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    Perseus V2
    Perseus V2
    • Home
    • Getting Started
    • Nix Basics
    • Perseus-Lite Operation
      • Quick Start
      • Basic Operation
    • Perseus Operation
      • Arm Teleoperation
      • Autonomy
      • Excavation
      • Powering on Perseus
      • Perseus Teleoperation
      • Web-UI
    • Systems
      • Hardware Systems
        • Perseus Assembly
        • I2C IMU
        • Network
      • Software
        • CMake Build Infrastructure
        • Core
        • Network Configuration
        • Nix outputs
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        • Web-UI
      • CAN Bus
      • CI/CD
      • Documentation
      • Nix
      • ST3215 Servo Protocol Documentation
    • Standards
      • Electronics Design Guidelines
      • GitHub Standards
      • Hardware Design Guidelines
      • Software Standards
        • C++ Standards
        • Python Standards
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        • General Software Standards
    • Development
      • Documentation
      • Environment
        • GitHub
        • Nix
      • Hardware
        • Chassis
      • Software
        • ArUco Detector Node (aruco_detector)
        • Local Localisation
        • Robot Description
        • Templates
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    • Maintenance
      • Documentation
      • GitHub Repository Maintenance
      • Nix Build System
      • Software
    • Hardware
      • Board Name Abbreviations
        • CAN Bus Daisy Chain PCB
        • Rover Control Board
        • Smol Brain Board
        • VESCs
    • Challenge Breakdowns
      • Autonomy and Mapping Operations Manual
      • Excavation & Construction
      • Post-Landing
      • Space Resources Task Points Summary
    • Tutorials
      • Hi-CAN Tutorials
        • Setup
          • Basic Hi-CAN Usage
          • Using the PacketManager
      • RPLidar C1 Connection Testing
      • Running the Gazebo Simulation
      • Visualise Perseus-Lite in RViz
      • Widget Tutorial
    • Generated Documentation
      • Full API
        • Namespaces
          • Namespace @142147210374006135100366166122220100363051267113
          • Namespace boost::asio
          • Namespace bsp
          • Namespace hardware_interface
          • Namespace hi_can
          • Namespace hi_can::addressing
          • Namespace hi_can::addressing::compute
          • Namespace hi_can::addressing::compute::primary
          • Namespace hi_can::addressing::drive
          • Namespace hi_can::addressing::drive::vesc
          • Namespace hi_can::addressing::excavation
          • Namespace hi_can::addressing::excavation::bucket
          • Namespace hi_can::addressing::excavation::bucket::controller
          • Namespace hi_can::addressing::legacy
          • Namespace hi_can::addressing::legacy::drive
          • Namespace hi_can::addressing::legacy::drive::motors
          • Namespace hi_can::addressing::legacy::drive::motors::esc
          • Namespace hi_can::addressing::legacy::drive::motors::mcb
          • Namespace hi_can::addressing::legacy::excavation
          • Namespace hi_can::addressing::legacy::excavation::bucket
          • Namespace hi_can::addressing::legacy::excavation::bucket::bucket
          • Namespace hi_can::addressing::legacy::excavation::bucket::bucket::manipulation
          • Namespace hi_can::addressing::legacy::excavation::bucket::bucket::motors
          • Namespace hi_can::addressing::legacy::power
          • Namespace hi_can::addressing::legacy::power::control
          • Namespace hi_can::addressing::legacy::power::control::contactor
          • Namespace hi_can::addressing::legacy::power::control::power_bus
          • Namespace hi_can::addressing::legacy::power::control::rcb
          • Namespace hi_can::addressing::post_landing
          • Namespace hi_can::addressing::power
          • Namespace hi_can::addressing::power::battery
          • Namespace hi_can::addressing::power::distribution
          • Namespace hi_can::addressing::shared
          • Namespace hi_can::addressing::shared::elevator
          • Namespace hi_can::addressing::shared::elevator::elevator
          • Namespace hi_can::addressing::shared::elevator::elevator::motor
          • Namespace hi_can::addressing::space_resources
          • Namespace hi_can::addressing::status
          • Namespace hi_can::parameters
          • Namespace hi_can::parameters::drive
          • Namespace hi_can::parameters::drive::vesc
          • Namespace hi_can::parameters::excavation
          • Namespace hi_can::parameters::excavation::bucket
          • Namespace hi_can::parameters::excavation::bucket::controller
          • Namespace hi_can::parameters::legacy
          • Namespace hi_can::parameters::legacy::drive
          • Namespace hi_can::parameters::legacy::drive::motors
          • Namespace hi_can::parameters::legacy::excavation
          • Namespace hi_can::parameters::legacy::excavation::bucket
          • Namespace hi_can::parameters::legacy::power
          • Namespace hi_can::parameters::legacy::power::control
          • Namespace hi_can::parameters::legacy::power::control::contactor
          • Namespace hi_can::parameters::legacy::power::control::power_bus
          • Namespace hi_can::parameters::power
          • Namespace hi_can::parameters::power::bms
          • Namespace hi_can::parameters::power::distribution
          • Namespace hi_can::parameters::shared
          • Namespace hi_can::parameters::shared::elevator
          • Namespace hi_can::parameters::shared::elevator::elevator
          • Namespace hi_can::parameters::shared::elevator::elevator::motor
          • Namespace i2c_imu_driver
          • Namespace i2c_imu_driver::@174157226133370074226375240327124360033214005166
          • Namespace imu_processors
          • Namespace networking
          • Namespace perseus
          • Namespace perseus::servo
          • Namespace perseus::servo::communication
          • Namespace perseus::servo::error_bits
          • Namespace perseus::servo::instruction
          • Namespace perseus::servo::limits
          • Namespace perseus::servo::protocol
          • Namespace perseus::servo::register_addr
          • Namespace perseus::servo::timing
          • Namespace perseus::servo::ui
          • Namespace perseus_lite_hardware
          • Namespace perseus_lite_hardware::@142147210374006135100366166122220100363051267113
          • Namespace perseus_vision
          • Namespace perseus_vision::@236176170244200344370254035322071212240333323135
          • Namespace perseus_vision::@326035123243263144370256373045115053356163367302
          • Namespace pointcloud_to_laserscan
          • Namespace rclcpp
          • Namespace std
          • Namespace std::chrono
          • Namespace std::chrono_literals
        • Classes and Structs
          • Struct address_t
          • Struct filter_t
          • Struct flagged_address_t
          • Struct address_t
          • Struct standard_address_t
          • Struct structured_address_t
          • Struct PacketManager::callback_config_t
          • Struct PacketManager::callback_data_t
          • Struct PacketManager::transmission_config_t
          • Struct PacketManager::transmission_data_t
          • Struct raw_status_1_t
          • Struct raw_status_2_t
          • Struct raw_status_3_t
          • Struct raw_status_4_t
          • Struct raw_status_5_t
          • Struct raw_status_6_t
          • Struct set_brake_t
          • Struct set_current_brake_rel_t
          • Struct set_current_handbrake_rel_t
          • Struct set_current_handbrake_t
          • Struct set_current_rel_t
          • Struct set_current_t
          • Struct set_duty_t
          • Struct set_pos_t
          • Struct set_rpm_t
          • Struct status_1_t
          • Struct status_2_t
          • Struct status_3_t
          • Struct status_4_t
          • Struct status_5_t
          • Struct status_6_t
          • Struct _limits_t
          • Struct _speed_t
          • Struct _status_t
          • Struct _motor_speed_t
          • Struct _control_t
          • Struct _immediate_control_t
          • Struct _scheduled_control_t
          • Struct _status_t
          • Struct pack_status
          • Struct bus_status_t
          • Template Struct scaled_int16_t
          • Template Struct scaled_int32_t
          • Struct speed_t
          • Template Struct wrapped_value_t
          • Struct ImuData
          • Struct ImuDeviceConfig
          • Struct M2M2Lidar::sensor_config_t
          • Struct address_t
          • Struct socket_config_handlers_t
          • Struct ST3215SystemHardware::ServoState
          • Struct Detection
          • Class ArmDriver
          • Class BucketController
          • Class BucketDriver
          • Class CmdVelToOdomNode
          • Class FdWrapper
          • Class GenericController
          • Class GenericController::AxisParser
          • Class GenericController::EnableParser
          • Class CanInterface
          • Class FilteredCanInterface
          • Class NetworkClient
          • Class NetworkServer
          • Class Packet
          • Class PacketManager
          • Class BidirectionalSerializable
          • Class Deserializable
          • Class VescParameterGroup
          • Class EscParameterGroup
          • Class PowerBusParameterGroup
          • Class ParameterGroup
          • Class Serializable
          • Template Class SimpleSerializable
          • Class RawCanInterface
          • Class SoftwareFilteredCanInterface
          • Class TwaiInterface
          • Class I2cDevice
          • Class I2cImuNode
          • Class ImuDeviceRegistry
          • Class BiasEstimator
          • Class BiasRemover
          • Class M2M2Lidar
          • Class MapSaver
          • Class Nav2WaypointsBridge
          • Class Client
          • Class ST3215SystemHardware
          • Class ArucoDetector
          • Class CubeDetector
          • Class LaserScanToPointCloudNode
          • Class PointCloudToLaserScanNode
          • Template Class PtrWrapper
          • Class RcbDriver
          • Class SimPointcloudFilter
          • Class ST3215ServoReader
          • Class string
          • Class string::const_iterator
          • Class string::const_reverse_iterator
          • Class string::iterator
          • Class string::reverse_iterator
          • Class TemplateNode
          • Class TopicRemapper
          • Template Class vector
          • Class vector::const_iterator
          • Class vector::const_reverse_iterator
          • Class vector::iterator
          • Class vector::reverse_iterator
        • Enums
          • Enum device
          • Enum command_id
          • Enum device
          • Enum actuator_parameter
          • Enum bank_parameter
          • Enum group
          • Enum magnet_parameter
          • Enum device
          • Enum parameter
          • Enum groups
          • Enum parameter
          • Enum parameter
          • Enum device
          • Enum parameter
          • Enum device
          • Enum parameter
          • Enum groups
          • Enum device
          • Enum device
          • Enum parameter
          • Enum parameter
          • Enum motor_direction
          • Enum power_status
          • Enum socket_protocol
          • Enum ServoCommand
          • Enum ServoEpromRegister
          • Enum ServoErrorFlag
          • Enum ServoSramRegister
        • Functions
          • Function checksum
          • Function compute_mandelbrot
          • Function crc16
          • Function crc16_ccitt
          • Function crc16_modbus
          • Function crc16_usb
          • Function crc16_xmodem
          • Function crc32
          • Function crc32_bzip2
          • Function crc32_C
          • Function crc32_mpeg2
          • Function crc32_sata
          • Function crc8
          • Function crc8_maxim
          • Function crc8_sht75
          • Function demangle
          • Function get_time_ms(struct timeval *, struct timeval *)
          • Function get_time_ms(struct timeval *, struct timeval *)
          • Function i2c_imu_driver::apply_calibration
          • Function imu_processors::abslt
          • Function imu_processors::ewma
          • Function init_matrix
          • Function iter_to_char
          • Function iter_to_color
          • Function mandelbrot
          • Function matrix_multiply
          • Function networking::get_string_from_protocol
          • Function print_usage(const char *)
          • Function print_usage(const char *)
          • Function render_line
          • Function swap
            • Function Documentation
              • FdWrapper::swap
          • Function yaw_to_quat
        • Variables
          • Variable bsp::A1
          • Variable bsp::A10
          • Variable bsp::A2
          • Variable bsp::A3
          • Variable bsp::A4
          • Variable bsp::A5
          • Variable bsp::A6
          • Variable bsp::A7
          • Variable bsp::A8
          • Variable bsp::A9
          • Variable bsp::CAN_RX_PIN
          • Variable bsp::CAN_TX_PIN
          • Variable bsp::I2C_SCL
          • Variable bsp::I2C_SDA
          • Variable CHARS
          • Variable hi_can::addressing::ADDRESS_LENGTH
          • Variable hi_can::addressing::compute::primary::SUBSYSTEM_ID
          • Variable hi_can::addressing::compute::SYSTEM_ID
          • Variable hi_can::addressing::DEVICE_ADDRESS_BITS
          • Variable hi_can::addressing::DEVICE_ADDRESS_POS
          • Variable hi_can::addressing::DEVICE_MASK
          • Variable hi_can::addressing::drive::SYSTEM_ID
          • Variable hi_can::addressing::drive::vesc::SUBSYSTEM_ID
          • Variable hi_can::addressing::excavation::bucket::controller::DEVICE_ID
          • Variable hi_can::addressing::excavation::bucket::SUBSYSTEM_ID
          • Variable hi_can::addressing::excavation::SYSTEM_ID
          • Variable hi_can::addressing::GROUP_ADDRESS_BITS
          • Variable hi_can::addressing::GROUP_ADDRESS_POS
          • Variable hi_can::addressing::GROUP_MASK
          • Variable hi_can::addressing::legacy::drive::motors::esc::esc
          • Variable hi_can::addressing::legacy::drive::motors::SUBSYSTEM_ID
          • Variable hi_can::addressing::legacy::drive::SYSTEM_ID
          • Variable hi_can::addressing::legacy::excavation::bucket::bucket::manipulation::GROUP_ID
          • Variable hi_can::addressing::legacy::excavation::bucket::bucket::motors::GROUP_ID
          • Variable hi_can::addressing::legacy::excavation::bucket::SUBSYSTEM_ID
          • Variable hi_can::addressing::legacy::excavation::SYSTEM_ID
          • Variable hi_can::addressing::legacy::power::control::SUBSYSTEM_ID
          • Variable hi_can::addressing::legacy::power::SYSTEM_ID
          • Variable hi_can::addressing::MASK_ALL
          • Variable hi_can::addressing::MASK_NONE
          • Variable hi_can::addressing::MAX_ADDRESS
          • Variable hi_can::addressing::MAX_PACKET_LEN
          • Variable hi_can::addressing::MAX_SHORT_ADDRESS
          • Variable hi_can::addressing::PARAM_ADDRESS_BITS
          • Variable hi_can::addressing::PARAM_ADDRESS_POS
          • Variable hi_can::addressing::PARAM_MASK
          • Variable hi_can::addressing::post_landing::SYSTEM_ID
          • Variable hi_can::addressing::power::battery::SUBSYSTEM_ID
          • Variable hi_can::addressing::power::distribution::SUBSYSTEM_ID
          • Variable hi_can::addressing::power::SYSTEM_ID
          • Variable hi_can::addressing::shared::elevator::elevator::DEVICE_ADDRESS
          • Variable hi_can::addressing::shared::elevator::elevator::DEVICE_ID
          • Variable hi_can::addressing::shared::elevator::elevator::motor::GROUP_ID
          • Variable hi_can::addressing::shared::elevator::SUBSYSTEM_ID
          • Variable hi_can::addressing::shared::SYSTEM_ID
          • Variable hi_can::addressing::space_resources::SYSTEM_ID
          • Variable hi_can::addressing::status::GROUP_ID
          • Variable hi_can::addressing::SUBSYSTEM_ADDRESS_BITS
          • Variable hi_can::addressing::SUBSYSTEM_ADDRESS_POS
          • Variable hi_can::addressing::SUBSYSTEM_MASK
          • Variable hi_can::addressing::SYSTEM_ADDRESS_BITS
          • Variable hi_can::addressing::SYSTEM_ADDRESS_POS
          • Variable hi_can::addressing::SYSTEM_MASK
          • Variable i2c_imu_driver::LSM6DS3_ACCEL_SCALE_FACTOR
          • Variable i2c_imu_driver::LSM6DS3_GYRO_SCALE_FACTOR
          • Variable i2c_imu_driver::LSM6DS3_TEMP_OFFSET
          • Variable i2c_imu_driver::LSM6DS3_TEMP_SCALE_FACTOR
          • Variable i2c_imu_driver::LSM6DSOX_ACCEL_SCALE_FACTOR
          • Variable i2c_imu_driver::LSM6DSOX_GYRO_SCALE_FACTOR
          • Variable i2c_imu_driver::LSM6DSOX_TEMP_OFFSET
          • Variable i2c_imu_driver::LSM6DSOX_TEMP_SCALE_FACTOR
          • Variable i2c_imu_driver::MPU_ACCEL_SCALE_FACTOR
          • Variable i2c_imu_driver::MPU_GYRO_SCALE_FACTOR
          • Variable i2c_imu_driver::MPU_TEMP_OFFSET
          • Variable i2c_imu_driver::MPU_TEMP_SCALE_FACTOR
          • Variable perseus::servo::communication::DEFAULT_ACCELERATION
          • Variable perseus::servo::communication::DEFAULT_BAUD_RATE
          • Variable perseus::servo::communication::MAX_RETRIES
          • Variable perseus::servo::error_bits::ANGLE_LIMIT
          • Variable perseus::servo::error_bits::CHECKSUM
          • Variable perseus::servo::error_bits::INPUT_VOLTAGE
          • Variable perseus::servo::error_bits::INSTRUCTION
          • Variable perseus::servo::error_bits::OVERHEATING
          • Variable perseus::servo::error_bits::OVERLOAD
          • Variable perseus::servo::error_bits::RANGE
          • Variable perseus::servo::instruction::ACTION
          • Variable perseus::servo::instruction::PING
          • Variable perseus::servo::instruction::READ
          • Variable perseus::servo::instruction::REG_WRITE
          • Variable perseus::servo::instruction::SYNC_WRITE
          • Variable perseus::servo::instruction::WRITE
          • Variable perseus::servo::limits::MAX_POSITION
          • Variable perseus::servo::limits::MAX_TORQUE
          • Variable perseus::servo::limits::MIN_POSITION
          • Variable perseus::servo::limits::MIN_TORQUE
          • Variable perseus::servo::limits::TORQUE_SAFETY_THRESHOLD
          • Variable perseus::servo::protocol::BROADCAST_ID
          • Variable perseus::servo::protocol::HEADER1
          • Variable perseus::servo::protocol::HEADER2
          • Variable perseus::servo::register_addr::ACCELERATION
          • Variable perseus::servo::register_addr::BAUD_RATE
          • Variable perseus::servo::register_addr::CCW_DEAD_BAND
          • Variable perseus::servo::register_addr::CW_DEAD_BAND
          • Variable perseus::servo::register_addr::FIRMWARE_MAIN_VERSION
          • Variable perseus::servo::register_addr::FIRMWARE_SUB_VERSION
          • Variable perseus::servo::register_addr::GOAL_POSITION
          • Variable perseus::servo::register_addr::GOAL_SPEED
          • Variable perseus::servo::register_addr::ID
          • Variable perseus::servo::register_addr::LOCK
          • Variable perseus::servo::register_addr::MAX_INPUT_VOLTAGE
          • Variable perseus::servo::register_addr::MAX_POSITION_LIMIT
          • Variable perseus::servo::register_addr::MAX_TEMPERATURE_LIMIT
          • Variable perseus::servo::register_addr::MAX_TORQUE_LIMIT
          • Variable perseus::servo::register_addr::MIN_INPUT_VOLTAGE
          • Variable perseus::servo::register_addr::MIN_POSITION_LIMIT
          • Variable perseus::servo::register_addr::MOVING_STATUS
          • Variable perseus::servo::register_addr::OPERATING_MODE
          • Variable perseus::servo::register_addr::POSITION_OFFSET
          • Variable perseus::servo::register_addr::PRESENT_CURRENT
          • Variable perseus::servo::register_addr::PRESENT_LOAD
          • Variable perseus::servo::register_addr::PRESENT_POSITION
          • Variable perseus::servo::register_addr::PRESENT_SPEED
          • Variable perseus::servo::register_addr::PRESENT_TEMPERATURE
          • Variable perseus::servo::register_addr::PRESENT_VOLTAGE
          • Variable perseus::servo::register_addr::RETURN_DELAY_TIME
          • Variable perseus::servo::register_addr::RUNNING_TIME
          • Variable perseus::servo::register_addr::SERVO_MAIN_VERSION
          • Variable perseus::servo::register_addr::SERVO_SUB_VERSION
          • Variable perseus::servo::register_addr::STATUS_RETURN_LEVEL
          • Variable perseus::servo::register_addr::TORQUE_ENABLE
          • Variable perseus::servo::register_addr::TORQUE_LIMIT
          • Variable perseus::servo::timing::COMMAND_INTERVAL
          • Variable perseus::servo::timing::DEFAULT_TIMEOUT
          • Variable perseus::servo::timing::MIN_RESPONSE_TIME
          • Variable perseus::servo::timing::PORT_SETTLE_TIME
          • Variable perseus::servo::timing::RETRY_DELAY
          • Variable perseus::servo::ui::MAX_DISPLAY_TORQUE
          • Variable perseus::servo::ui::POSITION_BAR_LENGTH
          • Variable perseus::servo::ui::SERVO_REFRESH_DELAY_MS
          • Variable perseus::servo::ui::TORQUE_BAR_WIDTH
          • Variable perseus_vision::CLASS_COLOURS
          • Variable perseus_vision::CLASS_NAMES
        • Defines
          • Define DEFAULT_HEIGHT
          • Define DEFAULT_MAX_ITER
          • Define DEFAULT_SIZE
          • Define DEFAULT_WIDTH
          • Define HI_CAN_PARAM_DECLARE_SCALED_INT16_T
          • Define HI_CAN_PARAM_DECLARE_SCALED_INT32_T
          • Define MISSED_PACKET_TIMEOUT_COUNT
          • Define POINTCLOUD_TO_LASERSCAN_EXPORT
          • Define POINTCLOUD_TO_LASERSCAN_IMPORT
          • Define POINTCLOUD_TO_LASERSCAN_LOCAL
          • Define POINTCLOUD_TO_LASERSCAN_PUBLIC
          • Define POINTCLOUD_TO_LASERSCAN_PUBLIC_TYPE
          • Define X_MAX
          • Define X_MIN
          • Define Y_MAX
          • Define Y_MIN
        • Typedefs
          • Typedef bsp::pin_pair_t
          • Typedef GoalHandleNav
          • Typedef hi_can::addressing::mask_t
          • Typedef hi_can::addressing::raw_address_t
          • Typedef hi_can::packet_callback_t
          • Typedef hi_can::parameters::excavation::bucket::controller::current_t
          • Typedef hi_can::parameters::excavation::bucket::controller::magnet_t
          • Typedef hi_can::parameters::excavation::bucket::controller::speed_t
          • Typedef hi_can::parameters::legacy::drive::motors::limits_t
          • Typedef hi_can::parameters::legacy::drive::motors::speed_t
          • Typedef hi_can::parameters::legacy::drive::motors::status_t
          • Typedef hi_can::parameters::legacy::excavation::bucket::motor_speed_t
          • Typedef hi_can::parameters::legacy::power::control::contactor::control_t
          • Typedef hi_can::parameters::legacy::power::control::power_bus::immediate_control_t
          • Typedef hi_can::parameters::legacy::power::control::power_bus::scheduled_control_t
          • Typedef hi_can::parameters::legacy::power::control::power_bus::status_t
          • Typedef NavigateThroughPoses
          • Typedef pointcloud_to_laserscan::MessageFilter
          • Typedef WINDOW
    • Function Documentation
      • FdWrapper::swap

    Function swap¶

    • Defined in File fd_wrapper.cpp

    Function Documentation¶

    friend void FdWrapper::swap(FdWrapper &first, FdWrapper &second)¶
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