RobotPHX::QueryRobotPHX

QueryRobotPHX searches a PHX starting from the current one.

C++

RobotPHX * QueryRobotPHX(const xkode::lib::String& Name);

Parameters	Description
const xkode::lib::String& Name	[in] Relative name of the PHX to search.

A pointer to a RobotPHX object if the PHX was found, NULL otherwise.

Research is recursive. The name of the required PHX relates to the current PHX and can cross several PHX.

For example:

The PHX Robot 1 (/robot1) contains a PHX arm manipulator (/robot1/arm1) which contains a PHX grips (/robot1/arm1/gripper1)

The research of the gripper will be able to be made by various manners according to the starting point:

Starting point	Search
ModaCPP::RobotPHX *pRobot=connection->QueryRobotPHX("/robot1");	pRobot->QueryRobotPHX("arm1/gripper1")
ModaCPP::RobotPHX *pArm=pRobot->QueryRobotPHX("/robot1/arm1");	pArm->QueryRobotPHX("gripper1")