#include <manipulator.h>

Inheritance diagram for Manipulator:

Collaboration diagram for Manipulator:

Public Member Functions
	Manipulator (void)

	Manipulator (const string &deviceclass)

virtual	~Manipulator (void)

virtual int	stepX (double x)

virtual int	stepY (double y)

virtual int	stepZ (double z)

virtual int	clearX (void)

virtual int	clearY (void)

virtual int	clearZ (void)

virtual int	clear (void)

virtual int	homeX (void)

virtual int	homeY (void)

virtual int	homeZ (void)

virtual int	home (void)

virtual double	posX (void) const

virtual double	posY (void) const

virtual double	posZ (void) const

virtual int	setAmplX (double posampl, double negampl=-1.0)

virtual int	setAmplY (double posampl, double negampl=-1.0)

virtual int	setAmplZ (double posampl, double negampl=-1.0)

virtual double	minAmplX (void) const

virtual double	maxAmplX (void) const

virtual double	minAmplY (void) const

virtual double	maxAmplY (void) const

virtual double	minAmplZ (void) const

virtual double	maxAmplZ (void) const

Public Member Functions inherited from Device
	Device (int type=MiscellaneousType)

	Device (const string &deviceclass, int type=MiscellaneousType)

virtual	~Device (void)

virtual int	open (const string &device)

virtual int	open (Device &device)

virtual bool	isOpen (void) const =0

virtual void	close (void)=0

virtual int	reset (void)

virtual const Options &	info (void) const

virtual const Options &	settings (void) const

int	deviceType (void) const

string	deviceTypeStr (void) const

string	deviceClass (void) const

string	deviceFile (void) const

string	deviceName (void) const

string	deviceVendor (void) const

string	deviceIdent (void) const

virtual void	setDeviceIdent (const string &ident)

virtual void	clearError (void)

virtual string	errorStr (void) const

void	setErrorStr (const string &strg)

void	addErrorStr (const string &strg)

void	setErrorStr (int errnum)

void	addErrorStr (int errnum)

virtual bool	success (void) const

virtual bool	failed (void) const

Additional Inherited Members
Public Types inherited from Device
enum	DeviceTypes { MiscellaneousType = 0, AnalogInputType = 1, AnalogOutputType = 2, DigitalIOType = 3, TriggerType = 4, AttenuatorType = 5, AttenuateType = 6, ManipulatorType = 7, TemperatureType = 8, CameraType = 9 }

Static Public Member Functions inherited from Device
static int	deviceTypes (void)

static string	deviceTypeStr (int type)

static string	getErrorStr (int ern)

Static Public Attributes inherited from Device
static const int	NotOpen = -1

static const int	InvalidDevice = -2

static const int	ReadError = -3

static const int	WriteError = -4

static const int	InvalidParam = -5

Protected Member Functions inherited from Device
void	setDeviceType (int type)

void	setDeviceClass (const string &deviceclass)

void	setDeviceFile (const string &devicefile)

void	setDeviceName (const string &devicename)

void	setDeviceVendor (const string &devicevendor)

void	addInfo (void)

void	lock (void) const

void	unlock (void) const

QMutex *	mutex (void) const

virtual void	initOptions (void)

Protected Attributes inherited from Device
Options	Info

Options	Settings

Detailed Description

Virtual class for controlling a Manipulator.

Author: Jan Benda

Version: 1.0

Todo:

implement info() and settings()

add something for indicating existing axis

The Manipulator class defines an interface for basic operations to control a manipulator.

In case you want to use a manipulator device within RELACS, your Attenuate implementation needs to provide a void default constructor (i.e. with no parameters) that does not open the device. Also, include the header file <relacs/relacsplugin.h> and make the Manipulator device known to RELACS with the addDevice( ClassNameOfYourManipulatorImplementation, PluginSetName ) macro.

Constructor & Destructor Documentation

Manipulator ( void )

Construct a Manipulator.

Manipulator ( const string & deviceclass )

Construct a Manipulator with class deviceclass.

See Also: setDeviceClass()

~Manipulator ( void )

virtual

Destroy a Manipulator. In case it is open, close it.

Member Function Documentation

int stepX ( double x )

virtual

Move x-axis by x. Depending on the implementation x can be raw steps or a specific distance or angle.

int stepY ( double y )

virtual

Move y-axis by y. Depending on the implementation y can be raw steps or a specific distance or angle.

int stepZ ( double z )

virtual

Move z-axis by z. Depending on the implementation z can be raw steps or a specific distance or angle.

int clearX ( void )

virtual

Defines the current position of the x axis as the home position.

Referenced by Manipulator::clear().

int clearY ( void )

virtual

Defines the current position of the y axis as the home position.

Referenced by Manipulator::clear().

int clearZ ( void )

virtual

Defines the current position of the z axis as the home position.

Referenced by Manipulator::clear().

int clear ( void )

virtual

Defines the current position of all axis as the home position.

References Manipulator::clearX(), Manipulator::clearY(), and Manipulator::clearZ().

int homeX ( void )

virtual

Move x axis back to its home position.

Referenced by Manipulator::home().

int homeY ( void )

virtual

Move y axis back to its home position.

Referenced by Manipulator::home().

int homeZ ( void )

virtual

Move z axis back to its home position.

Referenced by Manipulator::home().

int home ( void )

virtual

Move back to the home position.

References Manipulator::homeX(), Manipulator::homeY(), and Manipulator::homeZ().

double posX ( void ) const

virtual

Return the position of the x-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

double posY ( void ) const

virtual

Return the position of the y-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

double posZ ( void ) const

virtual

Return the position of the z-axis. Depending on the implementation this can be raw steps or a specific distance or angle.

int setAmplX	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the x-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

int setAmplY	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the y-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

int setAmplZ	(	double	posampl,
		double	negampl = `-1.0`
	)

virtual

Set the amplitude of a step of the z-axis to posampl. If negampl >= 0.0 set the negative amplitude to negampl, otherwise set it equal to posampl.

double minAmplX ( void ) const

virtual

The minimum possible amplitude for the x-axis.

Referenced by Manipulator::minAmplY(), and Manipulator::minAmplZ().

double maxAmplX ( void ) const

virtual

The maximum possible amplitude for the x-axis.

Referenced by Manipulator::maxAmplY(), and Manipulator::maxAmplZ().

double minAmplY ( void ) const

virtual

The minimum possible amplitude for the y-axis.

References Manipulator::minAmplX().