Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcEndEffectorMotionProfilePose Class Reference

Profiled pose motion. More...

#include <ecEndEffectorMotionProfilePose.h>

Inheritance diagram for EcEndEffectorMotionProfilePose:
EcBaseEndEffectorMotion EcBaseEndEffectorSetMotion EcBaseManipulatorMotion EcMotionScriptObject

Public Member Functions

virtual void profilePose (const EcCoordinateSystemTransformation &desiredPose, const EcReal speedFactor, const EcReal tolerance)
 Control end-effector motion in PROFILED_POSITION mode. More...
 
virtual const EcStringtoken () const EC_OVERRIDE
 token
 
virtual EcBoolean read (const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg) EC_OVERRIDE
 read list More...
 
virtual EcString write () const EC_OVERRIDE
 write to script More...
 
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 run the script More...
 
virtual void restart () EC_OVERRIDE
 restart by setting the status to NOT_STARTED More...
 
virtual EcBoolean evaluatePlacement (EcBaseControlSystemModifier &modifier, const EcReal currentTime)
 
- Public Member Functions inherited from EcBaseEndEffectorMotion
void setEeIndex (const EcU32 eeIndex)
 set end effector index
 
void setEeIndex (const EcMotionScriptU32ObjectSharedPtr &pEeIndex)
 set end effector index
 
void setIsBuffered (EcBoolean value)
 set is buffered
 
EcBoolean isBuffered () const
 get is buffered
 
- Public Member Functions inherited from EcBaseEndEffectorSetMotion
void setEeSetIndex (const EcU32 eeSetIndex)
 set end effector set index
 
void setEeSetIndex (const EcMotionScriptU32ObjectSharedPtr &pEeSetIndex)
 set end effector set index
 
- Public Member Functions inherited from EcBaseManipulatorMotion
void setManipulatorIndex (const EcU32 manipIndex)
 set manipulator index
 
void setManipulatorIndex (const EcMotionScriptU32ObjectSharedPtr &pManipIndex)
 set manipulator index
 
- Public Member Functions inherited from EcMotionScriptObject
 EcMotionScriptObject ()
 default constructor
 
virtual ~EcMotionScriptObject ()
 destructor
 
Status status () const
 get status
 
EcReal progress () const
 get progress in [0, 1]
 
virtual void setContainter (EcBaseMotionScriptContainer *pContainer)
 set the container
 
EcBoolean readWithContainer (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 read with container
 
virtual void pause ()
 request to pause
 
virtual void resume ()
 request to resume
 
virtual void abort ()
 Set the status to ABORTED.
 

Static Public Member Functions

static EcMotionScriptObjectnewObject ()
 motion script object creator
 
static const EcStringscriptToken ()
 script token
 
- Static Public Member Functions inherited from EcBaseEndEffectorSetMotion
static EcReal calculateRealVectorDifference (const EcRealVector &actual, const EcRealVector &desired)
 calculate the difference between two real vectors
 
- Static Public Member Functions inherited from EcMotionScriptObject
static EcMotionScriptSharedPtr parseScript (const EcString &script, EcString *pErrorMsg)
 parse script
 
static EcMotionScriptSharedPtr parseScript (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 parse script
 
static EcBoolean isKeyword (const EcString &symbol)
 is keyword
 
static EcBoolean tokenize (const EcString &script, EcStringList &tokens, EcString *pErrorMsg)
 tokenize
 
static EcBoolean readFromTokens (EcStringList &tokens, EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)
 read from tokens
 
static EcBoolean registerScript (const EcString &scriptToken, const EcMotionScriptObjectCreator &creator)
 

Protected Attributes

EcMotionScriptPoseObjectSharedPtr m_pDesiredPose
 
EcMotionScriptRealObjectSharedPtr m_pSpeedFactor
 speed factor
 
EcMotionScriptRealObjectSharedPtr m_pTolerance
 blend radius
 
EcEndEffectorPlacement m_DesiredEePlacement
 desired EE placement
 
EcEndEffectorPlacement m_ActualEePlacement
 actual EE placement
 
EcReal m_InitialDifference
 initial difference
 
- Protected Attributes inherited from EcBaseEndEffectorMotion
EcMotionScriptU32ObjectSharedPtr m_pEeIndex
 EE index.
 
EcBoolean m_IsBuffered
 used by the group motion manager
 
EcXmlRealVector m_ActualEeVelocity
 actual end effector velocity
 
- Protected Attributes inherited from EcBaseEndEffectorSetMotion
EcMotionScriptU32ObjectSharedPtr m_pEeSetIndex
 EE set index.
 
- Protected Attributes inherited from EcBaseManipulatorMotion
EcMotionScriptU32ObjectSharedPtr m_pManipIndex
 manipulator index
 
- Protected Attributes inherited from EcMotionScriptObject
EcBaseMotionScriptContainerm_pContainer
 the container
 
Status m_Status
 motion status
 
EcReal m_Progress
 motion script progress in [0, 1]
 
EcBoolean m_PauseFlag
 

Additional Inherited Members

- Public Types inherited from EcMotionScriptObject
enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED,
  ABORTED
}
 status
 
- Protected Member Functions inherited from EcBaseEndEffectorMotion
EcBoolean calculatePositionDifference (const EcBaseControlSystemModifier &modifier, const EcEndEffectorPlacement &desired, EcEndEffectorPlacement &actual, EcReal &difference) const
 calculate position difference from desired
 
EcBoolean calculatePositionProgress (const EcBaseControlSystemModifier &modifier, const EcReal initialDifference, const EcReal tolerance, const EcEndEffectorPlacement &desired, EcEndEffectorPlacement &actual, EcReal &progress) const
 
EcBoolean calculateVelocityDifference (const EcBaseControlSystemModifier &modifier, const EcRealVector &desired, EcXmlRealVector &actual, EcReal &difference) const
 calculate current velocity difference from desired
 
EcBoolean calculateVelocityProgress (const EcBaseControlSystemModifier &modifier, const EcReal initialDifference, const EcReal tolerance, const EcRealVector &desired, EcXmlRealVector &actual, EcReal &progress) const
 
- Static Protected Member Functions inherited from EcBaseEndEffectorMotion
static EcBoolean parseSpeedAndAccelerationFactors (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg, EcMotionScriptRealObjectSharedPtr &speedFactor, EcMotionScriptRealObjectSharedPtr &accelerationFactor)
 parse speed and acceleration factors
 
static EcString writeSpeedAndAccelerationFactors (const EcMotionScriptRealObjectSharedPtr &speedFactor, const EcMotionScriptRealObjectSharedPtr &accelerationFactor)
 write speed and acceleration factors
 
- Static Protected Attributes inherited from EcBaseEndEffectorMotion
static const EcRealVector m_TheNullVelocity
 

Detailed Description

Profiled pose motion.

End-effector profiled pose motion.

Definition at line 18 of file ecEndEffectorMotionProfilePose.h.

Member Function Documentation

virtual EcBoolean EcEndEffectorMotionProfilePose::evaluatePlacement ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 
)
virtual

virtual void EcEndEffectorMotionProfilePose::profilePose ( const EcCoordinateSystemTransformation desiredPose,
const EcReal  speedFactor,
const EcReal  tolerance 
)
virtual

Control end-effector motion in PROFILED_POSITION mode.

The motion assumes the command already has a built-in trajectory profile.

Parameters
[in]desiredPosethe desired pose
[in]speedFactorthe speed factor
[in]tolerancethe tolerance
virtual EcBoolean EcEndEffectorMotionProfilePose::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 
)
virtual

read list

(move_pose <manip_id> <ee_set> <ee_id> (<desired_pose>) <speed_factor> <blend_r>)

Implements EcMotionScriptObject.

virtual void EcEndEffectorMotionProfilePose::restart ( )
virtual

restart by setting the status to NOT_STARTED

Implements EcBaseEndEffectorMotion.

virtual Status EcEndEffectorMotionProfilePose::run ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 
)
virtual

run the script

Implements EcBaseEndEffectorMotion.

virtual EcString EcEndEffectorMotionProfilePose::write ( ) const
virtual

write to script

Implements EcMotionScriptObject.


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.