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

Filter for motion of the base of the robot TODO. More...

#include <ecBaseMotionFilter.h>

Inheritance diagram for EcBaseMotionFilter:
EcXmlCompoundType EcXmlObject EcGeneralMotionFilter EcPointMotionFilter EcRotationMotionFilter EcScalarMotionFilter

Public Types

enum  FilteringMode {
  PROPORTIONAL = 0,
  TRAPEZOIDAL = 1,
  THREEHALVES = 2,
  SCURVE = 3
}
 enumerations for the filtering mode
 
- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 

Public Member Functions

 EcBaseMotionFilter ()
 default constructor
 
virtual ~EcBaseMotionFilter ()
 destructor
 
 EcBaseMotionFilter (const EcBaseMotionFilter &orig)
 copy constructor
 
EcBaseMotionFilteroperator= (const EcBaseMotionFilter &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseMotionFilter &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 EcU32 filteringMode () const
 
virtual void setFilteringMode (EcU32 filteringMode)
 
virtual EcReal exponent () const
 
virtual void setExponent (EcReal exponent)
 
virtual EcReal speedFactor () const
 
virtual void setSpeedFactor (EcReal value)
 
virtual EcReal accelerationFactor () const
 
virtual void setAccelerationFactor (EcReal value)
 
virtual EcBoolean filteringActive () const
 
virtual void setFilteringActive (EcBoolean value)
 returns whether filtering is active.
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream
 
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 write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to 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

EcXmlEnumU32 m_FilteringMode
 the filtering mode
 
EcXmlReal m_Exponent
 the exponent
 
EcReal m_SpeedFactor
 the speed factor
 
EcReal m_AccelerationFactor
 the acceleration factor, also used for deceleration and jerk
 
EcBoolean m_FilteringActive
 Flag indicating whether filtering is actvie.
 
- 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

- 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

Filter for motion of the base of the robot TODO.

Holds a description of a scalar-motion filter system.

Definition at line 17 of file ecBaseMotionFilter.h.

Member Function Documentation

virtual EcReal EcBaseMotionFilter::accelerationFactor ( ) const
virtual

get the speed factor. This factor is multiplied with the acceleration/deceleration and jerk thresholds.

Returns
(EcReal) The acceleration factor
virtual EcReal EcBaseMotionFilter::exponent ( ) const
virtual

gets the exponent

Returns
(EcReal) The exponent value
virtual EcBoolean EcBaseMotionFilter::filteringActive ( ) const
virtual

returns whether filtering is active. If it is, then the velocity will be filtered according to the filtering mode. If not, then the velocity will be computed such that the returned velocity will result in the goal is accomplished in one step.

virtual EcU32 EcBaseMotionFilter::filteringMode ( ) const
virtual

gets the filtering mode

Returns
The filtering method
virtual void EcBaseMotionFilter::setAccelerationFactor ( EcReal  value)
virtual

set the acceleration factor. Must be positive. param[in] value (EcReal) value to set

virtual void EcBaseMotionFilter::setExponent ( EcReal  exponent)
virtual

sets the exponent

Parameters
[in]exponent(EcReal) value to set, (Must be between 0 and 1 inclusive)
virtual void EcBaseMotionFilter::setFilteringMode ( EcU32  filteringMode)
virtual

sets the filtering mode

Parameters
[in]filteringMode(EcU32) value to set
virtual void EcBaseMotionFilter::setSpeedFactor ( EcReal  value)
virtual

set the speed factor. Must be positive. param[in] value (EcReal) value to set

virtual EcReal EcBaseMotionFilter::speedFactor ( ) const
virtual

get the speed factor. This factor is multiplied with the velocity threshold, thus allowing the end-effector speed to be adjusted at run-time.

Returns
(EcReal) The speed factor

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.