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

Directs a cast to run a manipulation script. More...

#include <ecManipulationDirector.h>

Inheritance diagram for EcManipulationDirector:
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Collaboration diagram for EcManipulationDirector:
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Public Types

typedef EcXmlMapType< EcXmlU32, EcRrtPathPlannerContainerPathPlannerContainerMap
 map of string to path planner container
 
typedef EcXmlMapType< EcXmlU32, EcRrtPathPlannerPathPlannerConfigMap
 
- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 

Public Member Functions

 EcManipulationDirector ()
 default constructor
 
virtual ~EcManipulationDirector ()
 destructor
 
 EcManipulationDirector (const EcManipulationDirector &orig)
 copy constructor
 
EcManipulationDirectoroperator= (const EcManipulationDirector &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulationDirector &orig) const
 equality operator
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream
 
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 EcBoolean add (const EcString &oname, const EcManipulationScript &script)
 add a script
 
virtual EcBoolean add (const EcString &oname, const EcPose &pose)
 add a pose
 
virtual EcBoolean add (const EcString &oname, const EcDirectorObject &object)
 add an object
 
virtual const EcManipulationScriptscript () const
 get the script
 
virtual void setActiveScript (const EcString &path, const EcManipulationScript &script)
 set the active script
 
virtual const EcStringactiveScriptPath () const
 returns the active script path
 
virtual void setActiveScriptPath (const EcString &path)
 set the active script path
 
virtual const EcXmlStringStringMapcast () const
 get the cast (map of role name to manipulator name)
 
virtual void setCast (const EcXmlStringStringMap &cast)
 set the cast (map of role name to manipulator name)
 
virtual const PathPlannerContainerMappathPlannerContainerMap () const
 get the path planner container map
 
virtual void setPathPlannerContainerMap (const PathPlannerContainerMap &value)
 set the path planner container map
 
virtual const EcDirectorObjectDirectoryobjectDirectory () const
 get the object directory
 
virtual void setObjectDirectory (const EcDirectorObjectDirectory &objectDirectory)
 set the object directory
 
EcBoolean nameFromRole (const EcString &role, EcString &name) const
 Determine the manipulator name for a given role.
 
EcBoolean roleFromName (const EcString &name, EcString &role) const
 Determine the role for a given manipulator name.
 
virtual EcStringVector primaryRoleNames () const
 get a vector of primary role names that are referenced within this director
 
virtual EcBoolean init (EcManipulationDirectorState &dstate) const
 initialize the manipulation director
 
virtual EcManipulationStatus::Enum update (EcReal time, const EcManipulationDirectorUpdateParams &params, EcManipulationDirectorState &dstate) const
 update the manipulation director
 
virtual void convert (const EcManipulationDirectorState &dstate, EcManipulationDirectorSimpleState &sdstate) const
 convert the manipulation director state
 
virtual void fastForward (const EcManipulationDirectorSimpleState &sdstate, EcManipulationDirectorState &dstate) const
 fast forward the manipulation director state
 
virtual const EcStringVectoractiveManipulators (const EcManipulationDirectorState &dstate) const
 get the currently-active manipulators
 
virtual const EcStringVectoractiveRoles (const EcManipulationDirectorState &dstate) const
 get the currently-active roles
 
virtual const std::vector< const EcManipulationActiveState * > & activeStates (const EcManipulationDirectorState &dstate) const
 get the active state to be used for each active manipulator
 
virtual EcReal progress (const EcManipulationDirectorState &dstate) const
 get the overall progress of the manipulation director
 
virtual EcStringVector statusStrings (const EcManipulationDirectorState &dstate, const EcString &separator) const
 determine the status string from each active manipulator
 
virtual void acceptDirectorVisitor (EcManipulationDirectorVisitor &visitor, EcManipulationDirectorState *pState=0)
 Accept a visitor.
 
virtual void traverseDirectorVisitor (EcManipulationDirectorVisitor &visitor, EcManipulationDirectorState *pState=0)
 Traverse through sub objects with visitor.
 
virtual const EcTokentoken () const EC_OVERRIDE
 get the token
 
EcBoolean addDirectorObject (const EcString &oname, const EcDirectorObject &object)
 add an object to the library
 
EcBoolean removeDirectorObject (const EcString &name)
 remove an object from the library
 
void addPosesFromPoseSet (const EcPoseSet &poseSet, const EcStringVector &manipulatorNames)
 
EcRrtPathPlannergetPathPlannerPtr (EcU32 manipIndex) const
 
EcBoolean dataConverted ()
 
EcDirectorErrors::ErrorType errorStatus ()
 
void setErrorStatus (EcDirectorErrors::ErrorType errType)
 
const EcXmlStringU32MapoldCast () const
 
EcReal version () const
 
void convertPosesUsingManipName (const EcStringVector &manipNames)
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
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 write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to 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 EcPoseSet convertToPoseSet (const EcDirectorObjectDirectory &objectDirectory)
 

Protected Member Functions

EcBoolean indexFromRole (const EcString &role, EcU32 &index) const
 Determine the manipulator index for a given role.
 
EcBoolean roleFromIndex (EcU32 index, EcString &role) const
 Determine the role for a given manipulator index.
 
void convertActionDirectionsToDirectionReference (EcStringVector modifiedActions, EcString sname)
 
- 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 ()
 

Protected Attributes

EcXmlReal m_Version
 Stores the version of the manipulationDirector format.
 
EcXmlString m_ActiveScriptPath
 active script path
 
EcXmlStringStringMap m_Cast
 Map of role name to manipulator name.
 
PathPlannerContainerMap m_PathPlannerContainerMap
 Map between robots and path planner containers.
 
EcDirectorObjectDirectory m_ObjectDirectory
 Library of objects used within the manipulation script.
 
EcBoolean m_DataCoverted
 This flag indicates whether data conversion has happened while reading an object.
 
EcDirectorErrors::ErrorType m_ErrorStatus
 This flag indicates any error type while reading; That needs to be handled before using it.
 
EcManipulationScript m_DeprecatedScript
 DEPRECATED used for reading old file formats Manipulation script.
 
PathPlannerConfigMap m_PathPlannerConfigMap
 DEPRECATED used for reading old file formats.
 
EcXmlStringU32Map m_DeprecatedCast
 /DEPRECATED used for reading old cast
 
- 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

- 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

Directs a cast to run a manipulation script.

Examples:
ecCirclePathExampleDirection.cpp, and ecTimedWaitExampleDirection.cpp.

Definition at line 42 of file ecManipulationDirector.h.


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