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

Base control system modifier. More...

#include <ecBaseControlSystemModifier.h>

Inheritance diagram for EcBaseControlSystemModifier:
EcControlSystemExecutiveModifier EcControlSystemPluginModifier

Public Member Functions

virtual ~EcBaseControlSystemModifier ()
 destructor
 
virtual EcBoolean getSystemControlExecutive (EcSystemControlExecutive &systemControlExecutive, EcFoundCommon::DeepCopyFlag copyFlag=EcFoundCommon::CopyNone) const
 get the system control executive
 
virtual void setIsPositionControlSystemOn (const EcBoolean isOn)=0
 sets a flag indicating whether or not the position control system is on More...
 
virtual EcBoolean setIsPositionControllerOn (const EcU32 manipIndex, const EcBoolean isOn)=0
 sets a flag indicating whether or not the position controller is on More...
 
virtual EcReal timeStep () const =0
 gets the time step More...
 
virtual void setTimeStep (const EcReal value)=0
 sets the time step More...
 
virtual EcU32 numberOfManipulators () const =0
 return the number of manipulators More...
 
virtual EcBoolean getManipulatorIndex (const EcString &label, EcU32 &manipIndex) const =0
 Get the index of a manipulator given its label. More...
 
virtual EcBoolean getLinkIndex (const EcU32 manipIndex, const EcString &linkLabel, EcU32 &linkIndex) const =0
 Get the index of a link given manipulator index and link label.
 
virtual EcBoolean getManipulatorJointDof (const EcU32 manipIndex, EcU32 &numJoints) const =0
 Get the number of joints a manipulator has. More...
 
virtual EcBoolean getJointActuator (const EcU32 manipIndex, const EcU32 linkIndex, EcJointActuator &jointActuator) const =0
 Get the joint actuator object for a specified manipulator-link. More...
 
virtual EcBoolean setJointActuator (const EcU32 manipIndex, const EcU32 linkIndex, const EcJointActuator &jointActuator)=0
 Set the joint actuator object for a specified manipulator-link. More...
 
virtual EcBoolean setBaseSpeedFactor (const EcU32 manipIndex, const EcReal baseSpeedFactor)=0
 
virtual EcBoolean getBaseSpeedFactor (const EcU32 manipIndex, EcReal &baseSpeedFactor) const =0
 Gets the base speed factor. More...
 
virtual EcBoolean setBaseAccelerationFactor (const EcU32 manipIndex, const EcReal baseAccelerationFactor)=0
 
virtual EcBoolean getBaseAccelerationFactor (const EcU32 manipIndex, EcReal &baseAccelerationFactor) const =0
 Gets the base acceleration factor. More...
 
virtual EcBoolean setControlMode (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcU32 mode)=0
 Sets the control mode of an end-effector by index. More...
 
virtual EcU32 activeEndEffectorSetIndex (const EcU32 manipIndex) const =0
 Get active end-effector set index. More...
 
virtual EcBoolean setActiveEndEffectorSetIndex (const EcU32 manipIndex, const EcU32 eeSetIndex)=0
 set the active control method More...
 
virtual EcBoolean setActiveControlDescriptionIndex (const EcU32 manipIndex, const EcU32 controlDescriptionIndex)=0
 sets the active control description of a manipulator by index More...
 
virtual EcBoolean setActivePositionControlMethodIndex (const EcU32 manipIndex, const EcU32 controlMethodIndex)=0
 set the active control method More...
 
virtual EcBoolean setJointMotionLimits (const EcU32 manipIndex, const EcRealVector &maxVel, const EcRealVector &maxAcc, const EcRealVector &maxDec, const EcRealVector &maxJerk, const EcU32 eeSetIndex)=0
 Set joint motion limits. More...
 
virtual EcBoolean setLinearMotionLimits (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal maxVel, const EcReal maxAcc, const EcReal maxDec, const EcReal maxJerk)=0
 Set move pose linear motion limits. More...
 
virtual EcBoolean setAngularMotionLimits (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal maxVel, const EcReal maxAcc, const EcReal maxDec, const EcReal maxJerk)=0
 Set move pose angular motion limits. More...
 
virtual EcBoolean setFilteringMode (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcU32 value)=0
 Set filtering mode (velocity profile). More...
 
virtual EcBoolean setIsHardConstraint (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcBoolean value)=0
 Set is hard constraint flag. More...
 
virtual EcBoolean getJointRateFilterRates (const EcU32 manipIndex, EcRealVector &jointRates, EcBoolean &useControlParam) const =0
 Get the control parameters or joint rate filter rates of a given manipulator. More...
 
virtual EcBoolean setJointRateFilterRates (const EcU32 manipIndex, const EcRealVector &jointRates, const EcBoolean useControlParam)=0
 Set the control parameters or joint rate filter rates of a given manipulator. More...
 
virtual EcBoolean setSpeedFactor (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal value)=0
 
virtual EcBoolean setAccelerationFactor (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal value)=0
 
virtual const EcManipulatorEndEffectorPlacementVectordesiredPlacementVector () const =0
 Get desired placement (in relative) for the active end-effector set for all manipulators.
 
virtual void setDesiredPlacementVector (const EcManipulatorEndEffectorPlacementVector &value)=0
 set desired placement (in relative) for the active end-effector set for all manipulators.
 
virtual EcBoolean setDesiredPlacement (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcManipulatorEndEffectorPlacement &desiredPlacement)=0
 sets an individual desired end-effector placement More...
 
virtual EcBoolean setDesiredPlacement (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcEndEffectorPlacement &placementInRelative)=0
 Sets an individual desired end-effector placement (in relative). More...
 
virtual EcBoolean setDesiredVelocity (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcManipulatorEndEffectorVelocity &value)=0
 sets an individual desired end-effector velocity More...
 
virtual EcBoolean setDesiredVelocity (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcXmlRealVector &velocity)=0
 sets an individual desired end-effector velocity More...
 
virtual const EcManipulatorEndEffectorPlacementVectoractualPlacementVector () const =0
 
virtual EcBoolean calculateActualEePlacement (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, EcEndEffectorPlacement &placementInRelative) const =0
 Calculate actual end-effector placement (in relative) for any end-effector set. More...
 
virtual EcBoolean calculateActualEeVelocity (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, EcXmlRealVector &velocity) const =0
 Calculate actual end-effector velocity for any end-effector set. More...
 
virtual EcBoolean calculateActualEeAcceleration (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, const EcAccelerationState *pAccelerationState, EcXmlRealVector &accleration) const =0
 Calculate actual end-effector acceleration for any end-effector set. More...
 
virtual const EcEndEffectorSetendEffectorSet (const EcU32 manipIndex, const EcU32 eeSetIndex) const =0
 Get the end-effector set given manipulator index and end-effector set index. More...
 
virtual void setGravityVector (const EcVector &gravity)=0
 Set the gravity vector (m/s^2) in system coordinates. More...
 
virtual const EcManipulatorSystemStatemanipulatorSystemState () const =0
 gets the state More...
 
virtual void setCurrentState (const EcManipulatorSystemState &state)=0
 sets the current state of the system without re-initializing More...
 
virtual EcBoolean setSensedState (const EcU32 manipIndex, const EcCoordinateSystemTransformation *pBase, const EcRealVector *pJoints, const EcReal timestep=0.0)=0
 Feed back the externally sensed position state to the position controller. More...
 
virtual const EcPropagationResultDataVectorpropagationResultDataVector () const =0
 get the result of collision for display More...
 
virtual EcBoolean setToolOffset (const EcU32 manipIndex, const EcU32 toolIndex, const EcCoordinateSystemTransformation &value)=0
 
virtual EcBoolean setToolOffset (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcCoordinateSystemTransformation &value)=0
 
virtual EcBoolean getToolOffset (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, EcCoordinateSystemTransformation &value) const =0
 Get the tool offset (in link primary frame). More...
 
virtual EcBoolean getToolOffset (const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, EcBoolean &useToolOffset, EcCoordinateSystemTransformation &value) const
 Get the tool offset (in EE frame). More...
 
virtual EcBoolean calculatePrimaryFrameInSystem (const EcU32 manipIndex, const EcU32 linkIndex, const EcPositionState *pPositionState, EcCoordinateSystemTransformation &primaryFrameInSys) const =0
 Calculate the primary frame in system. More...
 
virtual EcBoolean calculatePrimaryFrameAccelerationInSystem (const EcU32 manipIndex, const EcU32 linkIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, const EcAccelerationState *pAccelerationState, EcGeneralAcceleration &pfAccelerationInSystem) const =0
 Calculate the primary frame in system. More...
 
virtual EcBoolean getNamedFrame (const EcString &key, EcCoordinateSystemTransformation &value) const =0
 get named frame from manipulator system
 
virtual EcBoolean getNamedFrame (const EcU32 manipIndex, const EcU32 linkIndex, const EcString &key, EcCoordinateSystemTransformation &value) const =0
 get named frame from manipulator
 
virtual EcBoolean getFeedbackAssimilationRate (const EcU32 manipIndex, EcReal &value) const =0
 get default feedback assimilation rate for a given manipulator
 
virtual EcBoolean setFeedbackAssimilationRate (const EcU32 manipIndex, const EcReal &value)=0
 set default feedback assimilation rate for a given manipulator
 
virtual EcBoolean attachManipulator (const EcU32 depManipIndex, const EcU32 baseManipIndex, const EcU32 baseLinkIndex, const EcCoordinateSystemTransformation &offset)=0
 Attach the base link of one manipulator onto a link of another manipulator. More...
 
virtual EcBoolean detachManipulator (const EcU32 depManipIndex)=0
 detach manipulator
 
virtual EcBoolean excludeCollisionCheck (const EcU32 manipIndex, const EcU32 *pLinkIndex, const EcU32 otherManipIndex, const EcU32Vector *pOtherLinkIndices, const EcBoolean isExcluding)=0
 Exclude/include collision check in the dynamic collision exclusion map. More...
 
virtual EcBoolean calculateTotalTorques (const EcU32 manipulatorIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, const EcAccelerationState *pAccelerationState, const EcManipulatorExternalForce *pExternalForces, EcRealVector &torques)=0
 calculate and return joint torques based on the selected calculation type. More...
 
virtual EcBoolean calculatePowerConverterOutputs (const EcU32 manipulatorIndex, const EcRealVectorVector &powerConverterInputs, EcRealVector &outputs)=0
 calculate and return joint power converter ouput (force or torque) based on the given inputs. See EcBasePowerConverter::outputTorque More...
 
virtual EcBoolean getDeterminant (const EcU32 manipIndex, EcReal &value) const =0
 get determinant of the Jacobian of the current end effector set
 
virtual EcBoolean calculateJacobian (const EcU32 manipIndex, const EcU32 linkIndex, const EcString *pNamedFrameName, const EcVector &point, const EcPositionState *pPositionState, EcManipulatorJacobian &jacobian) const =0
 Calculate Jacobian given a point on the link. More...
 
virtual EcBoolean getJointRateFilterScalingFactor (const EcU32 manipIndex, EcReal &scalingFactor) const =0
 get the joint rate filter scaling factor
 
virtual void setDigitalInputVector (const EcU32Vector &value)=0
 set digital input vector
 
virtual void setDigitalInput (const EcU32 index, const EcU32 &value)=0
 set digital input given board id
 
virtual EcBoolean getDigitalInput (const EcU32 index, EcU32 &value) const =0
 get digital input given board id
 
virtual void setDigitalOutputVector (const EcU32Vector &value)=0
 set digital output vector
 
virtual void setDigitalOutput (const EcU32 boardId, const EcU32 value)=0
 set digital output given board id
 
virtual EcBoolean setDigitalOutput (const EcU32 boardId, const EcU32 channelId, const EcBoolean value)=0
 Set digital output given board and channel id. More...
 
virtual EcBoolean getDigitalOutput (const EcU32 index, EcU32 &value) const =0
 get digital output given board id
 
virtual const EcDataMapdataMap () const =0
 get the data map
 
virtual void setDataMap (const EcString &key, const EcU32 value)=0
 set U32 data map
 
virtual void setDataMap (const EcString &key, const EcXmlU32Vector &value)=0
 set U32 vector data map
 
virtual void setDataMap (const EcString &key, const EcReal value)=0
 set real data map
 
virtual void setDataMap (const EcString &key, const EcXmlRealVector &value)=0
 set real data map
 
virtual void setDataMap (const EcString &key, const EcString &value)=0
 set real data map
 
void setThreadWorker (const EcThreadWorkerSharedPtr pWorker)
 set the thread worker
 
const EcThreadWorkerSharedPtrthreadWorker () const
 get the thread worker
 

Protected Types

typedef boost::shared_ptr< EcTotalTorqueToolEcTotalTorqueToolPtr
 
typedef std::vector< EcTotalTorqueToolPtr > EcTotalTorqueToolPtrVector
 

Protected Member Functions

virtual EcBoolean getSystemControlExecutiveImpl (EcSystemControlExecutive &systemControlExecutive, EcFoundCommon::DeepCopyFlag copyFlag) const =0
 get the system control executive
 
virtual EcBoolean resizeTotalTorqueTools (const EcU32 manipIndex) const
 Resize the total torque tool vector given the manipulator index. More...
 
virtual EcBoolean calculateTotalTorques (const EcU32 manipIndex, const EcStatedSystem &statedSystem, const EcPositionState *positionState, const EcVelocityState *velocityState, const EcAccelerationState *accelerationState, const EcManipulatorExternalForce *pExternalForces, EcRealVector &torques) const
 calculate and return joint torques based on the selected calculation type. This can include: More...
 
virtual EcBoolean calculatePowerConverterOutputs (const EcU32 manipulatorIndex, const EcStatedSystem &statedSystem, const EcRealVectorVector &powerConverterInputs, EcRealVector &outputs)
 calculate and return joint power converter ouput (force or torque) based on the given inputs. See EcBasePowerConverter::outputTorque More...
 
virtual EcBoolean setJointMotionLimits (EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcRealVector &maxVel, const EcRealVector &maxAcc, const EcRealVector &maxDec, const EcRealVector &maxJerk, const EcU32 eeSetIndex)
 set joint motion limits
 
virtual EcBoolean setLinearMotionLimits (EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal maxVel, const EcReal maxAcc, const EcReal maxDec, const EcReal maxJerk)
 set linear motion limits
 
virtual EcBoolean setAngularMotionLimits (EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcReal maxVel, const EcReal maxAcc, const EcReal maxDec, const EcReal maxJerk)
 set angular motion limits
 
virtual EcBoolean setFilteringMode (EcPositionControlSystem &posContSystem, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcU32 value)
 set filtering mode
 
virtual EcBoolean getJointRateFilterRates (const EcPositionControlSystem &posContSystem, const EcU32 manipIndex, EcRealVector &jointRates, EcBoolean &useControlParam) const
 get control parameters or joint rate filter rates of a given manipulator
 
virtual EcBoolean setJointRateFilterRates (EcPositionControlSystem &posContSystem, const EcU32 manipIndex, const EcRealVector &jointRates, const EcBoolean useControlParam)
 set control parameters or joint rate filter rates of a given manipulator
 
virtual EcBoolean getJointRateFilterScalingFactor (const EcPositionControlSystem &posContSystem, const EcU32 manipIndex, EcReal &scalingFactor) const
 get the joint rate filter scaling factor
 
virtual EcBoolean calculateJacobian (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 linkIndex, const EcString *pNamedFrameName, const EcVector &point, const EcPositionState *pPositionState, EcManipulatorJacobian &jacobian) const
 calculate Jacobian
 
virtual EcBoolean calculatePrimaryFrameInSystem (const EcStatedSystem &statedSystem, const EcU32 manipIndex, const EcU32 linkIndex, const EcPositionState *pPositionState, EcCoordinateSystemTransformation &primaryFrameInSys) const
 calculate the primary frame in system
 
virtual EcBoolean calculatePrimaryFrameAccelerationInSystem (const EcStatedSystem &statedSystem, const EcU32 manipIndex, const EcU32 linkIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, const EcAccelerationState *pAccelerationState, EcGeneralAcceleration &pfAccelerationInSystem) const
 calculate primary frame acceleration in system
 
virtual EcBoolean calculateActualEePlacement (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, EcEndEffectorPlacement &placementInRelative) const
 calculate actual end-effector placement (in relative) given actual position state
 
virtual EcBoolean calculateActualEeSetPlacement (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcPositionState *pPositionState, EcManipulatorEndEffectorPlacement &placement) const
 calculate actual end-effector set placement (in relative) given actual position state
 
virtual EcBoolean calculateActualEeVelocity (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, EcXmlRealVector &velocity) const
 calculate actual end-effector velocity given actual position and velocity states
 
virtual EcBoolean calculateActualEeAcceleration (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, const EcAccelerationState *pAccelerationState, EcXmlRealVector &acceleration) const
 calculate actual end-effector acceleration
 
virtual EcBoolean calculateActualEeSetVelocity (const EcSystemControlExecutive &sce, const EcU32 manipIndex, const EcU32 eeSetIndex, const EcPositionState *pPositionState, const EcVelocityState *pVelocityState, EcManipulatorEndEffectorVelocity &velocity) const
 calculate actual end-effector set velocity given actual position and velocity states
 
virtual EcBoolean getFeedbackAssimilationRate (const EcPositionControlSystem &posContSystem, const EcU32 manipIndex, EcReal &value) const
 get default feedback assimilation rate for a given manipulator
 
virtual EcBoolean setFeedbackAssimilationRate (EcPositionControlSystem &posContSystem, const EcU32 manipIndex, const EcReal &value)
 set default feedback assimilation rate for a given manipulator
 
virtual EcBoolean excludeCollisionCheck (EcSystemCollisionExclusionMap &dynamicMap, const EcStatedSystem &statedSystem, const EcU32 manipIndex, const EcU32 *pLinkIndex, const EcU32 otherManipIndex, const EcU32Vector *pOtherLinkIndices, const EcBoolean isExcluding)
 Exclude/include collision check in the dynamic collision exclusion map. More...
 

Protected Attributes

EcThreadWorkerSharedPtr m_pThreadWorker
 
EcTotalTorqueToolPtrVector m_vTotalTorqueTools
 a vector of torque tools (one per manipulator)
 
EcManipulatorExternalForce m_TheNullExternalForce
 the null external force
 

Detailed Description

Base control system modifier.

Definition at line 27 of file ecBaseControlSystemModifier.h.

Member Function Documentation

virtual EcU32 EcBaseControlSystemModifier::activeEndEffectorSetIndex ( const EcU32  manipIndex) const
pure virtual

Get active end-effector set index.

Parameters
[in]manipIndexthe manipulator index
Returns
Active end-effector set index. EcFoundCommon::VOIDINDEX if manipIndex is invalid.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual const EcManipulatorEndEffectorPlacementVector& EcBaseControlSystemModifier::actualPlacementVector ( ) const
pure virtual

gets the actual end-effector placements

Returns
current placement vector

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::attachManipulator ( const EcU32  depManipIndex,
const EcU32  baseManipIndex,
const EcU32  baseLinkIndex,
const EcCoordinateSystemTransformation offset 
)
pure virtual

Attach the base link of one manipulator onto a link of another manipulator.

Parameters
[in]depManipIndexThe index of the dependent manipulator.
[in]baseManipIndexThe index of the base manipulator.
[in]baseLinkIndexThe index of the base link.
Returns
True if successful or false otherwise.
See also
EcManipulatorAttachmentMap::attachManipulator

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateActualEeAcceleration ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcPositionState pPositionState,
const EcVelocityState pVelocityState,
const EcAccelerationState pAccelerationState,
EcXmlRealVector accleration 
) const
pure virtual

Calculate actual end-effector acceleration for any end-effector set.

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]pPositionStatethe position state. If NULL, will use internal position state.
[in]pVelocityStatethe velocity state. If NULL, will use internal velocity state.
[in]pAccelerationStatethe accleration state. If NULL, will use internal accleration state.
[out]acclerationactual EE accleration
Returns
if calculation is succeeded

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateActualEePlacement ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcPositionState pPositionState,
EcEndEffectorPlacement placementInRelative 
) const
pure virtual

Calculate actual end-effector placement (in relative) for any end-effector set.

See also
EcEndEffector::calculatePlacement
Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]pPositionStatethe position state. If NULL, will use internal position state.
[out]placementactual EE placement
Returns
if calculation is succeeded

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateActualEeVelocity ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcPositionState pPositionState,
const EcVelocityState pVelocityState,
EcXmlRealVector velocity 
) const
pure virtual

Calculate actual end-effector velocity for any end-effector set.

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]pPositionStatethe position state. If NULL, will use internal position state.
[in]pVelocityStatethe velocity state. If NULL, will use internal velocity state.
[out]velocityactual EE velocity
Returns
if calculation is succeeded

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateJacobian ( const EcU32  manipIndex,
const EcU32  linkIndex,
const EcString pNamedFrameName,
const EcVector point,
const EcPositionState pPositionState,
EcManipulatorJacobian jacobian 
) const
pure virtual

Calculate Jacobian given a point on the link.

This method calculates the 6*n Jacobian such that Vp = Jq_dot.

Parameters
[in]manipIndexthe manipulator index
[in]linkIndexthe link index
[in]pNamedFrameNameThe named frame name. If NULL, will use the primary frame.
[in]pointthe point relative to the primary frame or the named frame
[out]jacobianthe jacobian
Returns
Return true if manipIndex and linkLabel are valid.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculatePowerConverterOutputs ( const EcU32  manipulatorIndex,
const EcRealVectorVector powerConverterInputs,
EcRealVector outputs 
)
pure virtual

calculate and return joint power converter ouput (force or torque) based on the given inputs. See EcBasePowerConverter::outputTorque

Parameters
[in]manipIndexmanipulator index
[in]powerConverterInputsThe power converter inputs
[out]ouputsthe calculated output side forces or torques on all joints in N or N*m
Returns
True if successful. False if the manipulatorIndex is not valid.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculatePowerConverterOutputs ( const EcU32  manipulatorIndex,
const EcStatedSystem statedSystem,
const EcRealVectorVector powerConverterInputs,
EcRealVector outputs 
)
protectedvirtual

calculate and return joint power converter ouput (force or torque) based on the given inputs. See EcBasePowerConverter::outputTorque

Parameters
[in]manipIndexmanipulator index
[in]statedSystemthe stated system
[in]powerConverterInputsThe power converter inputs
[out]ouputsthe calculated output side forces or torques on all joints in N or N*m
Returns
True if successful. False if the control exectutive is not valid
virtual EcBoolean EcBaseControlSystemModifier::calculatePrimaryFrameAccelerationInSystem ( const EcU32  manipIndex,
const EcU32  linkIndex,
const EcPositionState pPositionState,
const EcVelocityState pVelocityState,
const EcAccelerationState pAccelerationState,
EcGeneralAcceleration pfAccelerationInSystem 
) const
pure virtual

Calculate the primary frame in system.

Parameters
[in]manipIndexthe manipulator index
[in]linkIndexthe link index
[in]pPositionStatethe position state. If NULL, will use internal position state.
[out]primaryFrameInSysthe primary frame in system
Returns
if calculation succeeded

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculatePrimaryFrameInSystem ( const EcU32  manipIndex,
const EcU32  linkIndex,
const EcPositionState pPositionState,
EcCoordinateSystemTransformation primaryFrameInSys 
) const
pure virtual

Calculate the primary frame in system.

Parameters
[in]manipIndexthe manipulator index
[in]linkIndexthe link index
[in]pPositionStatethe position state. If NULL, will use internal position state.
[out]primaryFrameInSysthe primary frame in system
Returns
if calculation succeeded

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateTotalTorques ( const EcU32  manipulatorIndex,
const EcPositionState pPositionState,
const EcVelocityState pVelocityState,
const EcAccelerationState pAccelerationState,
const EcManipulatorExternalForce pExternalForces,
EcRealVector torques 
)
pure virtual

calculate and return joint torques based on the selected calculation type.

Parameters
[in]manipIndexthe manipulator index
[in]positionStatethe position state of the manipulator
[in]velocityStatethe velocity state of the manipulator
[in]accelerationStatethe acceleration state of the manipulator
[in]pExternalForcesThe external forces on the manipulator links in link DH (local) frame. If NULL, will be treated as 0.
[out]torquesthe calculated torques on all joints in N*m
Returns
True if successful. False if the control executive is not valid

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::calculateTotalTorques ( const EcU32  manipIndex,
const EcStatedSystem statedSystem,
const EcPositionState positionState,
const EcVelocityState velocityState,
const EcAccelerationState accelerationState,
const EcManipulatorExternalForce pExternalForces,
EcRealVector torques 
) const
protectedvirtual

calculate and return joint torques based on the selected calculation type. This can include:

Parameters
[in]manipIndexmanipulator index
[in]statedSystemthe stated system
[in]positionStatethe position state of the manipulator
[in]velocityStatethe velocity state of the manipulator
[in]accelerationStatethe acceleration state of the manipulator
[in]pExternalForcesThe external forces on the manipulator links in link DH (local) frame. If NULL, will be treated as 0.
[out]torquesthe calculated torques on all joints in N*m
Returns
True if successful. False if the control executive is not valid
virtual const EcEndEffectorSet* EcBaseControlSystemModifier::endEffectorSet ( const EcU32  manipIndex,
const EcU32  eeSetIndex 
) const
pure virtual

Get the end-effector set given manipulator index and end-effector set index.

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end effector set index
Returns
A point the to end-effector set. Null if the indices are invalid.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::excludeCollisionCheck ( const EcU32  manipIndex,
const EcU32 pLinkIndex,
const EcU32  otherManipIndex,
const EcU32Vector pOtherLinkIndices,
const EcBoolean  isExcluding 
)
pure virtual

Exclude/include collision check in the dynamic collision exclusion map.

This method does not support self collision.

Parameters
[in]manipIndexthe index of this manipulator
[in]pLinkIndexThe index of the link. If NULL, will exclude the full manipulator
[in]otherManipIndexthe index of the other manipulator. If otherManipIndex is EcFoundCommon::VOIDINDEX, then this manipulator (provided by manipIndex) will be excluded with everything in the scene.
[in]pOtherLinkIndicesThe indices of the other links. If NULL, will exclude the full manipulator
[in]isExcludingis excluding or including
Returns
True if successful (the indices are valid) or false otherwise.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::excludeCollisionCheck ( EcSystemCollisionExclusionMap dynamicMap,
const EcStatedSystem statedSystem,
const EcU32  manipIndex,
const EcU32 pLinkIndex,
const EcU32  otherManipIndex,
const EcU32Vector pOtherLinkIndices,
const EcBoolean  isExcluding 
)
protectedvirtual

Exclude/include collision check in the dynamic collision exclusion map.

This method does not support self collision.

Parameters
[in]manipIndexthe index of this manipulator
[in]pLinkIndexThe index of the link. If NULL, will exclude the full manipulator
[in]otherManipIndexthe index of the other manipulator. If otherManipIndex is EcFoundCommon::VOIDINDEX, then this manipulator (provided by manipIndex) will be excluded with everything in the scene.
[in]pOtherLinkIndicesThe indices of the other links. If NULL, will exclude the full manipulator
[in]isExcludingis excluding or including
Returns
True if successful (the indices are valid) or false otherwise.
virtual EcBoolean EcBaseControlSystemModifier::getBaseAccelerationFactor ( const EcU32  manipIndex,
EcReal baseAccelerationFactor 
) const
pure virtual

Gets the base acceleration factor.

See also
setBaseAccelerationFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getBaseSpeedFactor ( const EcU32  manipIndex,
EcReal baseSpeedFactor 
) const
pure virtual

Gets the base speed factor.

See also
setBaseSpeedFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getJointActuator ( const EcU32  manipIndex,
const EcU32  linkIndex,
EcJointActuator jointActuator 
) const
pure virtual

Get the joint actuator object for a specified manipulator-link.

Parameters
[in]manipIndex,themanipulator index
[in]linkIndex,thelink index
[out]jointActuator,thejoint actuator
Returns
true if the manipulator-link is valid

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getJointRateFilterRates ( const EcU32  manipIndex,
EcRealVector jointRates,
EcBoolean useControlParam 
) const
pure virtual

Get the control parameters or joint rate filter rates of a given manipulator.

Parameters
[in]manipIndexthe manipulator index
[in]jointRatesthe control parameters or the joint rate filter rates
[in]useControlParamEcTrue(get control parameter) or EcFalse(get joint rate filter rates)
Returns
true if the get succeeds

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getManipulatorIndex ( const EcString label,
EcU32 manipIndex 
) const
pure virtual

Get the index of a manipulator given its label.

Parameters
[in]labelthe manipulator label
[out]manipIndexthe manipulator index
Returns
true if the label is found.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getManipulatorJointDof ( const EcU32  manipIndex,
EcU32 numJoints 
) const
pure virtual

Get the number of joints a manipulator has.

Parameters
manipIndex,themanipulator index
numJoints,thenumber of joints the manipulator has
Returns
true if the manipulator index is valid

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::getToolOffset ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
EcCoordinateSystemTransformation value 
) const
pure virtual

Get the tool offset (in link primary frame).

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[out]valuethe tool offset (in link primary frame)
Returns
True if the indices are valid.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::getToolOffset ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
EcBoolean useToolOffset,
EcCoordinateSystemTransformation value 
) const
virtual

Get the tool offset (in EE frame).

virtual const EcManipulatorSystemState& EcBaseControlSystemModifier::manipulatorSystemState ( ) const
pure virtual
virtual EcU32 EcBaseControlSystemModifier::numberOfManipulators ( ) const
pure virtual

return the number of manipulators

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual const EcPropagationResultDataVector& EcBaseControlSystemModifier::propagationResultDataVector ( ) const
pure virtual

get the result of collision for display

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::resizeTotalTorqueTools ( const EcU32  manipIndex) const
protectedvirtual

Resize the total torque tool vector given the manipulator index.

Parameters
[in]manipIndexmanipulator index
Returns
True if the manipulator index is valid.
virtual EcBoolean EcBaseControlSystemModifier::setAccelerationFactor ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcReal  value 
)
pure virtual

sets the acceleration factor of the controller for the manipulator specified by manipIndex. Returns false if manipIndex is invalid or true otherwise.

See also
EcVelocityController::setAccelerationFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setActiveControlDescriptionIndex ( const EcU32  manipIndex,
const EcU32  controlDescriptionIndex 
)
pure 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.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setActiveEndEffectorSetIndex ( const EcU32  manipIndex,
const EcU32  eeSetIndex 
)
pure virtual

set the active control method

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setActivePositionControlMethodIndex ( const EcU32  manipIndex,
const EcU32  controlMethodIndex 
)
pure virtual

set the active control method

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setAngularMotionLimits ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcReal  maxVel,
const EcReal  maxAcc,
const EcReal  maxDec,
const EcReal  maxJerk 
)
pure virtual

Set move pose angular motion limits.

Parameters
[in]manipIndexthe manipulator index
[in]maxVelthe max speed
[in]maxAccthe max acceleration
[in]maxDecthe max deceleration
[in]maxJerkthe max jerk
[in]eeSetIndexthe end effector set index
[in]eeIndexthe end effector index
Returns
if the motion limit is set

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setBaseAccelerationFactor ( const EcU32  manipIndex,
const EcReal  baseAccelerationFactor 
)
pure virtual

sets the base acceleration factor of the controller for the manipulator specified by manipIndex. Returns false if manipIndex is invalid or true otherwise.

See also
EcVelocityController::setAccelerationFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setBaseSpeedFactor ( const EcU32  manipIndex,
const EcReal  baseSpeedFactor 
)
pure virtual

sets the base speed factor of the controller for the manipulator specified by manipIndex. Returns false if manipIndex is invalid or true otherwise.

See also
EcVelocityController::setBaseSpeedFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setControlMode ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcU32  mode 
)
pure virtual

Sets the control mode of an end-effector by index.

Parameters
[in]manipIndexThe index of the manipulator to which the control mode will be set.
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]modeThe control mode (EcEndEffector::ControlMode) to be set.
Returns
True if successful or false if an index is out of range.
See also
EcVelocityController::setControlMode

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual void EcBaseControlSystemModifier::setCurrentState ( const EcManipulatorSystemState state)
pure virtual

sets the current state of the system without re-initializing

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::setDesiredPlacement ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcManipulatorEndEffectorPlacement desiredPlacement 
)
pure virtual

sets an individual desired end-effector placement

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setDesiredPlacement ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcEndEffectorPlacement placementInRelative 
)
pure virtual

Sets an individual desired end-effector placement (in relative).

The method will also change the active end-effector set.

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]placementInRelativecommanded placement for one end-effector in the primary frame of the end-effector's relative link. If the end-effector is not relative, then it's the placement in the system coordinates.
Returns
True if the indices are valid.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setDesiredVelocity ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcManipulatorEndEffectorVelocity value 
)
pure virtual

sets an individual desired end-effector velocity

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setDesiredVelocity ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcXmlRealVector velocity 
)
pure virtual

sets an individual desired end-effector velocity

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setDigitalOutput ( const EcU32  boardId,
const EcU32  channelId,
const EcBoolean  value 
)
pure virtual

Set digital output given board and channel id.

Parameters
[in]boardIdthe board ID
[in]channelIdthe channel ID. Must be between 0~31.
[in]valuethe value. Either low (false) or high (true).
Returns
if the channel ID is valid

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::setFilteringMode ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcU32  value 
)
pure virtual

Set filtering mode (velocity profile).

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]valuethe filtering mode. See EcBaseMotionFilter::FilteringMode
Returns
True if the indices are valid.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual void EcBaseControlSystemModifier::setGravityVector ( const EcVector gravity)
pure virtual

Set the gravity vector (m/s^2) in system coordinates.

If the world z axis points up, on Earth, this vector should be [0, 0, -9.8]

Parameters
[in]gravitythe gravity vector

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::setIsHardConstraint ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcBoolean  value 
)
pure virtual

Set is hard constraint flag.

The method does nothing if the flag does not change.

Parameters
[in]manipIndexthe manipulator index
[in]eeSetIndexthe end-effector set index
[in]eeIndexthe end-effector index
[in]valuetrue if hard constraint, false if soft constraint
Returns
True if the indices are valid.

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setIsPositionControllerOn ( const EcU32  manipIndex,
const EcBoolean  isOn 
)
pure virtual

sets a flag indicating whether or not the position controller is on

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual void EcBaseControlSystemModifier::setIsPositionControlSystemOn ( const EcBoolean  isOn)
pure virtual

sets a flag indicating whether or not the position control system is on

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setJointActuator ( const EcU32  manipIndex,
const EcU32  linkIndex,
const EcJointActuator jointActuator 
)
pure virtual

Set the joint actuator object for a specified manipulator-link.

Parameters
[in]manipIndex,themanipulator index
[in]linkIndex,thelink index
[in]jointActuator,thejoint actuator
Returns
true if the manipulator-link is valid

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setJointMotionLimits ( const EcU32  manipIndex,
const EcRealVector maxVel,
const EcRealVector maxAcc,
const EcRealVector maxDec,
const EcRealVector maxJerk,
const EcU32  eeSetIndex 
)
pure virtual

Set joint motion limits.

Parameters
[in]manipIndexthe manipulator index
[in]maxVelthe max speed
[in]maxAccthe max acceleration
[in]maxDecthe max deceleration
[in]maxJerkthe max jerk
[in]eeSetIndexthe end effector set index. The first end-effector in the set must be joint control, or the method will fail.
Returns
if the motion limit is set

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setJointRateFilterRates ( const EcU32  manipIndex,
const EcRealVector jointRates,
const EcBoolean  useControlParam 
)
pure virtual

Set the control parameters or joint rate filter rates of a given manipulator.

Parameters
[in]manipIndexthe manipulator index
[in]jointRatesthe control parameters or the joint rate filter rates
[in]useControlParamEcTrue(set control parameter) or EcFalse(set joint rate filter rates)
Returns
true if the set succeeds

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setLinearMotionLimits ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcReal  maxVel,
const EcReal  maxAcc,
const EcReal  maxDec,
const EcReal  maxJerk 
)
pure virtual

Set move pose linear motion limits.

Parameters
[in]manipIndexthe manipulator index
[in]maxVelthe max speed
[in]maxAccthe max acceleration
[in]maxDecthe max deceleration
[in]maxJerkthe max jerk
[in]eeSetIndexthe end effector set index
[in]eeIndexthe end effector index
Returns
if the motion limit is set

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setSensedState ( const EcU32  manipIndex,
const EcCoordinateSystemTransformation pBase,
const EcRealVector pJoints,
const EcReal  timestep = 0.0 
)
pure virtual

Feed back the externally sensed position state to the position controller.

The method does not change desired end-effector placement.

Parameters
[in]manipIndexThe manipulator index.
[in]pBaseThe base pose. Will not be set if NULL.
[in]pJointsThe joint positions. Will not be set if NULL.
[in]timestepThe timestep. It is only used when the position controller is ON.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::setSpeedFactor ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcReal  value 
)
pure virtual

sets the speed factor of the controller for the manipulator specified by manipIndex. Returns false if manipIndex is invalid or true otherwise.

See also
EcVelocityController::setSpeedFactor

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual void EcBaseControlSystemModifier::setTimeStep ( const EcReal  value)
pure virtual

sets the time step

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.

virtual EcBoolean EcBaseControlSystemModifier::setToolOffset ( const EcU32  manipIndex,
const EcU32  toolIndex,
const EcCoordinateSystemTransformation value 
)
pure virtual

set the tool offset for a given tool index for a given manipulator. Returns false if manipIndex or toolIndex is invalid or true otherwise.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcBoolean EcBaseControlSystemModifier::setToolOffset ( const EcU32  manipIndex,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
const EcCoordinateSystemTransformation value 
)
pure virtual

set the tool offset for a given tool index for a given manipulator. Returns false if manipIndex or toolIndex is invalid or true otherwise.

Implemented in EcControlSystemExecutiveModifier, and EcControlSystemPluginModifier.

virtual EcReal EcBaseControlSystemModifier::timeStep ( ) const
pure virtual

gets the time step

Implemented in EcControlSystemPluginModifier, and EcControlSystemExecutiveModifier.


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