="memname">double mrpt::hwdrivers::CServoeNeck::regValue2angle </td>
<td>(</td>
<td class="paramtype">const uint16_t </td>
<td class="paramname"><em>value</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">The</td><td>value to convert. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The corresponding angle. </dd></dl>
</div>
</div>
<a class="anchor" id="a9feaa822a840c2cac7d32a8899d13279"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::ResetDevice" ref="a9feaa822a840c2cac7d32a8899d13279" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reset the USB device. </p>
</div>
</div>
<a class="anchor" id="afa8ac0295a2ffda631b88083d6626728"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::Seek" ref="afa8ac0295a2ffda631b88083d6626728" args="(long Offset, CStream::TSeekOrigin Origin=sFromBeginning)" -->
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<td class="memname">uint64_t mrpt::hwdrivers::CInterfaceFTDI::Seek </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>Offset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">CStream::TSeekOrigin</a> </td>
<td class="paramname"><em>Origin</em> = <code>sFromBeginning</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
</tr>
</table>
</div>
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<p>This virtual method does nothing in this class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84">mrpt::utils::CStream</a>.</p>
</div>
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<a class="anchor" id="a108c4d9cadd58b1ec0800c6c4816ff55"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::sendMessage" ref="a108c4d9cadd58b1ec0800c6c4816ff55" args="(const utils::CMessage &msg)" -->
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<td class="memname">void mrpt::utils::CStream::sendMessage </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> & </td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Send a message to the device. </p>
<p>Note that only the low byte from the "type" field will be used.</p>
<p>For frames of size < 255 the frame format is an array of bytes in this order: </p>
<div class="fragment"><pre class="fragment"> <START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
<START_FLAG> = 0x69
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 4
</pre></div><p>For frames of size > 255 the frame format is an array of bytes in this order: </p>
<div class="fragment"><pre class="fragment"> <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
<START_FLAG> = 0x79
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 5
</pre></div><dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a2558a5bf1a6f3b903301909bf6111672"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::setAngle" ref="a2558a5bf1a6f3b903301909bf6111672" args="(double angle, const uint8_t servo=0, bool fast=false)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::setAngle </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>angle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>fast</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">Angle,:</td><td>the desired angle to turn. </td></tr>
<tr><td class="paramname">Servo,:</td><td>the id of the servo to move (in our ATMEGA16, from 0 to 2). </td></tr>
<tr><td class="paramname">Fast,:</td><td>indicates if the servo must reach the angle at maximum speed </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="afb782e66e948e374606decb1406069b1"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::setAngleWithFilter" ref="afb782e66e948e374606decb1406069b1" args="(double angle, const uint8_t servo=0, bool fast=false)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::setAngleWithFilter </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>angle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>fast</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">Angle,:</td><td>the new desired angle to turn. </td></tr>
<tr><td class="paramname">Servo,:</td><td>the id of the servo to move (in our ATMEGA16, from 0 to 2). </td></tr>
<tr><td class="paramname">Fast,:</td><td>indicates if the servo must reach the angle at maximum speed </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Whether or not the procedure succeded. </dd></dl>
</div>
</div>
<a class="anchor" id="a4a0e4ffe60a48230b0e350f501f562e3"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::SetLatencyTimer" ref="a4a0e4ffe60a48230b0e350f501f562e3" args="(unsigned char latency_ms)" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer </td>
<td>(</td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>latency_ms</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. </p>
</div>
</div>
<a class="anchor" id="a6f813c00c46aa973f4b294e306820919"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles" ref="a6f813c00c46aa973f4b294e306820919" args="(const unsigned int number)" -->
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<td class="memname">void mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
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<p>Gets the truncate factor of the turn. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00104">104</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
</div>
</div>
<a class="anchor" id="a17da2742e9c5e6083423170f08cebff2"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::setRegisterValue" ref="a17da2742e9c5e6083423170f08cebff2" args="(const uint16_t value, const uint8_t servo=0, bool fast=false)" -->
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<td class="memname">bool mrpt::hwdrivers::CServoeNeck::setRegisterValue </td>
<td>(</td>
<td class="paramtype">const uint16_t </td>
<td class="paramname"><em>value</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint8_t </td>
<td class="paramname"><em>servo</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>fast</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a699bae42afa7844a289837d608593031"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::SetTimeouts" ref="a699bae42afa7844a289837d608593031" args="(unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)" -->
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<td class="memname">void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts </td>
<td>(</td>
<td class="paramtype">unsigned long </td>
<td class="paramname"><em>dwReadTimeout_ms</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned long </td>
<td class="paramname"><em>dwWriteTimeout_ms</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
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<p>Change read & write timeouts, in milliseconds. </p>
</div>
</div>
<a class="anchor" id="aec4504222682faddbd4320a1997ef083"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::setTruncateFactor" ref="aec4504222682faddbd4320a1997ef083" args="(const double factor)" -->
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<td class="memname">void mrpt::hwdrivers::CServoeNeck::setTruncateFactor </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>factor</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
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<p>Gets the truncate factor of the turn. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00100">100</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<a class="anchor" id="af1bd931ddd9f330136dc9cf92d33e342"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::Write" ref="af1bd931ddd9f330136dc9cf92d33e342" args="(const void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CInterfaceFTDI::Write </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
</tr>
</table>
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<p>Introduces a pure virtual method responsible for writing to the stream. </p>
<p>Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a171c27fa5b26f5486d34bcbca550cb91">mrpt::utils::CStream</a>.</p>
</div>
</div>
<a class="anchor" id="a276005e7110c9de74ff3277b3f7bf621"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::WriteBuffer" ref="a276005e7110c9de74ff3277b3f7bf621" args="(const void *Buffer, size_t Count)" -->
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<td class="memname">void mrpt::utils::CStream::WriteBuffer </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Writes a block of bytes to the stream from Buffer. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>Important, see: <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ae229ab566ba2b9e6d2c39e32c2a9ecab" title="Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running arch...">WriteBufferFixEndianness</a> </dd></dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is endianness-dependent. </dd></dl>
</div>
</div>
<a class="anchor" id="ae229ab566ba2b9e6d2c39e32c2a9ecab"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::WriteBufferFixEndianness" ref="ae229ab566ba2b9e6d2c39e32c2a9ecab" args="(const T *ptr, size_t ElementCount)" -->
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template<typename T > </div>
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<td class="memname">void mrpt::utils::CStream::WriteBufferFixEndianness </td>
<td>(</td>
<td class="paramtype">const T * </td>
<td class="paramname"><em>ptr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>ElementCount</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">ElementCount</td><td>The number of elements (not bytes) to write. </td></tr>
<tr><td class="paramname">ptr</td><td>A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: <div class="fragment"><pre class="fragment"> vector<float> vec = ...
uint32_t N = vec.size();
s << N
<span class="keywordflow">if</span> (N)
s.WriteBufferFixEndianness<<span class="keywordtype">float</span>>(&vec[0],N);
</pre></div> </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">WriteBuffer</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00153">153</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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<a class="anchor" id="aa0e9fb01aaced829b0043d50bf616c03"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::WriteObject" ref="aa0e9fb01aaced829b0043d50bf616c03" args="(const CSerializable *o)" -->
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<td class="memname">void mrpt::utils::CStream::WriteObject </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> * </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Writes an object to the stream. </p>
</div>
</div>
<a class="anchor" id="a2aafe5ee30a3e4b3086160a92465e425"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::WriteSync" ref="a2aafe5ee30a3e4b3086160a92465e425" args="(const void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CInterfaceFTDI::WriteSync </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. </p>
<p>Definition at line <a class="el" href="_c_interface_f_t_d_i_8h_source.html#l00151">151</a> of file <a class="el" href="_c_interface_f_t_d_i_8h_source.html">CInterfaceFTDI.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a80df6305dde56477e686b245cbf7e5f1"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_ftdi_context" ref="a80df6305dde56477e686b245cbf7e5f1" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a80df6305dde56477e686b245cbf7e5f1">mrpt::hwdrivers::CInterfaceFTDI::m_ftdi_context</a><code> [protected, inherited]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_interface_f_t_d_i_8h_source.html#l00245">245</a> of file <a class="el" href="_c_interface_f_t_d_i_8h_source.html">CInterfaceFTDI.h</a>.</p>
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<a class="anchor" id="a26b04163b66a14fa999d60d3811646a9"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_MaxValue" ref="a26b04163b66a14fa999d60d3811646a9" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a26b04163b66a14fa999d60d3811646a9">mrpt::hwdrivers::CServoeNeck::m_MaxValue</a><code> [protected]</code></td>
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<p>The value set in the ICR register within the ATMEGA16 controller. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00112">112</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
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<a class="anchor" id="acf6ac1fe4f998cd3afd4c81e928c3814"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles" ref="acf6ac1fe4f998cd3afd4c81e928c3814" args="" -->
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#acf6ac1fe4f998cd3afd4c81e928c3814">mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles</a><code> [protected]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Number of previous angles to store for averaging. </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00115">115</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
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<a class="anchor" id="a3b11c367612594c093e36a743a51b930"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_PrevAngles" ref="a3b11c367612594c093e36a743a51b930" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">std::deque</a><double> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a3b11c367612594c093e36a743a51b930">mrpt::hwdrivers::CServoeNeck::m_PrevAngles</a><code> [protected]</code></td>
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<p>A vector containing the last N angles which where passed to the servo (for averaging) </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00114">114</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
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<a class="anchor" id="a504cf4090e6f7086882164414feaa7da"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_readBuffer" ref="a504cf4090e6f7086882164414feaa7da" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1circular__buffer.html">mrpt::utils::circular_buffer</a><uint8_t> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#a504cf4090e6f7086882164414feaa7da">mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer</a><code> [protected, inherited]</code></td>
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<p>Used in Read. </p>
<p>Definition at line <a class="el" href="_c_interface_f_t_d_i_8h_source.html#l00168">168</a> of file <a class="el" href="_c_interface_f_t_d_i_8h_source.html">CInterfaceFTDI.h</a>.</p>
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<a class="anchor" id="aed05c2672e4021d2f43b66c9dae56ddb"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_TruncateFactor" ref="aed05c2672e4021d2f43b66c9dae56ddb" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aed05c2672e4021d2f43b66c9dae56ddb">mrpt::hwdrivers::CServoeNeck::m_TruncateFactor</a><code> [protected]</code></td>
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<p>The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00113">113</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
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<a class="anchor" id="a0c21acb231a48e09a2f2e306b05a5116"></a><!-- doxytag: member="mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber" ref="a0c21acb231a48e09a2f2e306b05a5116" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a0c21acb231a48e09a2f2e306b05a5116">mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber</a><code> [protected]</code></td>
</tr>
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<p>A copy of the device serial number (to open the USB FTDI chip). </p>
<p>Definition at line <a class="el" href="_c_servoe_neck_8h_source.html#l00111">111</a> of file <a class="el" href="_c_servoe_neck_8h_source.html">CServoeNeck.h</a>.</p>
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