DCM API

Overview | API | Tutorial

Namespace : AL

#include <alproxies/dcmproxy.h>

Methods

void DCMProxy::calibration(const AL::ALValue& calibrationInput)

Calibration of a joint

Parameters:
  • calibrationInput – A complex ALValue.
AL::ALValue DCMProxy::createAlias(const AL::ALValue& alias)

Create or change an alias (list of actuators)

Parameters:
  • alias – Alias name and description
Returns:

Same as pParams, but with the name removed if the actuator is not found
AL::ALValue DCMProxy::getPrefix()

Return the STM base name

Returns:the STM base name for all device/sensors (1st string in the array) and all devices (2nd string in the array)
int DCMProxy::getTime(const int& offset)

Return the DCM time

Parameters:
  • offset – optional time in ms (signed) to add/remove
Returns:

An integer (could be signed) with the DCM time
int DCMProxy::preferences(const std::string& action, const std::string& target, const std::string& keyName, const AL::ALValue& keyValue)

Save updated value from DCM in XML pref file

Parameters:
  • action – string : ‘Save’ ‘Load’ ‘Add’
  • target – string : ‘Chest’ ‘Head’ ‘Main’ ‘All’
  • keyName – The name of the key if action = ‘Add’.
  • keyValue – The ALVAlue of the key to add
Returns:

Nothing
void DCMProxy::set(const AL::ALValue& commands)

Call this function to send a timed-command list to an actuator

Parameters:
  • commands – AL::ALValue with all data
void DCMProxy::setAlias(const AL::ALValue& commands)

Call this function to send timed-command list to an alias (list of actuators)

Parameters:
  • commands – AL::ALValue with all data
void DCMProxy::special(const std::string& result)

Special DCM commands

Parameters:
  • result – one string and could be Reset, Version, Chain, Diagnostic, Config
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