EcSystemControlExecutive Class Reference

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

#include <ecSystemControlExecutive.h>

Inheritance diagram for EcSystemControlExecutive:

Collaboration diagram for EcSystemControlExecutive:

Public Member Functions
	EcSystemControlExecutive ()
	default constructor
virtual	~EcSystemControlExecutive ()
	destructor
	EcSystemControlExecutive (const EcSystemControlExecutive &orig, EcFoundCommon::DeepCopyFlag copyFlag=EcFoundCommon::CopyNone)
	copy constructor
EcSystemControlExecutive &	operator= (const EcSystemControlExecutive &orig)
	assignment operator
EcBoolean	operator== (const EcSystemControlExecutive &orig) const
	equality operator
virtual EcBoolean	mergeWith (const EcSystemControlExecutive &orig)
	merge operation
virtual EcXmlObject *	clone () 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 EcXmlObject *	newObject () const EC_OVERRIDE
	virtual new that returns an EcXmlObject
virtual const EcStatedSystem &	statedSystem () const
	gets the stated system
virtual EcStatedSystem &	statedSystem ()
	gets the stated system - non-const version
virtual void	setStatedSystem (const EcStatedSystem &statedSystem)
	sets the stated system
virtual const EcVector &	upGravity () const
	get the up gravity vector
virtual void	setUpGravity (const EcVector &upGravity)
	set the up-gravity vector
virtual const EcPositionControlContainer &	positionControlContainer () const
	gets the position control system container
virtual EcPositionControlContainer &	positionControlContainer ()
	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 EcPositionControlSystem &	positionControlSystem () const
	gets the position control system
virtual EcPositionControlSystem &	positionControlSystem ()
	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 EcManipulatorEndEffectorPlacementVector &	desiredPlacementVector () 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 EcManipulatorEndEffectorVelocityVector &	desiredVelocityVector () 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 EcManipulatorEndEffectorPlacementVector &	actualPlacementVector () 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 EcControlExpressionDescription &	controlExpressionDescription (const EcU32 manipulatorIndex) const
	gets control expression description
virtual void	setControlExpressionDescription (const EcControlExpressionDescription &controlExpressionDescription, const EcU32 manipulatorIndex)
	sets control expression description
virtual const EcEndEffectorSet &	endEffectorSet (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 EcToken &	token () 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 EcEndEffectorSetVector &	guideFrameEndEffectorSetVec () 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 EcPropagationResultDataVector &	propagationResultDataVector () 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 EcStatedSystem &	controlStatedSystem () const
	gets the stated system for control.
virtual EcStatedSystem &	controlStatedSystem ()
	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 EcXmlComponentMap &	componentMap () 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 EcXmlComponentMap &	attributeComponentMap ()
	get a reference to the component attribute map
virtual const EcXmlSpecialDescriptorMap &	specialDescriptorMap ()
	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 EcXmlTokenStringDescriptorMapMap &	tokenStringDescriptorMap ()
	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 EcXmlComponentMap *	newComponentMap () const
	allocate a new componentMap
virtual EcXmlSpecialDescriptorMap *	newSpecialDescriptorMap ()
	allocate a new specialDescriptorsMap
virtual EcXmlTokenStringDescriptorMapMap *	newTokenStringDescriptorMap ()
	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 EcXmlObject *	libraryAttribute ()

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
EcXmlComponentMap *	m_pComponentMap
EcXmlComponentMap *	m_pAttributeComponentMap
EcXmlSpecialDescriptorMap *	m_pSpecialDescriptorMap
EcXmlTokenStringDescriptorMapMap *	m_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]

manipulatorIndex

The 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

time	Input time.
state	The 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]	state	The returned state.
[in]	numTimeSteps	The number of time steps.
[in]	extrapolationTime	The 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]

manipLabel

The 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]

manIndex

The 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]	manipulatorIndex	The index of the manipulator to which the control descriptions will be set.
[in]	controlDescriptionIndex	The 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]	manipIndex	The index of the manipulator to which the active end-effector set will be set.
[in]	eeIndex	The 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]	manipIndex	the manipulator index
[in]	data	the 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]	state	The sensed state to be fed back.
[in]	timeStep	The time step of how frequently this method is called.
[in]	notSetFlags	The flags indicating which manipulator states will not be fed back. If this vector is empty, then all the states will be fed back.
[in]	baseOnly	If 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]	manipIndex	The index of the manipulator for which the sensed state will be fed back
[in]	posState	The sensed position state to be fed back.
[in]	timeStep	The time step of how frequently this method is called.
[in]	baseOnly	If 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.

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

• ecSystemControlExecutive.h