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

Holds a control-system-based mathematical expression. This class inherits from EcExpressionContainer, and adds a pointer to an individual manipulator, an end effector, a desired end-effector velocity, and a time step. More...

#include <ecContExpContainer.h>

Inheritance diagram for EcControlExpressionContainer:
EcExpressionContainer EcBaseExpressionTreeContainer< ExpressionType > EcXmlBaseVariableCompoundType EcXmlObject

Public Member Functions

 EcControlExpressionContainer ()
 default constructor
 
virtual ~EcControlExpressionContainer ()
 destructor
 
 EcControlExpressionContainer (const EcControlExpressionContainer &orig)
 
EcControlExpressionContaineroperator= (const EcControlExpressionContainer &orig)
 
EcBoolean operator== (const EcControlExpressionContainer &orig) const
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 
virtual const EcTokentoken () const EC_OVERRIDE
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 
virtual void registerComponentCreators () EC_OVERRIDE
 register all component creators
 
virtual const EcIndividualManipulatorindividualManipulator () const
 
virtual void setIndividualManipulator (const EcIndividualManipulator *individualManipulator)
 
virtual const EcEndEffectorSetendEffectorSet () const
 
virtual void setEndEffectorSet (const EcEndEffectorSet *endEffectorSet)
 
virtual EcBoolean isFixedBase () const
 
virtual void setIsFixedBase (EcBoolean isFixedBase=EcTrue)
 
virtual const EcPositionStatepositionState () const
 
virtual void setPositionState (const EcPositionState *positionState)
 
virtual const EcManipulatorEndEffectorVelocitydesiredEndEffectorVelocity () const
 
virtual void setDesiredEndEffectorVelocity (const EcManipulatorEndEffectorVelocity *desiredEndEffectorVelocity)
 
virtual EcReal timeStep () const
 
virtual void setTimeStep (EcReal timeStep)
 
virtual const EcVelocityControlSystemvelocityControlSystem () const
 
virtual void setVelocityControlSystem (const EcVelocityControlSystem *value)
 
virtual EcSystemActiveStatesystemActiveState () const
 
virtual void setSystemActiveState (EcSystemActiveState *value)
 
virtual const EcVelocityControllervelocityController () const
 
virtual void setVelocityController (const EcVelocityController *value)
 
virtual const EcDataMapdataMap () const
 
virtual void setDataMap (const EcDataMap *dataMap)
 
virtual EcCoreResultcoreResult () const
 
virtual EcU32 index () const
 
virtual void setIndex (EcU32 index)
 
virtual const EcStatedSystemsystem () const
 
virtual void setSystem (const EcStatedSystem *system)
 
virtual EcJacobianStatejacobianState () const
 
virtual void setJacobianState (EcJacobianState *jacobian)
 
virtual EcPropagationResultDatapropagationResultData () const
 
virtual void setPropagationResultData (EcPropagationResultData *value)
 
- Public Member Functions inherited from EcExpressionContainer
 EcExpressionContainer ()
 default constructor
 
virtual ~EcExpressionContainer ()
 destructor
 
 EcExpressionContainer (const EcExpressionContainer &orig)
 copy constructor
 
EcExpressionContaineroperator= (const EcExpressionContainer &orig)
 assignment operator
 
EcBoolean operator== (const EcExpressionContainer &orig) const
 equality operator
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write this object to an XML stream
 
virtual void setContainer (const EcXmlBaseVariableCompoundType *container)
 
virtual const EcVelocityControlDatavalue () const
 return the calculated value
 
- Public Member Functions inherited from EcBaseExpressionTreeContainer< ExpressionType >
 ECDECLARE_BIGFOUR (EcBaseExpressionTreeContainer)
 
virtual const ExpressionType * topElement () const
 gets a pointer to the top expression (const)
 
virtual ExpressionType * topElement ()
 gets a pointer to the top expression (nonconst)
 
virtual void setTopElement (const ExpressionType &topElement)
 sets the top expression through a copy
 
virtual void setAndDeleteTopElementPointer (ExpressionType *pTopElement)
 
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 EcXmlBaseVariableCompoundType
 ECDECLARE_BIGFOUR (EcXmlBaseVariableCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xml-initialize
 
virtual void registerComponentCreator (const EcToken &token, EcXmlObjectCreator creator)
 register a single optional component
 
virtual EcXmlObjectnewObjectFromToken (const EcToken &token) const
 create a new object from its token
 
virtual const EcXmlStringVectoraddLibraries () const
 gets the library names (minus extension)
 
virtual void setAddLibraries (const EcXmlStringVector &addLibraries)
 sets the library names (minus extension)
 
virtual const EcXmlCreatorMapcreatorMap () const
 gets the creator map
 
- 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 EcControlExpressionContainer nullObject ()
 
- Static Public Member Functions inherited from EcExpressionContainer
static EcExpressionContainer nullObject ()
 get a null object
 

Protected Attributes

const EcStatedSystemm_pSystem
 a pointer to a stated system
 
const EcIndividualManipulatorm_pIndividualManipulator
 a pointer to an individual manipulator
 
const EcPositionStatem_pPositionState
 a pointer to an position state
 
const EcEndEffectorSetm_pEndEffectorSet
 a pointer to an end-effector set
 
EcBoolean m_IsFixedBase
 a flag indicating that the base is floating
 
const EcManipulatorEndEffectorVelocitym_pDesiredEndEffectorVelocity
 a pointer to a desired end-effector velocity
 
EcReal m_TimeStep
 a time step
 
const EcVelocityControlSystemm_pVelocityControlSystem
 a pointer to the parent control system
 
EcSystemActiveStatem_pSystemActiveState
 a pointer to a system active state
 
const EcVelocityControllerm_pVelocityController
 a pointer to the parent controller
 
const EcDataMapm_pDataMap
 a pointer to the data map used to support control configuration
 
EcU32 m_Index
 an index for use with the velocity control system
 
EcJacobianStatem_pJacobianState
 a pointer to the Jacobian state
 
EcPropagationResultDatam_pPropagationResultData
 a pointer to the propagation result data
 
EcCoreResult m_CoreResult
 a mutable repository for the core results that can be shared by all
 
- Protected Attributes inherited from EcBaseExpressionTreeContainer< ExpressionType >
ExpressionType * m_pTopElement
 the top expression element
 
- Protected Attributes inherited from EcXmlBaseVariableCompoundType
EcXmlFactory m_XmlFactory
 A map holding the relationship between string labels and subcomponents.
 
EcXmlStringVector m_AddLibraries
 the arry of library names
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Protected Member Functions inherited from EcExpressionContainer
virtual void setTopElementContainerToThis () EC_OVERRIDE
 set the container pointer for the top element to this
 
- Protected Member Functions inherited from EcBaseExpressionTreeContainer< ExpressionType >
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream) EC_OVERRIDE
 
- Protected Member Functions inherited from EcXmlBaseVariableCompoundType
virtual void processLibraries ()
 process the add libraries
 
- Static Protected Attributes inherited from EcExpressionContainer
static const EcVelocityControlData m_theDummy
 a static dummy array for error recovery
 
- 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 control-system-based mathematical expression. This class inherits from EcExpressionContainer, and adds a pointer to an individual manipulator, an end effector, a desired end-effector velocity, and a time step.

Holds a control-system-based mathematical expression. This class inherits from EcExpressionContainer, and adds a pointer to an individual manipulator, an end effector, a desired end-effector velocity, and a time step.

Examples:
ecProgrammaticConstructionMain.cpp, ecQuickStartMain.cpp, and ecVelocityControlMain.cpp.

Definition at line 29 of file ecContExpContainer.h.

Constructor & Destructor Documentation

EcControlExpressionContainer::EcControlExpressionContainer ( const EcControlExpressionContainer orig)

copy constructor

Parameters
[in]orig(EcControlExpressionContainer&) value to initialize

Member Function Documentation

virtual EcXmlObject* EcControlExpressionContainer::clone ( ) const
virtual

clone - a virtual constructor to an EcXmlObject pointer

Returns
(EcXmlObject*) The cloned object

Reimplemented from EcExpressionContainer.

virtual EcCoreResult& EcControlExpressionContainer::coreResult ( ) const
virtual

gets the core results as a non-const reference

Returns
(EcCoreResult&) TODO(core result?)
virtual const EcDataMap* EcControlExpressionContainer::dataMap ( ) const
virtual

gets the data map pointer

Returns
The data map pointer TODO(Description about data map?)
virtual const EcManipulatorEndEffectorVelocity* EcControlExpressionContainer::desiredEndEffectorVelocity ( ) const
virtual

get a pointer to the desired end-effector velocity

Returns
(EcManipulatorEndEffectorVelocity*) The desired end-effector velocity pointer
virtual const EcEndEffectorSet* EcControlExpressionContainer::endEffectorSet ( ) const
virtual

get a pointer to the end-effector set

Returns
The endeffector set pointer
virtual EcBoolean EcControlExpressionContainer::equality ( const EcXmlObject other) const
virtual

equality - a virtual equality to an EcXmlObject pointer

Parameters
[in]other(EcXmlObject*) pointer value to compare

Reimplemented from EcExpressionContainer.

virtual EcU32 EcControlExpressionContainer::index ( ) const
virtual

get the index

Returns
The index TODO
virtual const EcIndividualManipulator* EcControlExpressionContainer::individualManipulator ( ) const
virtual

get a pointer to the individual manipulator

Returns
The individual manipulator
virtual EcBoolean EcControlExpressionContainer::isFixedBase ( ) const
virtual

get the floating-base flag

Returns
The fixed or floating base flag
virtual EcJacobianState* EcControlExpressionContainer::jacobianState ( ) const
virtual

gets the Jacobian state

Returns
The jacobian state
virtual EcXmlObject* EcControlExpressionContainer::newObject ( ) const
virtual

virtual new that returns an EcXmlObject

Returns
(EcXmlObject*) The new xml object

Reimplemented from EcExpressionContainer.

static EcControlExpressionContainer EcControlExpressionContainer::nullObject ( )
static

get a null object

Returns
(EcControlExpressionContainer) The null object
EcControlExpressionContainer& EcControlExpressionContainer::operator= ( const EcControlExpressionContainer orig)

assignment operator

Parameters
[in]orig(EcControlExpressionContainer&) value to initialize
EcBoolean EcControlExpressionContainer::operator== ( const EcControlExpressionContainer orig) const

equality operator

Parameters
[in]orig(EcControlExpressionContainer&) value to compare
Returns
The comparison flag
virtual const EcPositionState* EcControlExpressionContainer::positionState ( ) const
virtual

get a pointer to the position state

Returns
(EcPositionState*)The position state pointer
virtual EcPropagationResultData* EcControlExpressionContainer::propagationResultData ( ) const
virtual

get the pointer to the propagation result data

Returns
(EcPropagationResultData*) The propogation result data pointer
virtual void EcControlExpressionContainer::setDataMap ( const EcDataMap dataMap)
virtual

sets the data map pointer

Parameters
[in]dataMap(EcDataMap*) value to set
virtual void EcControlExpressionContainer::setDesiredEndEffectorVelocity ( const EcManipulatorEndEffectorVelocity desiredEndEffectorVelocity)
virtual

set a pointer to the desired end-effector velocity

Parameters
[in]desiredEndEffectorVelocity(EcManipulatorEndEffectorVelocity*) expected velocity of the end-effector
virtual void EcControlExpressionContainer::setEndEffectorSet ( const EcEndEffectorSet endEffectorSet)
virtual

set a pointer to the end-effector set

Parameters
[in]endEffectorSet(EcEndEffectorSet*) value to set
virtual void EcControlExpressionContainer::setIndex ( EcU32  index)
virtual

set the index

Parameters
[in]indexvalue to set the end-effecor index
virtual void EcControlExpressionContainer::setIndividualManipulator ( const EcIndividualManipulator individualManipulator)
virtual

set a pointer to the individual manipulator

Parameters
[in]individualManipulator(EcIndividualManipulator*) value to set
virtual void EcControlExpressionContainer::setIsFixedBase ( EcBoolean  isFixedBase = EcTrue)
virtual

set the floating-base flag

Parameters
[in]isFixedBaseThe fixed base flag, default=Fixed base
virtual void EcControlExpressionContainer::setJacobianState ( EcJacobianState jacobian)
virtual

sets the Jacobian state

Parameters
[in]jacobian(EcJacobianState*) the jacobian state
virtual void EcControlExpressionContainer::setPositionState ( const EcPositionState positionState)
virtual

set a pointer to the position state

Parameters
[in]positionState(EcPositionState*) value to set
virtual void EcControlExpressionContainer::setPropagationResultData ( EcPropagationResultData value)
virtual

set the pointer to the propagation result data

Parameters
[in]value(EcPropagationResultData*) value to set
virtual void EcControlExpressionContainer::setSystem ( const EcStatedSystem system)
virtual

sets the stated system

Parameters
[in]system(EcStatedSystem*) Set the stated system
virtual void EcControlExpressionContainer::setSystemActiveState ( EcSystemActiveState value)
virtual

sets the system active state

Parameters
[in]value(EcSystemActiveState*) value to set
virtual void EcControlExpressionContainer::setTimeStep ( EcReal  timeStep)
virtual

set the time step

Parameters
[in]timeStep(EcReal) set the current time step
virtual void EcControlExpressionContainer::setVelocityController ( const EcVelocityController value)
virtual

sets the velocity controller pointer

Parameters
[in]value(EcVelocityController*) value to set
virtual void EcControlExpressionContainer::setVelocityControlSystem ( const EcVelocityControlSystem value)
virtual

sets the velocity control system

Parameters
[in]value(EcVelocityControlSystem*) value to set
virtual const EcStatedSystem* EcControlExpressionContainer::system ( ) const
virtual

gets a pointer to the stated system

Returns
(EcStatedSystem*) The stated system pointer
virtual EcSystemActiveState* EcControlExpressionContainer::systemActiveState ( ) const
virtual

gets the system active state

Returns
(EcSystemActiveState*) The active state pointer
virtual EcReal EcControlExpressionContainer::timeStep ( ) const
virtual

get the time step

Returns
The time step
virtual const EcToken& EcControlExpressionContainer::token ( ) const
virtual

return a string token

Returns
The xml string token

Reimplemented from EcExpressionContainer.

virtual const EcVelocityController* EcControlExpressionContainer::velocityController ( ) const
virtual

gets the velocity controller

Returns
(EcVelocityController*) The velocity state controller pointer
virtual const EcVelocityControlSystem* EcControlExpressionContainer::velocityControlSystem ( ) const
virtual

gets the velocity control system

Returns
(EcVelocityControlSystem*) The velocity control system pointer

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.