Actin  Version 5.5.3
Software for Robotics Simulation and Control
EcManipulationDirectorUpdateParams Class Reference

This class is a container for paremeters used for manipulation director updates. More...

#include <ecManipulationDirectorUpdateParams.h>

Public Member Functions

 EcManipulationDirectorUpdateParams (const EcManipulatorSystemState &objectState, const EcManipulatorSystemState &manipState, const EcStatedSystem &statedSystem, const EcManipulatorEndEffectorPlacementVector &actualPlacements, const EcPositionControlSystem &manipPositionControlSystem, const EcForceControlSystem &, EcDataMap &dataMap, EcManipulationDirectorExternalInterface *pExternalInterface, EcRrtPathPlanner *pPathPlanner=EcNULL, EcWorkerThreadPool *pPathPlanningThreadPool=EcNULL)
 constructor
 
virtual const EcManipulatorSystemStateobjectState () const
 returns the objecte state
 
virtual const EcManipulatorSystemStatemanipState () const
 returns the manipulator state
 
virtual const EcStatedSystemstatedSystem () const
 
virtual const EcManipulatorEndEffectorPlacementVectoractualPlacements () const
 returns the actual placements
 
virtual const EcPositionControlSystemmanipPositionControlSystem () const
 returns the manipulator position control system
 
virtual EcDataMapdataMap () const
 returns the data map
 
virtual EcManipulationDirectorExternalInterfaceexternalInterface () const
 returns a pointer to the external interface
 
virtual EcRrtPathPlannerpathPlannerPtr () const
 returns a pointer to the path planner
 
virtual EcWorkerThreadPoolpathPlanningThreadPoolPtr () const
 returns a pointer to the thread pool used for path planning calculation
 
virtual EcBoolean indexFromRole (const EcString &role, EcU32 &manipIndex, const EcManipulationDirector &director) const
 
virtual EcBoolean manipulatorIndex (const EcString &manipName, EcU32 &manipIndex) const
 
virtual EcBoolean roleFromIndex (EcU32 manipIndex, EcString &roleName, const EcManipulationDirector &director) const
 
virtual EcXmlStringU32Map cast (const EcManipulationDirector &director) const
 

Detailed Description

This class is a container for paremeters used for manipulation director updates.

Examples:
ecCirclePathExampleDirection.cpp, and ecTimedWaitExampleDirection.cpp.

Definition at line 29 of file ecManipulationDirectorUpdateParams.h.

Member Function Documentation

virtual const EcStatedSystem& EcManipulationDirectorUpdateParams::statedSystem ( ) const
inlinevirtual

returns the stated system. Note however that this stated system may not contain the current state. For current state, use either manipState or objectState

Examples:
ecCirclePathExampleDirection.cpp.

Definition at line 86 of file ecManipulationDirectorUpdateParams.h.


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