Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcBaseJointControllerSystem Class Referenceabstract

Holds a base class for joint controllers, which provides an interface for all joint controllers. It is initialized with a manipulator system, and then given an actual state and a desired state to use to calculate the joint torques. More...

#include <ecBaseJointControllerSys.h>

Inheritance diagram for EcBaseJointControllerSystem:
EcBaseExpressionTreeElement EcXmlCompoundType EcXmlObject EcJointControllerSystem

Public Member Functions

 EcBaseJointControllerSystem ()
 default constructor
 
virtual ~EcBaseJointControllerSystem ()
 destructor
 
 EcBaseJointControllerSystem (const EcBaseJointControllerSystem &orig)
 copy constructor
 
EcBaseJointControllerSystemoperator= (const EcBaseJointControllerSystem &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseJointControllerSystem &orig) const
 equality operator
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 initialize XML components for reading and writing
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual void setSystemPointer (const EcManipulatorSystem *systemPointer)
 set the system pointer
 
virtual EcBoolean setSpecifyControlTorqueFlags (const EcBooleanVectorVector &flags)=0
 set which control torques/inputs are specified and should NOT be computed in calculateControlTorques or calculateControlInputs methods. More...
 
virtual void controlTorqueFlags (EcBooleanVectorVector &flags)=0
 set which control torques/inputs are specified and should NOT be computed in calculateControlTorques or calculateControlInputs methods. More...
 
virtual void calculateControlTorques (const EcStatedSystem &statedSystem, const EcManipulatorSystemState &desiredState, EcManipulatorTorqueVector &manipulatorTorqueVector) const =0
 calculates control torques
 
virtual void calculateControlInputs (const EcStatedSystem &statedSystem, const EcManipulatorSystemState &desiredState, EcManipulatorControlInputVector &manipulatorControlInputVector) const =0
 calculates control inputs
 
virtual EcBoolean mergeWith (const EcBaseJointControllerSystem *pOther, const EcStatedSystem &otherStatedSystem)=0
 merge with another generic joint controller system
 
virtual EcBoolean exchangeWith (const EcU32 manipIndex, const EcU32 otherManipIndex, const EcSystemSimulation &otherSystemSim)=0
 Exchange with another generic joint controller system.
 
virtual EcBoolean combineManipulator (const EcStatedSystem &statedSystem, const EcU32 depManipIndex, const EcU32 baseManipIndex)=0
 combine manipulator
 
virtual EcBoolean sensorNoiseFlag () const =0
 gets the flag indicating whether or not sensor noise should be added.
 
virtual void setSensorNoiseFlag (EcBoolean value)=0
 sets the flag indicating whether or not sensor noise should be added.
 
virtual const EcBaseManipulatorJointControllerjointController (const EcU32 index)=0
 gets a joint controller
 
virtual EcU32 addJointController (const EcBaseManipulatorJointController &jointController)=0
 add a joint controller More...
 
virtual EcBoolean deleteJointController (const EcU32 index)=0
 
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
 
- Public Member Functions inherited from EcBaseExpressionTreeElement
 EcBaseExpressionTreeElement ()
 default constructor
 
 EcBaseExpressionTreeElement (const EcXmlBaseVariableCompoundType *containerPointer)
 constructor given container pointer
 
virtual ~EcBaseExpressionTreeElement ()
 destructor
 
 EcBaseExpressionTreeElement (const EcBaseExpressionTreeElement &orig)
 copy constructor
 
EcBaseExpressionTreeElementoperator= (const EcBaseExpressionTreeElement &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseExpressionTreeElement &orig) const
 equality operator
 
virtual const EcXmlBaseVariableCompoundTypecontainer () const
 gets the container
 
virtual void setContainer (const EcXmlBaseVariableCompoundType *container)
 sets the container
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
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 EcXmlObjectclone () const =0
 clone
 
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
 
virtual EcBoolean equality (const EcXmlObject *other) const =0
 equality - a virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const =0
 creates new object - a virtual new to an EcXmlObject pointer
 
virtual const EcTokentoken () const =0
 gets the xml token used for writing out.
 

Protected Attributes

const EcManipulatorSystemm_SystemPointer
 pointer to the manipulator system
 
- Protected Attributes inherited from EcBaseExpressionTreeElement
const EcXmlBaseVariableCompoundTypem_pContainer
 a pointer to the container
 
- 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

Holds a base class for joint controllers, which provides an interface for all joint controllers. It is initialized with a manipulator system, and then given an actual state and a desired state to use to calculate the joint torques.

Holds the base class for joint controllers. This provides the interface for the controllers. It is initialized with a manipulator system, and then given an actual state and a desired state to use to calculate the joint torques.

Definition at line 30 of file ecBaseJointControllerSys.h.

Member Function Documentation

virtual EcU32 EcBaseJointControllerSystem::addJointController ( const EcBaseManipulatorJointController jointController)
pure virtual

add a joint controller

Returns
The index of the newly added joint controller.

Implemented in EcJointControllerSystem.

virtual void EcBaseJointControllerSystem::controlTorqueFlags ( EcBooleanVectorVector flags)
pure virtual

set which control torques/inputs are specified and should NOT be computed in calculateControlTorques or calculateControlInputs methods.

Parameters
[in]flagsThe size of flags should be the same size as the number of manipulators in the system.
See also
EcBaseManipulatorJointController::setSpecifyControlTorqueFlags

Implemented in EcJointControllerSystem.

virtual EcBoolean EcBaseJointControllerSystem::deleteJointController ( const EcU32  index)
pure virtual

delete a joint controller at the given index

Parameters
[in]indexThe index of the joint controller to delete.
Returns
EcBoolean Success or failure of the command.

Implemented in EcJointControllerSystem.

virtual EcBoolean EcBaseJointControllerSystem::setSpecifyControlTorqueFlags ( const EcBooleanVectorVector flags)
pure virtual

set which control torques/inputs are specified and should NOT be computed in calculateControlTorques or calculateControlInputs methods.

Parameters
[in]flagsThe size of flags should be the same size as the number of manipulators in the system.
See also
EcBaseManipulatorJointController::setSpecifyControlTorqueFlags

Implemented in EcJointControllerSystem.


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.