#include <LaosStarEnlarger.h>

Inheritance diagram for Laos::StarEnlarger:

Collaboration diagram for Laos::StarEnlarger:

Public Member Functions
	StarEnlarger (const std::string _name, const Nice::JointPtr &_config, const Basda::MoccaNDevicePtr &_device, const std::string _basicUnit, const std::string _basicCoordSys)

virtual	~StarEnlarger ()

virtual void	open ()

virtual void	close ()

virtual void	init (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	deinit (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	activate (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	deactivate (Basda::DeviceAsync &=Basda::Device::s_async)

virtual int	getID ()

virtual Nice::SeqString	getConnectionAddress ()

virtual Nice::SeqInt	getModuleNumber ()

virtual Nice::SeqTime	getLinkTimeout ()

virtual bool	isReachable ()

virtual bool	isAtHome ()

virtual bool	isAtLimit ()

virtual bool	isMoving ()

virtual bool	isCfgEnabled ()

virtual void	setEnabled (bool _enabled, Nice::Point _position)

virtual void	setCollision (Nice::BitSet _collision)

virtual Nice::Point	getDeviceEncoderPosition (std::string _unit, std::string _coordSys)

virtual Nice::Point	readDeviceEncoderPosition (std::string _unit, std::string _coordSys)

virtual Nice::Point	getIncrementalEncoderPosition (std::string _unit, std::string _coordSys)

virtual Nice::Point	readIncrementalEncoderPosition (std::string _unit, std::string _coordSys)

virtual bool	isCurrentlyEnabled ()

virtual void	setPosition (const Nice::Point &_position, std::string _unit, std::string _coordSys)

virtual Nice::Point	getPredictedPosition (Nice::Time &_time)

virtual Nice::Point	getPredictedPosition (int _cycle)

virtual void	stop ()

virtual void	abort ()

void	storeMotorConfig ()

virtual void	prepareMoveSync (Nice::BitSet _motors)

virtual void	startMoveSync ()

virtual void	moveAbsoluteGetReady (Basda::DeviceAsync &=Basda::Device::s_async)
	The method prepares a trapezoidal point-to-point profile movement. More...

virtual void	moveAbsoluteStart (const Nice::Point &_position, std::string _unit, std::string _coordSys, Basda::DeviceAsync &=Basda::Device::s_async)
	Move the Star enlarger to the target position. More...

virtual void	moveRelativeGetReady (Basda::DeviceAsync &=Basda::Device::s_async)
	The method prepares a trapezoidal point-to-point profile movement. More...

virtual void	moveRelativeStart (const Nice::Point &_distance, std::string _unit, std::string _coordSys, Basda::DeviceAsync &=Basda::Device::s_async)
	Move the Star enlarger by a distance. More...

virtual void	moveToHomeSingleStart (const int _motor, Basda::DeviceAsync &=Basda::Device::s_async)
	Move the Star enlarger to its home position. More...

virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToLimitStart (const Nice::NPoint &_limit, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	retreatToBase (Basda::DeviceAsync &_async=Basda::Device::s_async)
	Move to the position (x,0), which means keep x and reduce y (extending into the field) to zero. More...

virtual bool	posReachable (const Nice::Point &_targetPosition, std::string _unit)
	Test whether the target is in the focal plane range of the motor. More...

virtual void	prepareDirectP2PMove (const Nice::Point &_targetPosition, std::string _unit, std::string _coordSys, bool _absolute, Basda::DeviceAsync &=Basda::Device::s_async)

virtual QPolygon	getSilhouetteAtPosition (Nice::Point _point)
	Returns the star enlarger silhouette at the given position. More...

virtual Nice::Time	getMinTravelTime ()

virtual Nice::Time	getP2PTravelTime ()

int	getProgress ()

virtual void	transformationFactorChanged (const Nice::Any &)
	This method will be called automatically whenever the transformation property has changed. More...

virtual Nice::WMatrix	getCoordinateTransformationMatrix (std::string _unit, std::string _coordSys)
	This method returns user defined wmatrix. More...

virtual Nice::Rect	getTravelrange ()
	This method returns travelrange. More...

virtual Nice::Point	coordinateTransformation (Nice::Point _value, std::string _unit, std::string _coordSys)
	This method converts an absolute position into a user defined unit. Thereby it uses the vector dx and dy of the conversion matrix. More...

virtual Nice::Point	coordinateTransformationInverse (Nice::Point _value, std::string _unit, std::string _coordSys)

virtual Nice::Point	coordinateTranslate (Nice::Point _value, std::string _unit, std::string _coordSys)

virtual Nice::Point	coordinateTranslateInverse (Nice::Point _value, std::string _unit, std::string _coordSys)

std::map< std::string, int >	getUnitNamePrec ()

std::string	getDefaultUnit ()

std::string	getDefaultCoordinateSystem ()

void	writeDeviation ()

Private Member Functions
void	defineCoordinateSystem ()

void	createSESilhouette ()

void	measureShortestEdge ()

Nice::SeqSeqInt	calculateDirectP2PMove (double _d, double _v, double _a, double _currentPositionInSteps, double _targetPositionInSteps)

double	predictPosition (Nice::SeqSeqInt &_segments, Nice::Time &_time)

void	setScientificNotification (std::stringstream &_errorMsg, double _number)

QString	getDir ()

QString	getTime (QString _dir)

Private Attributes
Nice::JointPtr	m_config

Basda::MoccaNDevicePtr	m_device

Nice::Point	m_positionInFocalPlane

QPolygon	m_silhouetteAtOrigin

QPolygon	m_silhouetteTransform

long double	m_dmin

int	m_cyclesDmin

int	m_p2pTravelCycles

double	m_cycleTime

std::map< std::string, Nice::WMatrix >	m_transformation
	A vector with the coordinate transformation matrixes. More...

Nice::Point	m_homePositionInSteps

Nice::Point	m_travelRangeX

Nice::Point	m_travelRangeY

std::string	m_name

int	m_ID

Nice::SeqString	m_address

Nice::SeqInt	m_moduleNumber

std::string	m_basicUnit

std::string	m_basicCoordSys

std::string	m_defaultUnit

std::string	m_defaultCoordSys

int	m_numberOfUnits

std::map< std::string, int >	m_unitNamePrecMap

Nice::JointPtr	m_basicResolutionPropertyX

Nice::JointPtr	m_basicVelocityPropertyX

Nice::JointPtr	m_basicAccelerationPropertyX

Nice::JointPtr	m_basicResolutionPropertyY

Nice::JointPtr	m_basicVelocityPropertyY

Nice::JointPtr	m_basicAccelerationPropertyY

Nice::NPoint	m_basicVelocity

Nice::NPoint	m_basicAcceleration

int	m_travelVelocityX

int	m_travelAccelerationX

int	m_travelVelocityY

int	m_travelAccelerationY

Nice::SeqSeqInt	m_profileX
	The MoCon profile vector consist of segments. More...

Nice::SeqSeqInt	m_profileY

Nice::SeqSeqInt	m_deviations

Nice::SeqInt	m_deviation

Constructor & Destructor Documentation

◆ StarEnlarger()

Laos::StarEnlarger::StarEnlarger	(	const std::string	_name,
		const Nice::JointPtr &	_config,
		const Basda::MoccaNDevicePtr &	_device,
		const std::string	_basicUnit,
		const std::string	_basicCoordSys
	)

◆ ~StarEnlarger()

Laos::StarEnlarger::~StarEnlarger ( )

virtual

Member Function Documentation

◆ abort()

void Laos::StarEnlarger::abort ( void )

virtual

◆ activate()

void Laos::StarEnlarger::activate ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

◆ calculateDirectP2PMove()

Nice::SeqSeqInt Laos::StarEnlarger::calculateDirectP2PMove	(	double	_d,
		double	_v,
		double	_a,
		double	_currentPositionInSteps,
		double	_targetPositionInSteps
	)

private

◆ close()

void Laos::StarEnlarger::close ( )

virtual

◆ coordinateTransformation()

Nice::Point Laos::StarEnlarger::coordinateTransformation	(	Nice::Point	_value,
		std::string	_unit,
		std::string	_coordSys
	)

virtual

This method converts an absolute position into a user defined unit. Thereby it uses the vector dx and dy of the conversion matrix.

Parameters

_value	absolute position value in SE steps
_unit	the unit in which the _value has to be converted
_coordSys	the coordinate system in which the _value has to be converted

Returns: position value in _coordSys and _unit

◆ coordinateTransformationInverse()

Nice::Point Laos::StarEnlarger::coordinateTransformationInverse	(	Nice::Point	_value,
		std::string	_unit,
		std::string	_coordSys
	)

virtual

This method converts an absolute position into an absolute position in steps. Thereby it uses the vector dx and dy of the conversion matrix.

Parameters

_value	position value
_unit	the unit of _value
_coordSys	coordinate system of _value

Returns: position value in SE steps

◆ coordinateTranslate()

Nice::Point Laos::StarEnlarger::coordinateTranslate	(	Nice::Point	_value,
		std::string	_unit,
		std::string	_coordSys
	)

virtual

This method converts a distance into a distance in user defined unit. Thereby it ignores the vector dx and dy of the conversion matrix.

Parameters

_value	distance in SE steps
_unit	the unit in which the _value has to be converted
_coordSys	the coordinate system in which the _value has to be converted

Returns: distance value in _coordSys and _unit

◆ coordinateTranslateInverse()

Nice::Point Laos::StarEnlarger::coordinateTranslateInverse	(	Nice::Point	_value,
		std::string	_unit,
		std::string	_coordSys
	)

virtual

This method converts a distance into a distance in SE steps. Thereby it ignores the vector dx and dy of the conversion matrix.

Parameters

_value	distance
_unit	the unit of _value
_coordSys	coordinate system of _value

Returns: position value in SE steps

◆ createSESilhouette()

void Laos::StarEnlarger::createSESilhouette ( )

private

◆ deactivate()

void Laos::StarEnlarger::deactivate ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

◆ defineCoordinateSystem()

void Laos::StarEnlarger::defineCoordinateSystem ( )

private

◆ deinit()

void Laos::StarEnlarger::deinit ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

◆ getConnectionAddress()

Nice::SeqString Laos::StarEnlarger::getConnectionAddress ( )

virtual

◆ getCoordinateTransformationMatrix()

Nice::WMatrix Laos::StarEnlarger::getCoordinateTransformationMatrix	(	std::string	_unit,
		std::string	_coordSys
	)

virtual

This method returns user defined wmatrix.

Parameters

_unit	the unit in which the _value has to be converted
_coordSys	the coordinate system in which the _value has to be converted

Returns: wmatrix _coordSys and _unit

◆ getDefaultCoordinateSystem()

std::string Laos::StarEnlarger::getDefaultCoordinateSystem ( )

◆ getDefaultUnit()

std::string Laos::StarEnlarger::getDefaultUnit ( )

◆ getDeviceEncoderPosition()

Nice::Point Laos::StarEnlarger::getDeviceEncoderPosition	(	std::string	_unit,
		std::string	_coordSys
	)

virtual

◆ getDir()

QString Laos::StarEnlarger::getDir ( )

private

◆ getID()

int Laos::StarEnlarger::getID ( )

virtual

◆ getIncrementalEncoderPosition()

Nice::Point Laos::StarEnlarger::getIncrementalEncoderPosition	(	std::string	_unit,
		std::string	_coordSys
	)

virtual

◆ getLinkTimeout()

Nice::SeqTime Laos::StarEnlarger::getLinkTimeout ( )

virtual

◆ getMinTravelTime()

Nice::Time Laos::StarEnlarger::getMinTravelTime ( )

virtual

◆ getModuleNumber()

Nice::SeqInt Laos::StarEnlarger::getModuleNumber ( )

virtual

◆ getP2PTravelTime()

Nice::Time Laos::StarEnlarger::getP2PTravelTime ( )

virtual

◆ getPredictedPosition() [1/2]

Nice::Point Laos::StarEnlarger::getPredictedPosition ( Nice::Time & _time )

virtual

◆ getPredictedPosition() [2/2]

Nice::Point Laos::StarEnlarger::getPredictedPosition ( int _cycle )

virtual

◆ getProgress()

int Laos::StarEnlarger::getProgress ( )

◆ getSilhouetteAtPosition()

QPolygon Laos::StarEnlarger::getSilhouetteAtPosition ( Nice::Point _pointInSteps )

virtual

Returns the star enlarger silhouette at the given position.

Parameters

_point the position in steps

Returns: the SE silhouette in focal plane coordinates

◆ getTime()

QString Laos::StarEnlarger::getTime ( QString _dir )

private

◆ getTravelrange()

Nice::Rect Laos::StarEnlarger::getTravelrange ( )

virtual

This method returns travelrange.

Returns: travelrange in steps

◆ getUnitNamePrec()

std::map< std::string, int > Laos::StarEnlarger::getUnitNamePrec ( )

◆ init()

void Laos::StarEnlarger::init ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

◆ isAtHome()

bool Laos::StarEnlarger::isAtHome ( )

virtual

◆ isAtLimit()

bool Laos::StarEnlarger::isAtLimit ( )

virtual

◆ isCfgEnabled()

bool Laos::StarEnlarger::isCfgEnabled ( )

virtual

◆ isCurrentlyEnabled()

bool Laos::StarEnlarger::isCurrentlyEnabled ( )

virtual

◆ isMoving()

bool Laos::StarEnlarger::isMoving ( )

virtual

◆ isReachable()

bool Laos::StarEnlarger::isReachable ( )

virtual

◆ measureShortestEdge()

void Laos::StarEnlarger::measureShortestEdge ( )

private

◆ moveAbsoluteGetReady()

void Laos::StarEnlarger::moveAbsoluteGetReady ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

The method prepares a trapezoidal point-to-point profile movement.

The basic configuration parameter acceleration, deceleration, velocity and jerk are calculated and set in the Mocon.

Parameters

_async the call back object

◆ moveAbsoluteStart()

void Laos::StarEnlarger::moveAbsoluteStart	(	const Nice::Point &	_position,
		std::string	_unit,
		std::string	_coordSys,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Move the Star enlarger to the target position.

Parameters

_position	the target position value
_unit	the unit of the position values
_async	the call back object

◆ moveRelativeGetReady()

void Laos::StarEnlarger::moveRelativeGetReady ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

The method prepares a trapezoidal point-to-point profile movement.

The basic configuration parameter acceleration, deceleration, velocity and jerk are calculated and set in the Mocon.

Parameters

_async the call back object

◆ moveRelativeStart()

void Laos::StarEnlarger::moveRelativeStart	(	const Nice::Point &	_distance,
		std::string	_unit,
		std::string	_coordSys,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Move the Star enlarger by a distance.

Parameters

_distance
_unit	the unit of the position values
_async	the call back object

◆ moveToHomeSingleStart()

void Laos::StarEnlarger::moveToHomeSingleStart	(	const int	_motor,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Move the Star enlarger to its home position.

Parameters

_motor	the index of the motor (the motors are alphabetically sorted by names; index 0 means the first entry in the list)
_async	the call back object

◆ moveToHomeStart()

void Laos::StarEnlarger::moveToHomeStart ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

◆ moveToLimitStart()

void Laos::StarEnlarger::moveToLimitStart	(	const Nice::NPoint &	_limit,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

◆ open()

void Laos::StarEnlarger::open ( void )

virtual

◆ posReachable()

bool Laos::StarEnlarger::posReachable	(	const Nice::Point &	_targetPosition,
		std::string	_unit
	)

virtual

Test whether the target is in the focal plane range of the motor.

This is simpler than StarEnlargerServiceWorker::validateMoveTo: it just checks that the target is in range, but does not check whether any pairs or sets of motions would collide.

Parameters

_targetPosition	The position to be checked (in the global x,y system)
_unit	The unit of the _targetPosition

Returns: true if the target is in the travel range of the motor, false if outside.

Since: 2017-03-09

Author: R. J. Mathar

Deprecated:: since a the StarEnlargerServiceWorker::validateMoveTo delivers essentially the same information

◆ predictPosition()

double Laos::StarEnlarger::predictPosition	(	Nice::SeqSeqInt &	_segments,
		Nice::Time &	_time
	)

private

◆ prepareDirectP2PMove()

void Laos::StarEnlarger::prepareDirectP2PMove	(	const Nice::Point &	_targetPosition,
		std::string	_unit,
		std::string	_coordSys,
		bool	_absolute,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

◆ prepareMoveSync()

void Laos::StarEnlarger::prepareMoveSync ( Nice::BitSet _motors )

virtual

◆ readDeviceEncoderPosition()

Nice::Point Laos::StarEnlarger::readDeviceEncoderPosition	(	std::string	_unit,
		std::string	_coordSys
	)

virtual

◆ readIncrementalEncoderPosition()

Nice::Point Laos::StarEnlarger::readIncrementalEncoderPosition	(	std::string	_unit,
		std::string	_coordSys
	)

virtual

◆ retreatToBase()

void Laos::StarEnlarger::retreatToBase ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Move to the position (x,0), which means keep x and reduce y (extending into the field) to zero.

Author: R. J. Mathar

Since: 2017-07-02

◆ setCollision()

void Laos::StarEnlarger::setCollision ( Nice::BitSet _collision )

virtual

◆ setEnabled()

void Laos::StarEnlarger::setEnabled	(	bool	_enabled,
		Nice::Point	_position
	)

virtual

enables the SE device and updates all position property values the parameter _position is in [um]

◆ setPosition()

void Laos::StarEnlarger::setPosition	(	const Nice::Point &	_position,
		std::string	_unit,
		std::string	_coordSys
	)

virtual

◆ setScientificNotification()

void Laos::StarEnlarger::setScientificNotification	(	std::stringstream &	_errorMsg,
		double	_number
	)

private

◆ startMoveSync()

void Laos::StarEnlarger::startMoveSync ( )

virtual

◆ stop()

void Laos::StarEnlarger::stop ( )

virtual

◆ storeMotorConfig()

void Laos::StarEnlarger::storeMotorConfig ( )

◆ transformationFactorChanged()

void Laos::StarEnlarger::transformationFactorChanged ( const Nice::Any & )

virtual

This method will be called automatically whenever the transformation property has changed.

◆ writeDeviation()

void Laos::StarEnlarger::writeDeviation ( )

Member Data Documentation

◆ m_address

Nice::SeqString Laos::StarEnlarger::m_address

private

◆ m_basicAcceleration

Nice::NPoint Laos::StarEnlarger::m_basicAcceleration

private

◆ m_basicAccelerationPropertyX

Nice::JointPtr Laos::StarEnlarger::m_basicAccelerationPropertyX

private

◆ m_basicAccelerationPropertyY

Nice::JointPtr Laos::StarEnlarger::m_basicAccelerationPropertyY

private

◆ m_basicCoordSys

std::string Laos::StarEnlarger::m_basicCoordSys

private

◆ m_basicResolutionPropertyX

Nice::JointPtr Laos::StarEnlarger::m_basicResolutionPropertyX

private

◆ m_basicResolutionPropertyY

Nice::JointPtr Laos::StarEnlarger::m_basicResolutionPropertyY

private

◆ m_basicUnit

std::string Laos::StarEnlarger::m_basicUnit

private

◆ m_basicVelocity

Nice::NPoint Laos::StarEnlarger::m_basicVelocity

private

◆ m_basicVelocityPropertyX

Nice::JointPtr Laos::StarEnlarger::m_basicVelocityPropertyX

private

◆ m_basicVelocityPropertyY

Nice::JointPtr Laos::StarEnlarger::m_basicVelocityPropertyY

private

◆ m_config

Nice::JointPtr Laos::StarEnlarger::m_config

private

◆ m_cyclesDmin

int Laos::StarEnlarger::m_cyclesDmin

private

◆ m_cycleTime

double Laos::StarEnlarger::m_cycleTime

private

◆ m_defaultCoordSys

std::string Laos::StarEnlarger::m_defaultCoordSys

private

◆ m_defaultUnit

std::string Laos::StarEnlarger::m_defaultUnit

private

◆ m_deviation

Nice::SeqInt Laos::StarEnlarger::m_deviation

private

◆ m_deviations

Nice::SeqSeqInt Laos::StarEnlarger::m_deviations

private

◆ m_device

Basda::MoccaNDevicePtr Laos::StarEnlarger::m_device

private

◆ m_dmin

long double Laos::StarEnlarger::m_dmin

private

◆ m_homePositionInSteps

Nice::Point Laos::StarEnlarger::m_homePositionInSteps

private

◆ m_ID

int Laos::StarEnlarger::m_ID

private

◆ m_moduleNumber

Nice::SeqInt Laos::StarEnlarger::m_moduleNumber

private

◆ m_name

std::string Laos::StarEnlarger::m_name

private

◆ m_numberOfUnits

int Laos::StarEnlarger::m_numberOfUnits

private

◆ m_p2pTravelCycles

int Laos::StarEnlarger::m_p2pTravelCycles

private

◆ m_positionInFocalPlane

Nice::Point Laos::StarEnlarger::m_positionInFocalPlane

private

◆ m_profileX

Nice::SeqSeqInt Laos::StarEnlarger::m_profileX

private

The MoCon profile vector consist of segments.

◆ m_profileY

Nice::SeqSeqInt Laos::StarEnlarger::m_profileY

private

◆ m_silhouetteAtOrigin

QPolygon Laos::StarEnlarger::m_silhouetteAtOrigin

private

◆ m_silhouetteTransform

QPolygon Laos::StarEnlarger::m_silhouetteTransform

private

◆ m_transformation

std::map<std::string, Nice::WMatrix> Laos::StarEnlarger::m_transformation

private

A vector with the coordinate transformation matrixes.

It is also used to convert between the different units (eg. um to steps)

◆ m_travelAccelerationX

int Laos::StarEnlarger::m_travelAccelerationX

private

◆ m_travelAccelerationY

int Laos::StarEnlarger::m_travelAccelerationY

private

◆ m_travelRangeX

Nice::Point Laos::StarEnlarger::m_travelRangeX

private

◆ m_travelRangeY

Nice::Point Laos::StarEnlarger::m_travelRangeY

private

◆ m_travelVelocityX

int Laos::StarEnlarger::m_travelVelocityX

private

◆ m_travelVelocityY

int Laos::StarEnlarger::m_travelVelocityY

private

◆ m_unitNamePrecMap

std::map<std::string, int> Laos::StarEnlarger::m_unitNamePrecMap

private

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

ln/laos-se/src/Service/LaosStarEnlarger.h
ln/laos-se/src/Service/LaosStarEnlarger.cc

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ StarEnlarger()

◆ ~StarEnlarger()

Member Function Documentation

◆ abort()

◆ activate()

◆ calculateDirectP2PMove()

◆ close()

◆ coordinateTransformation()

◆ coordinateTransformationInverse()

◆ coordinateTranslate()

◆ coordinateTranslateInverse()

◆ createSESilhouette()

◆ deactivate()

◆ defineCoordinateSystem()

◆ deinit()

◆ getConnectionAddress()

◆ getCoordinateTransformationMatrix()

◆ getDefaultCoordinateSystem()

◆ getDefaultUnit()

◆ getDeviceEncoderPosition()

◆ getDir()

◆ getID()

◆ getIncrementalEncoderPosition()

◆ getLinkTimeout()

◆ getMinTravelTime()

◆ getModuleNumber()

◆ getP2PTravelTime()

◆ getPredictedPosition() [1/2]

◆ getPredictedPosition() [2/2]

◆ getProgress()

◆ getSilhouetteAtPosition()

◆ getTime()

◆ getTravelrange()

◆ getUnitNamePrec()

◆ init()

◆ isAtHome()

◆ isAtLimit()

◆ isCfgEnabled()

◆ isCurrentlyEnabled()

◆ isMoving()

◆ isReachable()

◆ measureShortestEdge()

◆ moveAbsoluteGetReady()

◆ moveAbsoluteStart()

◆ moveRelativeGetReady()

◆ moveRelativeStart()

◆ moveToHomeSingleStart()

◆ moveToHomeStart()

◆ moveToLimitStart()

◆ open()

◆ posReachable()

◆ predictPosition()

◆ prepareDirectP2PMove()

◆ prepareMoveSync()

◆ readDeviceEncoderPosition()

◆ readIncrementalEncoderPosition()

◆ retreatToBase()

◆ setCollision()

◆ setEnabled()

◆ setPosition()

◆ setScientificNotification()

◆ startMoveSync()

◆ stop()

◆ storeMotorConfig()

◆ transformationFactorChanged()

◆ writeDeviation()

Member Data Documentation

◆ m_address

◆ m_basicAcceleration

◆ m_basicAccelerationPropertyX

◆ m_basicAccelerationPropertyY

◆ m_basicCoordSys

◆ m_basicResolutionPropertyX

◆ m_basicResolutionPropertyY

◆ m_basicUnit

◆ m_basicVelocity