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

Defines the active state for a manipulation action. More...

#include <ecManipulationActiveState.h>

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

 EcManipulationActiveState ()
 default constructor
 
virtual ~EcManipulationActiveState ()
 destructor
 
 EcManipulationActiveState (const EcManipulationActiveState &orig)
 copy constructor
 
EcManipulationActiveStateoperator= (const EcManipulationActiveState &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulationActiveState &orig) const
 equality operator
 
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 EcTokentoken () const EC_OVERRIDE
 the token
 
virtual EcU32 activeControlDescription () const
 get the active control description index
 
virtual EcBoolean activeControlDescriptionIsSet () const
 get the flag indicating if the active control description index is set
 
virtual void setActiveControlDescription (EcU32 index)
 set the active control description index
 
virtual EcU32 activeControlMethod () const
 get the active control method index
 
virtual EcBoolean activeControlMethodIsSet () const
 get the flag indicating if the active control method index is set
 
virtual void setActiveControlMethod (EcU32 index)
 set the active control method index
 
virtual EcU32 activeEndEffectorSet () const
 get the active end-effector set index
 
virtual EcBoolean activeEndEffectorSetIsSet () const
 get the flag indicating if the active end-effector set index is set
 
virtual void setActiveEndEffectorSet (EcU32 index)
 set the active end-effector set index
 
virtual EcU32 controlMode () const
 
virtual const EcManipulatorEndEffectorPlacementendEffectorPlacement () const
 get the end-effector placement
 
virtual EcBoolean endEffectorPlacementIsSet () const
 get the flag indicating of the end-effector placement is set
 
virtual void setEndEffectorPlacement (const EcManipulatorEndEffectorPlacement &placement)
 set the manipulator end-effector placement
 
virtual void setEndEffectorPlacementExceptOne (EcU32 endEffectorIndex, const EcManipulatorEndEffectorPlacement &placement)
 set the end-effector placements for all end-effectors except one
 
virtual void setIndividualEndEffectorPlacement (EcU32 endEffectorIndex, const EcEndEffectorPlacement &placement)
 set the end-effector placement for just one end-effector
 
virtual void clearEndEffectorPlacement ()
 clear the end-effector placement
 
virtual const EcManipulatorEndEffectorVelocityendEffectorVelocity () const
 get the end-effector velocity
 
virtual EcBoolean endEffectorVelocityIsSet () const
 get the flag indicating if the end-effector velocity is set
 
virtual void setEndEffectorVelocity (const EcManipulatorEndEffectorVelocity &velocity)
 set the end-effector velocity
 
virtual void clearEndEffectorVelocity ()
 clear the end-effector velocity
 
virtual EcThreadSafeMotionScriptmotionScriptPointer () const
 get the pointer to a thread safe motion script
 
virtual void setMotionScriptPointer (EcThreadSafeMotionScript *pMotionScript)
 set the pointer to a thread safe motion script
 
virtual const EcU32VectorprofiledPositionEndEffectorIndices () const
 get the indices of end-effectors that should use profiled position control (if any)
 
virtual EcBoolean profiledPositionEndEffectorIndicesIsSet () const
 get the flag indicating if the indices of end-effectors that should use profiled position control (if any) is set
 
virtual void setProfiledPositionEndEffectorIndices (const EcU32Vector &indices)
 get the indices of end-effectors that should use profiled position control (if any)
 
virtual void clearProfiledPositionEndEffectorIndices ()
 clear the indices of end-effectors that should use profiled position control (if any)
 
virtual EcBoolean externalBlendingFlag () const
 
virtual void setExternalBlendingFlag (EcBoolean flag)
 
virtual EcBoolean hardStopIsSet () const
 get the flag indicating if hard stop is set
 
virtual void setHardStop ()
 set hard stop
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream
 
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
 

Protected Attributes

EcXmlBoolean m_ActiveControlDescriptionIsSet
 
EcXmlU32 m_ActiveControlDescription
 
EcXmlBoolean m_ActiveControlMethodIsSet
 
EcXmlU32 m_ActiveControlMethod
 
EcXmlBoolean m_ActiveEndEffectorSetIsSet
 
EcXmlU32 m_ActiveEndEffectorSet
 
EcXmlU32 m_ControlMode
 
EcXmlBoolean m_EndEffectorPlacementIsSet
 
EcManipulatorEndEffectorPlacement m_EndEffectorPlacement
 
EcXmlBoolean m_EndEffectorVelocityIsSet
 
EcManipulatorEndEffectorVelocity m_EndEffectorVelocity
 
EcXmlBoolean m_ProfiledPositionEndEffectorIndicesIsSet
 
EcXmlU32Vector m_ProfiledPositionEndEffectorIndices
 
EcXmlBoolean m_HardStopIsSet
 
EcBoolean m_ExternalBlendingFlag
 
EcThreadSafeMotionScriptm_pMotionScript
 
- 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

Defines the active state for a manipulation action.

Examples:
ecCirclePathExampleDirection.cpp, and ecTimedWaitExampleDirection.cpp.

Definition at line 21 of file ecManipulationActiveState.h.

Member Function Documentation

virtual EcU32 EcManipulationActiveState::controlMode ( ) const
virtual

get the control mode This returns EcEndEffector::POSITION_CONTROL unless setEndEffectorVelocity is called (VELOCITY_CONTROL).

virtual EcBoolean EcManipulationActiveState::externalBlendingFlag ( ) const
virtual

get the external blending flag

virtual void EcManipulationActiveState::setExternalBlendingFlag ( EcBoolean  flag)
virtual

set the external blending flag

Member Data Documentation

EcBoolean EcManipulationActiveState::m_ExternalBlendingFlag
protected

Definition at line 260 of file ecManipulationActiveState.h.


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