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

This class is a container for domain-specific active states. More...

#include <ecManipActiveState.h>

Inheritance diagram for EcManipulatorActiveState:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcManipulatorActiveState ()
 default constructor
 
virtual ~EcManipulatorActiveState ()
 destructor
 
 EcManipulatorActiveState (const EcManipulatorActiveState &orig)
 copy constructor
 
EcManipulatorActiveStateoperator= (const EcManipulatorActiveState &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulatorActiveState &orig) const
 equality operator
 
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 EcPositionStatepositionState () const
 gets the nonredundant position state
 
virtual EcBoolean setPositionState (const EcPositionState &positionState)
 
virtual const EcVelocityStatevelocityState () const
 gets the nonredundant velocity state
 
virtual EcBoolean setVelocityState (const EcVelocityState &velocityState)
 
virtual const EcAccelerationStateaccelerationState () const
 gets the nonredundant acceleration state
 
virtual void setAccelerationState (const EcAccelerationState &accelerationState)
 sets the nonredundant acceleration state
 
virtual const EcManipulatorActivePositionStateactivePositionState () const
 gets the active position state - const version
 
virtual EcManipulatorActivePositionStateactivePositionState ()
 gets the active position state - nonconst version
 
virtual void setActivePositionState (const EcManipulatorActivePositionState &activePositionState)
 sets the active position state
 
virtual const EcManipulatorActiveVelocityStateactiveVelocityState () const
 gets the active velocity state - const version
 
virtual EcManipulatorActiveVelocityStateactiveVelocityState ()
 gets the active velocity state - nonconst version
 
virtual void setActiveVelocityState (const EcManipulatorActiveVelocityState &activeVelocityState)
 sets the active velocity state
 
virtual const EcManipulatorActiveAccelerationStateactiveAccelerationState () const
 gets the active acceleration state - const version
 
virtual EcManipulatorActiveAccelerationStateactiveAccelerationState ()
 gets the active acceleration state - nonconst version
 
virtual void setActiveAccelerationState (const EcManipulatorActiveAccelerationState &activeAccelerationState)
 sets the active acceleration state
 
virtual const EcManipulatorActiveForceStateactiveForceState () const
 gets the active force state - const version
 
virtual EcManipulatorActiveForceStateactiveForceState ()
 gets the active force state - nonconst version
 
virtual void setActiveForceState (const EcManipulatorActiveForceState &activeForceState)
 sets the active force state
 
virtual const EcManipulatorActiveMassStateactiveMassState () const
 gets the active mass state - const version
 
virtual EcManipulatorActiveMassStateactiveMassState ()
 gets the active mass state - nonconst version
 
virtual void setActiveMassState (const EcManipulatorActiveMassState &activeMassState)
 sets the active mass state
 
virtual const EcManipulatorActiveArticulationStateactiveArticulationState () const
 gets the active articulation state - const version
 
virtual EcManipulatorActiveArticulationStateactiveArticulationState ()
 gets the active articulation state - nonconst version
 
virtual void setActiveArticulationState (const EcManipulatorActiveArticulationState &activeArticulationState)
 sets the active articulation state
 
virtual const EcActuatorStateactuatorState () const
 gets the actuator states - const version
 
virtual EcActuatorStateactuatorState ()
 gets the actuator states - nonconst version
 
virtual void setActuatorState (const EcActuatorState &actuatorState)
 sets the actuator states
 
virtual void invalidateAll ()
 invalidates all components
 
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
 
EcBoolean isSecondPass () const
 get is second pass
 
EcBooleanisSecondPass ()
 get is second pass – non-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
 

Static Public Member Functions

static EcManipulatorActiveState nullObject ()
 get a null object
 

Protected Attributes

EcManipulatorActivePositionState m_ActivePositionState
 the position state
 
EcManipulatorActiveVelocityState m_ActiveVelocityState
 the velocity state
 
EcManipulatorActiveAccelerationState m_ActiveAccelerationState
 the acceleration state
 
EcManipulatorActiveForceState m_ActiveForceState
 the force state
 
EcManipulatorActiveMassState m_ActiveMassState
 the mass state
 
EcManipulatorActiveArticulationState m_ActiveArticulationState
 the articulation state
 
EcActuatorState m_ActuatorState
 the actuator state
 
EcBoolean m_ActiveAccelerationStateAllInvalid
 The flag indicating whether all active acceleration state is invalid.
 
EcBoolean m_ActiveForceStateAllInvalid
 The flag indicating whether all active force state is invalid.
 
EcBoolean m_IsSecondPass
 is second pass
 
- 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

This class is a container for domain-specific active states.

This class is a container for domain-specific active states. These are used for dynamic programming in manipulator control.

These are used for dynamic programming in manipulator control.

Examples:
ecPositionControlMain.cpp, and ecQuickStartKinematicsMain.cpp.

Definition at line 25 of file ecManipActiveState.h.

Member Function Documentation

virtual EcBoolean EcManipulatorActiveState::setPositionState ( const EcPositionState positionState)
virtual

sets the nonredundant position state returns True if there was a change, False if the old state equals the new value

Examples:
ecPositionControlMain.cpp, and ecQuickStartKinematicsMain.cpp.
virtual EcBoolean EcManipulatorActiveState::setVelocityState ( const EcVelocityState velocityState)
virtual

sets the nonredundant velocity state returns True if there was a change, False if the old state equals the new value

virtual const EcToken& EcManipulatorActiveState::token ( ) const
virtual

gets the xml token used for writing out.

Implements EcXmlObject.


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.