\doxysection{group\+Command.\+hpp}
\hypertarget{group_command_8hpp_source}{}\label{group_command_8hpp_source}\index{/Users/lvhao/ws/pnd/sdk/pnd-\/cpp/src/groupCommand.hpp@{/Users/lvhao/ws/pnd/sdk/pnd-\/cpp/src/groupCommand.hpp}}

\begin{DoxyCode}{0}
\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
\DoxyCodeLine{00002\ }
\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
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\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ "{}aios.h"{}}}
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\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }Pnd\ \{}
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\DoxyCodeLine{00014\ \textcolor{keyword}{class\ }\mbox{\hyperlink{class_pnd_1_1_group_command}{GroupCommand}}\ final\ \{}
\DoxyCodeLine{00015\ \ \textcolor{keyword}{public}:}
\DoxyCodeLine{00019\ \ \ \mbox{\hyperlink{class_pnd_1_1_group_command}{GroupCommand}}(\textcolor{keywordtype}{size\_t}\ number\_of\_modules);}
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\DoxyCodeLine{00024\ \ \ \mbox{\hyperlink{class_pnd_1_1_group_command_ab72b045e1e87105b393bc258889e9695}{\string~GroupCommand}}()\ \textcolor{keyword}{noexcept};}
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\DoxyCodeLine{00029\ \ \ \textcolor{keywordtype}{size\_t}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a996c06f49a14fe2e37ba3d130d42e583}{size}}()\ \textcolor{keyword}{const};}
\DoxyCodeLine{00030\ }
\DoxyCodeLine{00034\ \ \ PndCommandPtr\ \mbox{\hyperlink{class_pnd_1_1_group_command_a13289e755efb7945ffca45adf83decf8}{operator[]}}(\textcolor{keywordtype}{size\_t}\ index);}
\DoxyCodeLine{00035\ }
\DoxyCodeLine{00039\ \ \ \textcolor{keyword}{const}\ PndCommandPtr\ \mbox{\hyperlink{class_pnd_1_1_group_command_a13289e755efb7945ffca45adf83decf8}{operator[]}}(\textcolor{keywordtype}{size\_t}\ index)\ \textcolor{keyword}{const};}
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\DoxyCodeLine{00045\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_ad26bbcadd3c8fcae61dec60cb3624785}{clear}}();}
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\DoxyCodeLine{00052\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a79828aa23e6c7d2849362c190eb4503a}{setPosition}}(\textcolor{keyword}{const}\ std::vector<float>\ \&position);}
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\DoxyCodeLine{00060\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a3dfe1e299f99b48b3a5a4290e1de9f47}{setTrapezoidalMove}}(\textcolor{keyword}{const}\ std::vector<float>\ \&val);}
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\DoxyCodeLine{00067\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a0cefa3c090435d4bffb4b23481678c99}{setVelocity}}(\textcolor{keyword}{const}\ std::vector<float>\ \&velocity);}
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\DoxyCodeLine{00075\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a6ce9c03b855ca73cb7cb2457790e412f}{setVelocityRamp}}(\textcolor{keyword}{const}\ std::vector<float>\ \&velocity);}
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\DoxyCodeLine{00082\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a7643ea32d2e41d485cd22e8289922629}{setCurrent}}(\textcolor{keyword}{const}\ std::vector<float>\ \&effort);}
\DoxyCodeLine{00083\ }
\DoxyCodeLine{00090\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a354e5fb27cb3c7f9cbcffcc62cda58e0}{enable}}(\textcolor{keyword}{const}\ std::vector<float>\ \&status);}
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\DoxyCodeLine{00097\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_ae1cfd7081ec798c4ece265ec8493cdba}{reboot}}(\textcolor{keyword}{const}\ std::vector<bool>\ \&flag);}
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\DoxyCodeLine{00104\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_ae1b9b877dfb62382f4ae8bcef3e9ea09}{getError}}(\textcolor{keyword}{const}\ std::vector<bool>\ \&flag);}
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\DoxyCodeLine{00111\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_afe77c3c10c0b40295abd1e763702190d}{clearError}}(\textcolor{keyword}{const}\ std::vector<bool>\ \&flag);}
\DoxyCodeLine{00112\ }
\DoxyCodeLine{00119\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a5c9f4a8296657aba173d1f98e1d4d5d8}{resetLinearCount}}(\textcolor{keyword}{const}\ std::vector<float>\ \&linearCount);}
\DoxyCodeLine{00120\ }
\DoxyCodeLine{00127\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a6a28007ad6b56e3ec253056a778f375a}{setMotionCtrlConfig}}(\textcolor{keyword}{const}\ std::vector<MotionControllerConfig\ *>\ \&config);}
\DoxyCodeLine{00128\ }
\DoxyCodeLine{00135\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a216225350b531ca83a4e0ee0fa586848}{setMotorConfig}}(\textcolor{keyword}{const}\ std::vector<MotorConfig\ *>\ \&config);}
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\DoxyCodeLine{00143\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a646990669375b21eb92a31ad9e086868}{setTrapTraj}}(\textcolor{keyword}{const}\ std::vector<TrapTraj\ *>\ \&config);}
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\DoxyCodeLine{00150\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a6aed015149375f438c4e04c9b281c168}{saveConfig}}(\textcolor{keyword}{const}\ std::vector<bool>\ \&flag);}
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\DoxyCodeLine{00158\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_ae91a4090f92e2a31f57c3c7c9f1a3bb3}{setNetworkSetting}}(\textcolor{keyword}{const}\ std::vector<NetworkSetting\ *>\ \&config);}
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\DoxyCodeLine{00166\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{class_pnd_1_1_group_command_a217233d212ea5d2963e426fd307ebd1d}{ctrlBoxEnable}}(\textcolor{keyword}{const}\ std::vector<float>\ \&status);}
\DoxyCodeLine{00167\ }
\DoxyCodeLine{00168\ \ \ \textcolor{comment}{//\ For\ latency\ test}}
\DoxyCodeLine{00169\ \ \ \textcolor{keywordtype}{void}\ setLatencyTest(\textcolor{keyword}{const}\ std::vector<bool>\ \&flag);}
\DoxyCodeLine{00170\ }
\DoxyCodeLine{00171\ \textcolor{comment}{\ \ /*******\ fw2\ .0\ *******/}}
\DoxyCodeLine{00172\ \ \ \textcolor{keywordtype}{void}\ setInputPositionPt(\textcolor{keyword}{const}\ std::vector<PosPtInfo>\ \&param);}
\DoxyCodeLine{00173\ }
\DoxyCodeLine{00174\ \ \ \textcolor{keywordtype}{void}\ setInputVelocityPt(\textcolor{keyword}{const}\ std::vector<float>\ \&param);}
\DoxyCodeLine{00175\ }
\DoxyCodeLine{00176\ \ \ \textcolor{keywordtype}{void}\ setInputTorquePt(\textcolor{keyword}{const}\ std::vector<float>\ \&param);}
\DoxyCodeLine{00177\ \textcolor{comment}{\ \ /*******\ fw2\ .0\ *******/}}
\DoxyCodeLine{00178\ }
\DoxyCodeLine{00179\ \ \textcolor{keyword}{public}:}
\DoxyCodeLine{00184\ \ \ PndGroupCommandPtr\ \mbox{\hyperlink{class_pnd_1_1_group_command_a74e0e3725aebda4005fd42c8e1485ae7}{internal\_}};}
\DoxyCodeLine{00185\ }
\DoxyCodeLine{00189\ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{size\_t}\ \mbox{\hyperlink{class_pnd_1_1_group_command_aa2ff642adc863837058345b463420ef6}{number\_of\_modules\_}};}
\DoxyCodeLine{00190\ }
\DoxyCodeLine{00191\ \ \textcolor{keyword}{private}:}
\DoxyCodeLine{00195\ \ \ std::vector<PndCommandPtr>\ commands\_;}
\DoxyCodeLine{00196\ \};}
\DoxyCodeLine{00197\ }
\DoxyCodeLine{00198\ \}\ \ \textcolor{comment}{//\ namespace\ Pnd}}

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