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

Holds a description of the state of an entire manipulator system. More...

#include <ecManipSysState.h>

Inheritance diagram for EcManipulatorSystemState:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcManipulatorSystemState ()
 default constructor
 
virtual ~EcManipulatorSystemState ()
 destructor
 
 EcManipulatorSystemState (const EcManipulatorSystemState &orig)
 copy constructor
 
EcManipulatorSystemStateoperator= (const EcManipulatorSystemState &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulatorSystemState &orig) const
 equality operator
 
virtual EcBoolean mergeWith (const EcManipulatorSystemState &orig)
 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 EcPositionStateVectorpositionStates () const
 gets position states - const version
 
virtual EcPositionStateVectorpositionStates ()
 gets position states - nonconst version
 
virtual void setPositionStates (const EcPositionStateVector &positionStates)
 sets position states
 
virtual const EcVelocityStateVectorvelocityStates () const
 gets velocity states - const version
 
virtual EcVelocityStateVectorvelocityStates ()
 gets velocity states - nonconst version
 
virtual void setVelocityStates (const EcVelocityStateVector &velocityStates)
 sets velocity states
 
virtual const EcAccelerationStateVectoraccelerationStates () const
 gets acceleration states - const version
 
virtual EcAccelerationStateVectoraccelerationStates ()
 gets acceleration states - nonconst version
 
virtual void setAccelerationStates (const EcAccelerationStateVector &accelerationStates)
 sets acceleration states
 
virtual void zeroVelocityStates ()
 zeros the velocity states
 
virtual void zeroAccelerationStates ()
 zeros the acceleration states
 
virtual EcTime time () const
 gets the time
 
virtual void setTime (EcTime time)
 sets the time
 
virtual EcBoolean approxEq (const EcManipulatorSystemState &state2, const EcReal tol, const EcBoolean includeTime=EcTrue) const
 tests that each element is within a tolerance of another
 
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 readBin (std::istream &stream)
 read this object from a binary stream
 
virtual EcBoolean writeBin (std::ostream &stream) const
 write this object to a binary stream
 
virtual EcBoolean linearInterpolation (const EcManipulatorSystemState &state1, const EcManipulatorSystemState &state2, const EcReal &time)
 
virtual EcBoolean linearFactorInterpolation (const EcManipulatorSystemState &state1, const EcManipulatorSystemState &state2, const EcReal &factor)
 
virtual EcBoolean checkCompatibleState (const EcManipulatorSystemState &other) const
 check to see whether the other state is compatible with this state. i.e. it must have the same numbers of position and velocity states and each position and velocity state must have the same number of joints.
 
- 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 const EcManipulatorSystemStatenullObject ()
 get a null link
 

Protected Member Functions

virtual EcBoolean validateTopLevelDimensions ()
 validate the numbers of position states and velocity states
 
virtual EcBoolean validateLowLevelDimensions ()
 validate the sizes of the position states and velocity states
 
- 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 ()
 

Protected Attributes

EcPositionStateVector m_PositionStates
 the vector of manipulator position states
 
EcVelocityStateVector m_VelocityStates
 the vector of manipulator velocity states
 
EcAccelerationStateVector m_AccelerationStates
 the vector of manipulator acceleration states;
 
EcXmlTime m_Time
 the time associated with the state
 
- 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...
 
- 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 description of the state of an entire manipulator system.

A state for holding the manipulator state. Enough information is held to calculate the joint accelerations for simulation.

Examples:
controlExecutiveModifierExampleMain.cpp, ecPathFollowingMain.cpp, ecPathPlanningCoreMain.cpp, ecPathPlanningMain.cpp, ecPositionControlMain.cpp, ecProfilingMain.cpp, ecProgrammaticConstructionMain.cpp, ecQuickStartKinematicsMain.cpp, ecQuickStartMain.cpp, and ecStatedSystemMain.cpp.

Definition at line 20 of file ecManipSysState.h.

Member Function Documentation

virtual EcBoolean EcManipulatorSystemState::linearFactorInterpolation ( const EcManipulatorSystemState state1,
const EcManipulatorSystemState state2,
const EcReal factor 
)
virtual

sets this to be a linear interpolation between two other state values. Sets this equal to (1-factor)*state1 + factor*state2

virtual EcBoolean EcManipulatorSystemState::linearInterpolation ( const EcManipulatorSystemState state1,
const EcManipulatorSystemState state2,
const EcReal time 
)
virtual

sets this to be a linear interpolation between two other state values. Returns True for success, False if the two times are the same.

virtual const EcToken& EcManipulatorSystemState::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.