Miscellaneous Library Utilities

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Detailed Description

RHexLib has a number of utilities and convenience tools that are available to developers. This page lists links to detailed documentation for all these components.

Basic convenience features

• The file basicmath.hh define a number of useful macros and inline functions for convenience.
• Strings and Floats classes for handling arbitrary length arrays of strings and floating point numbers.
• The ExtProfiler class provides a facility for creating and evaluating piecewise linear or cubic functions of a single variable.

Core Modules

• Motion control related modules: EncoderReader, MotorControl, PositionControl.
• Low level serial port access through SerialPort, SerialPortNonBlock, SerialPortThreaded
• Module warppers for communications and database managers: CommModule, DBModule

Makefile and compilation tools

• Sample makefiles for libraries (Makefile.libsample), executables (Makefile.binsample) and modes (Makefile.modesample).
• The modeBuilder utility for generating mode structure headers and accessors.

Utility libraries

• libutils.a (compiled under the directory libutils) provides a number of useful components including tools for reading configuration files, implementing lists, dictionaries and mutexes.

Compounds
class	CommModule
	Wrapper module to create and access single CommManager instance. More...
class	DBModule
	Wrapper module to create and access single DBManager instance. More...
class	EncoderReader
	Module to read encoder counts and compute axis position and speed. More...
class	ExtProfiler
	Class for generating piecewise cubic functions of a single variable. More...
class	Floats
	Utility class to implement an arbitrary size array of floats. More...
class	MotorControl
	Abstract base class for all motor controller modules. More...
struct	MotorGains_t
	Structure to hold gains for motor control. More...
struct	MotorTarget_t
	Structure to hold motor targets. More...
class	PositionControl
	Module to implement basic PD control of DC motors. More...
class	SerialPort
	Interface class for low level access to serial ports. More...
class	SerialPortNonBlock
	Serial port access module that uses non-blocking device calls. More...
class	SerialPortThreaded
	Threaded implementation of serial port access module. More...
class	Strings
	Utility class to implement an arbitrary size array of strings. More...

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RHexLib Reference Documentation