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

Holds a stated system and its position control system. More...

#include <ecSystemControlExecutive.h>

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

 EcSystemControlExecutive ()
 default constructor
 
virtual ~EcSystemControlExecutive ()
 destructor
 
 EcSystemControlExecutive (const EcSystemControlExecutive &orig, EcFoundCommon::DeepCopyFlag copyFlag=EcFoundCommon::CopyNone)
 copy constructor
 
EcSystemControlExecutiveoperator= (const EcSystemControlExecutive &orig)
 assignment operator
 
EcBoolean operator== (const EcSystemControlExecutive &orig) const
 equality operator
 
virtual EcBoolean mergeWith (const EcSystemControlExecutive &orig)
 merge operation
 
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 EcStatedSystemstatedSystem () const
 gets the stated system
 
virtual EcStatedSystemstatedSystem ()
 gets the stated system - non-const version
 
virtual void setStatedSystem (const EcStatedSystem &statedSystem)
 sets the stated system
 
virtual const EcVectorupGravity () const
 get the up gravity vector
 
virtual void setUpGravity (const EcVector &upGravity)
 set the up-gravity vector
 
virtual const EcPositionControlContainerpositionControlContainer () const
 gets the position control system container
 
virtual EcPositionControlContainerpositionControlContainer ()
 gets the position control system container – non-const version
 
virtual void setPositionControlContainer (const EcPositionControlContainer &positionControlContainer)
 sets the position control system container. This will internally set the stated system of the position control container to controlStatedSystem().
 
virtual void setPositionControlContainerWithState (const EcPositionControlContainer &positionControlContainer)
 sets the position control system container. This will internally set the stated system of the position control container to that of the position control system in positionControlContainer (the argument).
 
virtual const EcPositionControlSystempositionControlSystem () const
 gets the position control system
 
virtual EcPositionControlSystempositionControlSystem ()
 gets the position control system – non-const
 
virtual void setPositionControlSystem (const EcPositionControlSystem &positionControlSystem)
 sets the position control system. This will internally set the stated system of the position control system to controlStatedSystem().
 
virtual void setPositionControlSystemWithState (const EcPositionControlSystem &positionControlSystem)
 sets the position control system. This will internally set the stated system of the position control system to that of positionControlSystem (the argument).
 
virtual EcBoolean externalPositionControl () const
 gets the external-position-control flag
 
virtual void setExternalPositionControl (const EcBoolean externalPositionControl)
 sets the external-position-control flag
 
virtual void setStatedAndPositionControlSystem (const EcStatedSystem &statedSystem, const EcPositionControlSystem &positionControlSystem)
 
virtual const EcManipulatorEndEffectorPlacementVectordesiredPlacementVector () const
 gets the desired end-effector placements
 
virtual void setDesiredPlacementVector (const EcManipulatorEndEffectorPlacementVector &desiredPlacementVector)
 sets the desired end-effector placements
 
virtual void setDesiredPlacement (const EcManipulatorEndEffectorPlacement &desiredPlacement, const EcU32 manipulatorIndex)
 sets an desired end-effector placement for a manipulator
 
virtual void setDesiredPlacement (EcU32 manipulatorIndex, EcU32 endEffectorIndex, const EcCoordinateSystemTransformation &desiredPlacement)
 sets an individual desired end-effector placement
 
virtual void setDesiredPlacement (EcU32 manipulatorIndex, EcU32 endEffectorIndex, const EcEndEffectorPlacement &desiredPlacement)
 sets an individual desired end-effector placement
 
virtual void setEndEffectorRelativeLinkData (const EcU32 manipulatorIndex, const EcU32 endEffectorIndex, const EcEndEffectorRelativeLinkData &relData)
 sets the relative link data
 
virtual const EcManipulatorEndEffectorVelocityVectordesiredVelocityVector () const
 gets the desired end-effector velocities
 
virtual EcBoolean lookupManipulatorIndexFromLabel (const EcString &label, EcU32 &manipIndex) const
 get the manipulator index from base link label
 
virtual void setDesiredVelocityVector (const EcManipulatorEndEffectorVelocityVector &desiredVelocityVector)
 sets the desired end-effector velocities
 
virtual void setDesiredVelocity (const EcManipulatorEndEffectorVelocity &desiredVelocity, const EcU32 manipulatorIndex)
 sets an individual desired end-effector velocity More...
 
virtual void addDesiredPlacementVector (const EcManipulatorEndEffectorPlacementVector &desiredPlacementVector)
 add desired placement to the end of desired placement in
 
virtual const EcManipulatorEndEffectorPlacementVectoractualPlacementVector () const
 gets the actual end-effector placements
 
virtual void setActualPlacementVector (const EcManipulatorEndEffectorPlacementVector &actualPlacementVector)
 sets the actual end-effector placements
 
virtual EcBoolean setActiveControlDescription (const EcU32 manipulatorIndex, const EcU32 controlDescriptionIndex)
 sets the active control description of a manipulator by index More...
 
virtual EcU32 activeControlDescriptionIndex (const EcU32 manipulatorIndex) const
 gets the index of the active control description of the specified manipulator More...
 
virtual const EcControlExpressionDescriptioncontrolExpressionDescription (const EcU32 manipulatorIndex) const
 gets control expression description
 
virtual void setControlExpressionDescription (const EcControlExpressionDescription &controlExpressionDescription, const EcU32 manipulatorIndex)
 sets control expression description
 
virtual const EcEndEffectorSetendEffectorSet (const EcU32 manipulatorIndex) const
 gets an end effector
 
virtual void setEndEffectorSet (const EcEndEffectorSet &endEffectorSet, const EcU32 manipulatorIndex)
 sets an end effector
 
virtual EcBoolean setEndEffectorSets (const EcU32 manipulatorIndex, const EcEndEffectorSetVector &endEffectorSets)
 sets effector sets for a manipulator
 
virtual void resetTime ()
 resets time to zero while keepting the current state
 
void setFromStatedSystem (const EcStatedSystem &statedSystem)
 initialize from a stated system
 
virtual EcBoolean calculateState (const EcReal time, EcManipulatorSystemState &state)
 
virtual EcBoolean calculateStateTimeSteps (EcManipulatorSystemState &state, const EcU32 numTimeSteps=1, const EcReal extrapolationTime=0.0)
 
virtual EcBoolean findAndConvertToReferences ()
 
virtual const EcTokentoken () const EC_OVERRIDE
 gets the xml token used for writing out
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read this object from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write this object to an XML stream
 
virtual EcBoolean integrityCheck () const
 check for the dimensional integrity of components
 
virtual const EcEndEffectorSetVectorguideFrameEndEffectorSetVec () const
 gets Guide Frame EndEffector Set Vector
 
void setGuideFrameEndEffectorSetVec (const EcEndEffectorSetVector &guideFrameEndEffectorSetVec)
 set Guide Frame EndEffector Set Vector
 
virtual void setState (const EcManipulatorSystemState &state)
 sets the state of the system. It also initializes everything.
 
virtual void setCurrentState (const EcManipulatorSystemState &state)
 sets the current state of the system without re-initializing
 
void setSensedState (const EcManipulatorSystemState &state, const EcReal timeStep, const EcBooleanVector &notSetFlags=EcBooleanVector(), const EcBoolean baseOnly=EcFalse)
 feed back the externally sensed position state to the position controller More...
 
virtual void setSensedState (const EcU32 manipIndex, const EcPositionState &posState, const EcReal timeStep, const EcBoolean baseOnly=EcFalse)
 feed back the externally sensed position state of a given manipulator to the position controller More...
 
virtual const EcPropagationResultDataVectorpropagationResultDataVector () const
 get the propagation results from the control system
 
virtual EcBoolean setPropagationResultData (const EcU32 manipIndex, const EcPropagationResultData &data, EcPropagationResultData::ExceptionType exceptionType)
 Set the propagation result data. More...
 
virtual EcBoolean generateCollisionReport (EcPropagationResultDataVector &collisions) const
 generate a collision report for the state as it currently stands
 
virtual EcBoolean shareStatedSystemWithControl () const
 gets the flag indicating whether or not the simulation should share the stated system with control
 
virtual void setShareStatedSystemWithControl (const EcBoolean value)
 sets the flag indicating whether or not the simulation should share the stated system with control
 
virtual const EcStatedSystemcontrolStatedSystem () const
 gets the stated system for control.
 
virtual EcStatedSystemcontrolStatedSystem ()
 gets the stated system for control - non-const version
 
virtual void setControlStatedSystem (const EcStatedSystem &statedSystem)
 sets the stated system for control. If shareStatedSystemWithControl is set to true, then this will do nothing since control will use the same stated system with simulation
 
virtual EcBoolean isSystemModified () const
 returns true if the system has recently been modified. This is useful for rendering since it needs to grab internal pointers of the system and if it has been modified, those pointers will be invalid. Rendering can check it and if the system has just been modified, it can grab new pointers.
 
virtual void resetIsSystemModified ()
 sets isSystemModified to false. Rendering should call this after it's done grabbing new pointers to the system internals.
 
virtual EcBoolean setSelfCollisionMap (const EcManipulatorSelfCollisionLinkMap &map, const EcU32 manipID)
 set the self collisin map for manipulator manipID
 
virtual EcInt32 deleteManipulator (const EcString &manipLabel)
 delete a manipulator and corresponding data (e.g. position and velocity states, end-effectors, etc.) More...
 
virtual EcBoolean deleteManipulator (const EcU32 manIndex)
 
virtual EcU32 addManipulator (const EcIndividualManipulator &manip, const EcPositionState &position)
 add a manipulator and corresponding data (e.g. position and velocity states, end-effectors, etc.) More...
 
virtual EcBoolean combineManipulator (const EcU32 depManipIndex, const EcU32 baseManipIndex, const EcString &baseLinkLabel, const EcCoordinateSystemTransformation &offset)
 rigidly combine manipulators based on the attachment
 
virtual EcBoolean uncombineManipulator (const EcString &depManipLabel, EcString &baseManipLabel, EcString &baseLinkLabel)
 uncombine manipulator
 
virtual EcBoolean addAvoidanceRegion (const EcShape &shape, const EcString &regionName, const EcCoordinateSystemTransformation &position, const EcDataMap &color=EcSurfaceColorFactory::boundingColor())
 insert an avoidance region into the system
 
virtual EcU32 activePositionControlMethodIndex (const EcU32 manipIndex) const
 get the index of the active control method
 
virtual EcBoolean setActivePositionControlMethod (const EcU32 manipIndex, const EcU32 methodIndex)
 set the active control method
 
virtual EcU32 activeEndEffectorSetIndex (const EcU32 manipIndex) const
 get the index of the active end-effector set
 
virtual EcBoolean setActiveEndEffectorSet (const EcU32 manipIndex, const EcU32 eeSetIndex)
 set the active control method
 
virtual EcBoolean setActiveEndEffectorIndex (const EcU32 manipIndex, const EcU32 eeIndex)
 
EcBoolean setJointControlEndEffectorSetAndPlacement (const EcU32 manipIndex, const EcEndEffectorPlacement &desiredPlacement)
 set the active end effector set to joint control and set desired placement
 
virtual void setControlStatedSystemState (const EcManipulatorSystemState &state)
 set the state of the control stated system
 
virtual EcBoolean exchangeManipulator (const EcU32 manipIndex, const EcSystemControlExecutive &other, const EcU32 otherManipIndex)
 exchange the manipulator (and its controller) at the specified index with one from another EcSystemControlExecutive
 
virtual EcBoolean setHardStop (EcU32 manipIndex)
 this will force the velocity of the given manipulator to zero and abruptly stop at its current position More...
 
virtual void setManipulatorIsReferencedBy (EcU32 manipIndex, EcBoolean isReferencedBy)
 Set the manipulatorIsReferencedBy flag to true for the given manipIndex.
 
- 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 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 EcSystemControlExecutive nullObject ()
 get a null object
 

Protected Member Functions

virtual void buildAvoidanceRegionControlSystem (const EcIndividualManipulator &avoidanceRegion, EcControlExpressionDescription &contDesc, EcEndEffectorSet &eeSet, const EcBoolean &isFixedBase=EcTrue) const
 build a control system for an avoidance region
 
virtual void initializeComponents ()
 initializes member variables
 
- 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

EcStatedSystem m_StatedSystem
 the stated system
 
EcPositionControlContainer m_PositionControlContainer
 the position control system
 
EcXmlBoolean m_ShareStatedSystemWithControl
 a flag indicating whether or not the simulation should share the stated system with control
 
EcStatedSystem m_ControlStatedSystem
 the stated system for control
 
EcEndEffectorSetVector m_GuideFrameEndEffectorSetVec
 
EcBoolean m_ExternalPositionControl
 a flag indicating that external position control is being used
 
- 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...
 
- 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 stated system and its position control system.

Holds a stated system and its position control system.

Examples:
controlExecutiveModifierExampleMain.cpp, and ecPathPlanningCoreMain.cpp.

Definition at line 22 of file ecSystemControlExecutive.h.

Member Function Documentation

virtual EcU32 EcSystemControlExecutive::activeControlDescriptionIndex ( const EcU32  manipulatorIndex) const
virtual

gets the index of the active control description of the specified manipulator

Parameters
[in]manipulatorIndexThe index of the manipulator in query.
Returns
The index of the active control description of the specified manipulator.
virtual EcU32 EcSystemControlExecutive::addManipulator ( const EcIndividualManipulator manip,
const EcPositionState position 
)
virtual

add a manipulator and corresponding data (e.g. position and velocity states, end-effectors, etc.)

Returns
The index of the newly added manipulator.
virtual EcBoolean EcSystemControlExecutive::calculateState ( const EcReal  time,
EcManipulatorSystemState state 
)
virtual

Calculate a new manipulator state that moves manipulators towards desired placements. Internally, this calls calculateStateTimeSteps() method. The number of time steps used in calculateStateTimeSteps() call depends on the current time of the internal state, the input time, and maxIterations(). The time in the returned state may be less than or equal to the input time. The returned state is almost guaranteed to be different then the internal state at the end of this call.

Parameters
timeInput time.
stateThe returned state.
Returns
error flag
virtual EcBoolean EcSystemControlExecutive::calculateStateTimeSteps ( EcManipulatorSystemState state,
const EcU32  numTimeSteps = 1,
const EcReal  extrapolationTime = 0.0 
)
virtual

Calculate a new manipulator state that moves manipulators towards desired placements by advancing by a given number of time steps. If extrapolationTime > 0, then the returned position state and time are extrapolated from the final position state and time at the end of the time steps by extrapolationTime. Otherwise, they are equal to the state at the end of the time steps. Let currentTime be the current time of the internal state (either from previous call by calculateStateTimeSteps, setCurrentState, etc.) at the beginning of this call. The time of the internal state at the end of the call will be currentTime + numTimeSteps*timeStep(). The time of the returned state will be currentTime + numTimeSteps*timeStep() + extrapolationTime. This method is more deterministic than calculateState() in the sense that inverse kinematics (IK) calculations will happen exactly numTimeSteps times if acceleration limiting is off. When acceleration limiting is on, the number of IK calculations could exceed numTimeSteps but the time of the internal state at the end of the call will still be currentTime + numTimeSteps*timeStep().

Parameters
[out]stateThe returned state.
[in]numTimeStepsThe number of time steps.
[in]extrapolationTimeThe extrapolation time at the end. Normally, it should be less than timeStep(). However, the value greater than timeStep() is allowed but discouraged since a large extrapolationTime may break Jacobian linearization.
Returns
False if timeStep() <= 0 or stated system is invalid. True otherwise.
virtual EcInt32 EcSystemControlExecutive::deleteManipulator ( const EcString manipLabel)
virtual

delete a manipulator and corresponding data (e.g. position and velocity states, end-effectors, etc.)

Parameters
[in]manipLabelThe string label of the manipulator to be deleted.
Returns
The index of the deleted manipulator if the manipulator was found and successfully deleted. If the manipulator was not found, then this returns -1.
virtual EcBoolean EcSystemControlExecutive::deleteManipulator ( const EcU32  manIndex)
virtual

delete a manipulator and corresponding data (e.g. position and velocity states, end-effectors, etc.)

Parameters
[in]manIndexThe manipulator index to delete.
Returns
EcBoolean Success or failure of the command.
virtual EcBoolean EcSystemControlExecutive::findAndConvertToReferences ( )
virtual

find and convert explicit manipulator link descriptions to references where possible

virtual EcBoolean EcSystemControlExecutive::setActiveControlDescription ( const EcU32  manipulatorIndex,
const EcU32  controlDescriptionIndex 
)
virtual

sets the active control description of a manipulator by index

Parameters
[in]manipulatorIndexThe index of the manipulator to which the control descriptions will be set.
[in]controlDescriptionIndexThe index of the active control description to be set.
Returns
True if successful or false if either manipulatorIndex or activeControlDescriptionIndex is out of range.
virtual EcBoolean EcSystemControlExecutive::setActiveEndEffectorIndex ( const EcU32  manipIndex,
const EcU32  eeIndex 
)
virtual

sets gets the index of the active end-effector for the active EE set of a manipulator by index

Parameters
[in]manipIndexThe index of the manipulator to which the active end-effector set will be set.
[in]eeIndexThe index of the active end-effector to be set.
Returns
True if successful or false if either manipulatorIndex or index is out of range.
virtual void EcSystemControlExecutive::setDesiredVelocity ( const EcManipulatorEndEffectorVelocity desiredVelocity,
const EcU32  manipulatorIndex 
)
virtual

sets an individual desired end-effector velocity

virtual EcBoolean EcSystemControlExecutive::setHardStop ( EcU32  manipIndex)
virtual

this will force the velocity of the given manipulator to zero and abruptly stop at its current position

virtual EcBoolean EcSystemControlExecutive::setPropagationResultData ( const EcU32  manipIndex,
const EcPropagationResultData data,
EcPropagationResultData::ExceptionType  exceptionType 
)
virtual

Set the propagation result data.

Parameters
[in]manipIndexthe manipulator index
[in]datathe propagation result data
Returns
true if the index is valid
void EcSystemControlExecutive::setSensedState ( const EcManipulatorSystemState state,
const EcReal  timeStep,
const EcBooleanVector notSetFlags = EcBooleanVector(),
const EcBoolean  baseOnly = EcFalse 
)

feed back the externally sensed position state to the position controller

Parameters
[in]stateThe sensed state to be fed back.
[in]timeStepThe time step of how frequently this method is called.
[in]notSetFlagsThe flags indicating which manipulator states will not be fed back. If this vector is empty, then all the states will be fed back.
[in]baseOnlyIf true only the sensed bases will be fed back.
virtual void EcSystemControlExecutive::setSensedState ( const EcU32  manipIndex,
const EcPositionState posState,
const EcReal  timeStep,
const EcBoolean  baseOnly = EcFalse 
)
virtual

feed back the externally sensed position state of a given manipulator to the position controller

Parameters
[in]manipIndexThe index of the manipulator for which the sensed state will be fed back
[in]posStateThe sensed position state to be fed back.
[in]timeStepThe time step of how frequently this method is called.
[in]baseOnlyIf true only the sensed base will be fed back.
virtual void EcSystemControlExecutive::setStatedAndPositionControlSystem ( const EcStatedSystem statedSystem,
const EcPositionControlSystem positionControlSystem 
)
virtual

sets the stated system and position control system This should always be used to initially configure these components.

Member Data Documentation

EcEndEffectorSetVector EcSystemControlExecutive::m_GuideFrameEndEffectorSetVec
protected

hold a copy of end effector set related to guide frame, to distinguish them from the ones created by force control or other process

Definition at line 646 of file ecSystemControlExecutive.h.


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