Class DdsKinematics6DBuffer¶

Defined in File DdsKinematics6DBuffer.hpp

Inheritance Relationships¶

Base Type¶

public DdsBuffer (Class DdsBuffer)

Class Documentation¶

class DdsKinematics6DBuffer : public DdsBuffer ¶

Buffer class for Kinematics6D or BatchKinematics6D.

This class subscribes to a DDS topic and makes sure the buffers are updated with incoming data.

When updating a QAbstractSeries with DdsBuffer::updateSeries() in QML scripts, the following mapping from DDS member variables to qml_enums::DimId enums are used.

QML enum	Variable
`FKIN.T`	time
`FKIN.PosX`	position.x
`FKIN.PosY`	position.y
`FKIN.PosZ`	position.z
`FKIN.VelX`	velocity.x
`FKIN.VelY`	velocity.y
`FKIN.VelZ`	velocity.z
`FKIN.EulerX`	euler.x
`FKIN.EulerY`	euler.y
`FKIN.EulerZ`	euler.z

aBuffer.updateSeries(someSeries, FKIN.T, FKIN.EulerX)

Public Functions

explicit DdsKinematics6DBuffer(QObject *parent = nullptr)¶

Constructor.

The initialization of DDS instances are deferred to an init() function, but it initializes the data buffers.

Parameters: parent – [in] QObject pointer.

virtual ~DdsKinematics6DBuffer()¶: Destructor.

QPointF rangePosX() const: Property accessor for position x range.

QPointF rangePosY() const: Property accessor for position y range.

QPointF rangePosZ() const: Property accessor for position z range.

QPointF rangeVelX() const: Property accessor for velocity x range.

QPointF rangeVelY() const: Property accessor for velocity y range.

QPointF rangeVelZ() const: Property accessor for velocity z range.

QPointF rangeEulerX() const: Property accessor for euler x range.

QPointF rangeEulerY() const: Property accessor for euler y range.

QPointF rangeEulerZ() const: Property accessor for euler z range.

void init(QtToDds *dds, const QString &topic, const QString &id, int buffer_size, bool use_batch, bool with_listener = true)¶

Initializes DDS reader and connects Qt signals and slots.

Note

An instance of this class can only be buffer for a single DDS topic, so either type Kinematics2D or BatchKinematics2D.

Parameters

dds – [in] Pointer to QtToDds instance.
topic – [in] Name of DDS topic for which to subscribe.
id – [in] Key identifier for the topic instance.
buffer_size – [in] Number of data points to store in the circular buffer.
use_batch – [in] If true, subscribe to BatchIdVec1d, otherwise IdVec1d.
with_listener – [in] Use DdsReaderListener callback to trigger eventHeard() signal.

Public Slots

virtual void updateBuffers()¶

Adds samples to the appropriate buffer.

Each data member of the DDS data structure is separated into an appropriate buffer. It picks the last sample and emits newData().

Signals

void rangeChanged(QPointF range, qml_enums::DimId dim)¶

Triggered when the range has changed.

See class documentation for supported DimId enums.

Note

For time dimension, use DdsBuffer::rangeTminChanged() and DdsBuffer::rangeTmaxChanged().

Parameters

range – [out] New range for the dimension.
dim – [out] The dimension in question.

void eventHeard()¶

DdsReaderListener calls this signal when there is data available on the subscribed topic.

If init() is called with_listener=true, eventHeard() will be connected to the slot updateBuffers().

void newData()¶: Signal whenever new data is added to the buffers.

Properties

QPointF rangePosX¶: Data range of position x.

QPointF rangePosY¶: Data range of position y.

QPointF rangePosZ¶: Data range of position z.

QPointF rangeVelX¶: Data range of velocity x.

QPointF rangeVelY¶: Data range of velocity y.

QPointF rangeVelZ¶: Data range of velocity z.

QPointF rangeEulerX¶: Data range of euler x.

QPointF rangeEulerY¶: Data range of euler y.

QPointF rangeEulerZ¶: Data range of euler z.

Private Members

std::unique_ptr<sinspekto::Reader<fkin::Kinematics6D>> m_reader¶: The DDS reader wrapper class.

std::unique_ptr<sinspekto::Reader<fkin::BatchKinematics6D>> m_batchReader¶: The DDS reader wrapper class.

QString m_id¶: Key identifier for topic instance.