Actin  Version 5.5.2
Software for Robotics Simulation and Control
EcVelocityState Class Reference

Holds a description of the position state of a manipulator. This includes the joint velocities and the frame velocity of the base. The base velocity is the motion of the base with respect to the system, expressed in system coordinates, with point of application at the origin of the base frame. More...

#include <ecVelocityState.h>

Inheritance diagram for EcVelocityState:
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Collaboration diagram for EcVelocityState:
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Public Member Functions

 EcVelocityState ()
 default constructor
 
virtual ~EcVelocityState ()
 destructor
 
 EcVelocityState (const EcVelocityState &orig)
 copy constructor
 
EcVelocityStateoperator= (const EcVelocityState &orig)
 assignment operator
 
EcBoolean operator== (const EcVelocityState &orig) const
 equality operator
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 initialize XML components for reading and writing
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcXmlRealVectorjointVelocities () const
 gets joint velocities - const version
 
virtual EcXmlRealVectorjointVelocities ()
 gets joint velocities - nonconst version
 
virtual void setJointVelocities (const EcXmlRealVector &jointVelocities)
 sets joint velocities
 
virtual void setJointVelocities (const EcReArray &jointVelocities)
 sets joint velocities from an EcReArray
 
virtual const EcGeneralVelocitygeneralVelocity () const
 gets general velocity - const version
 
virtual EcGeneralVelocitygeneralVelocity ()
 gets general velocity - nonconst version
 
virtual void setGeneralVelocity (const EcGeneralVelocity &generalVelocity)
 sets general velocity
 
virtual EcBoolean approxEq (const EcVelocityState &velState2, EcReal tol) const
 test for approximate equality
 
virtual const EcTokentoken () const EC_OVERRIDE
 gets the xml token used for writing out. More...
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 reads this object from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 writes this object to an XML stream
 
virtual EcBoolean readBin (std::istream &stream)
 read this object from a binary stream
 
virtual EcBoolean writeBin (std::ostream &stream) const
 write this object to a binary stream
 
virtual EcBoolean linearInterpolation (const EcVelocityState &velocityState1, const EcVelocityState &velocityState2, const EcReal &factor)
 linearly interpolate between two velocity states
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 

Static Public Member Functions

static EcVelocityState nullObject ()
 gets a null link
 

Protected Attributes

EcXmlRealVector m_JointVelocities
 the vector of joint velocities
 
EcGeneralVelocity m_GeneralVelocity
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

Holds a description of the position state of a manipulator. This includes the joint velocities and the frame velocity of the base. The base velocity is the motion of the base with respect to the system, expressed in system coordinates, with point of application at the origin of the base frame.

Holds a description of the position state of a manipulator. This includes the joint velocities and the velocity of the base. The base velocity is the motion of the base with respect to the system, expressed in system coordinates, with point of application at the origin of the base frame.

Definition at line 29 of file ecVelocityState.h.

Member Function Documentation

virtual const EcToken& EcVelocityState::token ( ) const
virtual

gets the xml token used for writing out.

Implements EcXmlObject.

Member Data Documentation

EcGeneralVelocity EcVelocityState::m_GeneralVelocity
protected

the general velocity of the base. Expressed in system coordinates, with point of application the origin of the base frame.

Definition at line 180 of file ecVelocityState.h.


The documentation for this class was generated from the following file: