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

Holds the data that is slowly or intermittently changing, i.e the data is neither permanent (like in system) nor changing every time step (like in state) More...

#include <ecManipulatorSystemConfiguration.h>

Inheritance diagram for EcManipulatorSystemConfiguration:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcManipulatorSystemConfiguration ()
 default constructor
 
virtual ~EcManipulatorSystemConfiguration ()
 destructor
 
 EcManipulatorSystemConfiguration (const EcManipulatorSystemConfiguration &orig)
 copy constructor
 
EcManipulatorSystemConfigurationoperator= (const EcManipulatorSystemConfiguration &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulatorSystemConfiguration &orig) const
 equality operator
 
virtual void shiftManipulatorIndices (EcU32 shiftValue)
 shift all the manipulator indices in the configuration by a given value. Used when merging two systems
 
virtual EcBoolean mergeWith (const EcManipulatorSystemConfiguration &other)
 merge operation
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 initialize XML components for reading and writing
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcManipulatorAttachmentMapattachmentMap () const
 gets the manipulator attachment map - const version
 
virtual EcManipulatorAttachmentMapattachmentMap ()
 gets the manipulator attachment map - nonconst version
 
virtual void setAttachmentMap (const EcManipulatorAttachmentMap &value)
 sets the manipulator attachment map
 
virtual const EcSystemCollisionExclusionMapcollisionExclusionMap () const
 gets the collision exclusion map - const version
 
virtual EcSystemCollisionExclusionMapcollisionExclusionMap ()
 gets the collision exclusion map - nonconst version
 
virtual void setCollisionExclusionMap (const EcSystemCollisionExclusionMap &value)
 sets the collision exclusion map
 
virtual const EcSystemCollisionExclusionMapcollisionExclusionMapForCA () const
 
virtual EcSystemCollisionExclusionMapcollisionExclusionMapForCA ()
 gets the collision exclusion map - nonconst version
 
virtual void setCollisionExclusionMapForCA (const EcSystemCollisionExclusionMap &value)
 sets the collision exclusion map
 
virtual void setManipulatorSystem (const EcManipulatorSystem *pSystem)
 sets the pointer to the manipulator system
 
virtual void deleteManipulatorAndShift (EcU32 manipIndex)
 
virtual const EcTokentoken () const EC_OVERRIDE
 gets the xml token used for writing out. More...
 
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
 
virtual EcBoolean dataChanged (const EcManipulatorSystemConfiguration &other) const
 
- 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 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
 

Protected Attributes

EcManipulatorAttachmentMap m_AttachmentMap
 the manipulator attachment map
 
EcSystemCollisionExclusionMap m_CollisionExclusionMap
 the dynamic collision exclusion map used for collision detection
 
EcSystemCollisionExclusionMap m_CollisionExclusionMapForCA
 
EcXmlU32 m_UpdateCounter
 
const EcManipulatorSystemm_pSystem
 pointer to the system
 
- 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 the data that is slowly or intermittently changing, i.e the data is neither permanent (like in system) nor changing every time step (like in state)

Holds the data that is slowly or intermittently changing, i.e the data is neither permanent (like in system) nor changing every time step (like in state)

Definition at line 22 of file ecManipulatorSystemConfiguration.h.

Member Function Documentation

virtual const EcSystemCollisionExclusionMap& EcManipulatorSystemConfiguration::collisionExclusionMapForCA ( ) const
virtual

gets the collision exclusion map used for collision avoidance - const version This is in addition to the normal collisionExclusionMap that is used for collision detection. This means that if any collision avoidance scheme should check whether a link pair is excluded in collisionExclusionMap first and if not, then check it again with collisionExclusionMapForCA. This allows, for example, for collision to be detected between a robot and a table and stops the robot motion while allowing the robot to get close to the table without trying to avoid it.

virtual EcBoolean EcManipulatorSystemConfiguration::dataChanged ( const EcManipulatorSystemConfiguration other) const
virtual

an inexpensive way to determine whether the data inside this configuration compared to the other may have changed by comparing the update counters of the two.

Returns
True if the two counters are not the same value (i.e. either this configuration or the other configuration may have changed) or false otherwise. Note that even if it returns true, the internal data between the two is not guaranteed to be different.
virtual void EcManipulatorSystemConfiguration::deleteManipulatorAndShift ( EcU32  manipIndex)
virtual

delete a manipulator and shift indices of all the manipulators with index greater than the deleted manipulator. This should be used for deleting a manipulator from the system.

Parameters
[in]manipIndexThe index of manipulator to be deleted.
virtual const EcToken& EcManipulatorSystemConfiguration::token ( ) const
virtual

gets the xml token used for writing out.

Implements EcXmlObject.

Member Data Documentation

EcSystemCollisionExclusionMap EcManipulatorSystemConfiguration::m_CollisionExclusionMapForCA
protected

the dynamic collision exclusion map used for collision avoidance this is IN ADDITION to m_CollisionExclusionMap

Definition at line 192 of file ecManipulatorSystemConfiguration.h.

EcXmlU32 EcManipulatorSystemConfiguration::m_UpdateCounter
protected

the counter increments every time there's a change in the configuration Can be used as an efficient way to determine if there's a change between two configurations

Definition at line 196 of file ecManipulatorSystemConfiguration.h.


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.