This is historical information of device classes implemented in TraitPointPlan device server.

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Development status: Released
Information status: New

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Class Description


This class gives the implementation of the Trait Point Plan device.
This device will convert 3 vertical translations and 2 horizontally translations (in the case of a five motors device) into 2 rotations (Pitch(Rx) and Roll(Rs)) and 1 translation (Tz). Moreover in the case of a five motors device, 1 rotation Yaw (Rz) and 1 translation (Tx).

Families: Motion

Key words:

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Not Applicable

Class interface


Attributes:

Name Description
pitchScalar: DevDouble
rollScalar: DevDouble
yawScalar: DevDouble
zCScalar: DevDouble
xCScalar: DevDouble
t1zScalar: DevDouble
t2zScalar: DevDouble
t3zScalar: DevDouble
t4xScalar: DevDouble
t5xScalar: DevDouble

Commands:

Name Description
StateInput: DevVoid
Output: State
This command gets the device state (stored in its device_state data member) and returns it to the caller.
StatusInput: DevVoid
Output: DevString
This command gets the device status (stored in its device_status data member) and returns it to the caller.
SaveAsNominalInput: DevVoid
Output: DevVoid
Save the current values as the nominal ones (can be restored by the GoToNominal command). The current Zc, Xc, Sc, Roll, Pitch, Yaw values are stored like nominal values.
GoToNominalInput: DevVoid
Output: DevVoid
Go to the nominal saved values (by the SaveAsNominal command). The nominal values are stored in NominalZc, nominal Xc, nominalSc, nominal Pitch, nominalYaw, nominal Roll.
StopInput: DevVoid
Output: DevVoid
Stop all the mouvments. Useful when an invalid value to avoid to go to this position.
UndoInput: DevVoid
Output: DevVoid
Undo the last mouvement.
MotorsToZeroInput: DevVoid
Output: DevVoid
This command is used to make all the motors to the Zero position
InitializeTraitPointPlanInput: DevVoid
Output: DevVoid
Method to allow the initialization of the traitpointplan to a reference state.

Pipes:

Properties:

Name Description
BackExtElevationMotorNameDevString This property gives the name of the back exterior (to the ring) motor use to move for up to down and up to down the back exterior leg.
BackIntElevationMotorNameDevString This property gives the name of the back interior motor use to move from up and down and down to up the back interior leg
BackTranslationMotorNameDevString This property gives the device name of the motor use to translate the two back legs from left to right and right to left.
CenterHorizontalToFrontDevDouble The value of the horizontal center to front
CenterToHeightDevDouble Distance between the center of the table at the bottom and the elevation of the table and his thickness.
CenterVerticalToFrontDevDouble Distance between the center of the table and the front leg. (The vertical one)
CommandStateNameDevString The name of the command to check the state of the proxies.
CommandStopNameDevString Name of the command to Stop all Axis (eg: AxisStop).
DeviceTypeDevString The two available choices are : - 3 : the device is composed of three motors. - 5 : the device is composed of five motors.
FrontElevationMotorNameDevString This property gives the name of the front motor use to move for up to down and up to down the front leg.
FrontTranslationMotorNameDevString This property gives the device name of the motor use to translate the front leg from left to right and right to left.
NominalPitchDevDouble Nominal value for pitch.
NominalRollDevDouble Nominal value for roll.
NominalXcDevDouble Nominal value for Xc.
NominalYawDevDouble Nominal value for yaw.
NominalZcDevDouble Nominal value of the elevation Zc.
PitchDirectionDevBoolean Indicates the pitch sign to define if the pitch is positive or negative when the table roll toward up. The convention is the table pitch toward down (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0
RollDirectionDevBoolean Indicates the roll sign to define if the roll is positive or negative when the table roll toward right. The convention is the table roll toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0
YawDirectionDevBoolean Indicates the Yaw sign to define if the yaw is positive or negative when the table yaw toward right. The convention is the table yaw toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0
TableLengthDevDouble The length of the table.
TableWidthDevDouble Width of the table.
AngleUnitDevString Unit to be used to expressed the angualr attrrbutes (Pitch, Rooll Yaw) Value is either ``Deg`` or mRad``

20 Apr 2017, Piotr Goryl
Updated:
The device class has been updated.
You are looking at this version now.



23 Feb 2017, Piotr Goryl
Created:
The device class has been added to catalogue.
Added by:pgoryl2 on:20 Apr 2017, 1:13 p.m.