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

Holds a description of the placement of all end effectors on a manipulator. More...

#include <ecManipEndEffectorPlace.h>

Inheritance diagram for EcManipulatorEndEffectorPlacement:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcManipulatorEndEffectorPlacement ()
 default constructor
 
virtual ~EcManipulatorEndEffectorPlacement ()
 destructor
 
 EcManipulatorEndEffectorPlacement (const EcManipulatorEndEffectorPlacement &orig)
 copy constructor
 
 EcManipulatorEndEffectorPlacement (const EcEndEffectorPlacementVector &placement)
 constructor from ee placement vector
 
EcManipulatorEndEffectorPlacementoperator= (const EcManipulatorEndEffectorPlacement &orig)
 assignment operator
 
EcBoolean operator== (const EcManipulatorEndEffectorPlacement &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 EcU32 size () const
 get the size
 
virtual const EcEndEffectorPlacementVectoroffsetTransformations () const
 get transformation of offset to the primary frame of the relative link
 
virtual EcEndEffectorPlacementVectoroffsetTransformations ()
 get transformation of offset to the primary frame of the relative link – non-const
 
virtual void setOffsetTransformations (const EcEndEffectorPlacementVector &offsetTransformations)
 
virtual void addOffsetTransformation (const EcEndEffectorPlacement &offsetTransformations)
 add transformation of offset
 
virtual void setOffsetTransformationSize (const EcU32 size)
 set the size of offset trans vector
 
virtual EcU32 numEndEffectors () const
 the number of end effectors
 
virtual EcBoolean setOffsetInSystem (EcU32 index, const EcEndEffectorPlacement &offset, const EcEndEffectorSet &endEffectorSet, const EcIndividualManipulator &manip, EcManipulatorActivePositionState &activePositionState)
 set individual offset. The offset must be in the system coordinates. If the end-effector is non-relative, then this is the same as setOffsetInRelative.
 
virtual EcBoolean setOffsetInSystem (EcU32 endEffectorIndex, const EcEndEffectorPlacement &offset, const EcEndEffectorSet &endEffectorSet, EcU32 manipulatorIndex, const EcIndividualManipulatorVector &manipulators, EcManipulatorActiveStateVector &activeStates)
 set individual offset. The offset must be in the system coordinates. If the end-effector is non-relative, then this is the same as setOffsetInRelative.
 
virtual EcBoolean setOffsetInRelative (EcU32 index, const EcEndEffectorPlacement &offset)
 set individual offset. The offset must be in the primary frame of the relative link. If the end-effector is non-relative, then this is the same as setOffsetInSystem.
 
virtual EcEndEffectorPlacement guideFrameInSystem (EcU32 index, const EcEndEffectorSet &endEffectorSet, const EcIndividualManipulator &manip, EcManipulatorActivePositionState &activePositionState) const
 
virtual void getGuideFrameInSystem (EcU32 index, const EcEndEffectorSet &endEffectorSet, const EcIndividualManipulator &manip, EcManipulatorActivePositionState &activePositionState, EcEndEffectorPlacement &endEffectorPlacement) const
 get the location of a guide frame in system coordinates
 
virtual EcEndEffectorPlacement guideFrameInSystem (EcU32 endEffectorIndex, const EcEndEffectorSet &endEffectorSet, EcU32 manipulatorIndex, const EcIndividualManipulatorVector &manipulators, EcManipulatorActiveStateVector &activeStates) const
 
virtual void getGuideFrameInSystem (EcU32 endEffectorIndex, const EcEndEffectorSet &endEffectorSet, EcU32 manipulatorIndex, const EcIndividualManipulatorVector &manipulators, EcManipulatorActiveStateVector &activeStates, EcEndEffectorPlacement &endEffectorPlacement) const
 get the location of a guide frame in system coordinates
 
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 EcManipulatorEndEffectorPlacement &m_ManFrame1, const EcManipulatorEndEffectorPlacement &m_ManFrame2, const EcReal &factor)
 linear interpolate two guide frames
 
virtual void resize (const EcSizeT newSize)
 resize m_OffsetTransformations
 
- 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 EcManipulatorEndEffectorPlacement nullObject ()
 get a null link
 

Protected Attributes

EcEndEffectorPlacementVector m_OffsetTransformations
 
EcEndEffectorPlacement m_UtilityEndEffectorPlacment
 the utility end effector placement
 
- 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 a description of the placement of all end effectors on a manipulator.

Examples:
ecCirclePathExampleDirection.cpp, ecPathPlanningCoreMain.cpp, ecPathPlanningMain.cpp, and ecRemoteCommandExampleMain.cpp.

Definition at line 23 of file ecManipEndEffectorPlace.h.

Member Function Documentation

virtual EcEndEffectorPlacement EcManipulatorEndEffectorPlacement::guideFrameInSystem ( EcU32  index,
const EcEndEffectorSet endEffectorSet,
const EcIndividualManipulator manip,
EcManipulatorActivePositionState activePositionState 
) const
virtual

get the location of a guide frame in system coordinates

virtual EcEndEffectorPlacement EcManipulatorEndEffectorPlacement::guideFrameInSystem ( EcU32  endEffectorIndex,
const EcEndEffectorSet endEffectorSet,
EcU32  manipulatorIndex,
const EcIndividualManipulatorVector manipulators,
EcManipulatorActiveStateVector activeStates 
) const
virtual

get the location of a guide frame in system coordinates

virtual void EcManipulatorEndEffectorPlacement::setOffsetTransformations ( const EcEndEffectorPlacementVector offsetTransformations)
virtual

set transformation of offset to the primary frame of the relative link. this is the guide frame in the system coords when no relative link is used.

Examples:
ecCirclePathExampleDirection.cpp.
virtual const EcToken& EcManipulatorEndEffectorPlacement::token ( ) const
virtual

gets the xml token used for writing out.

Implements EcXmlObject.

Member Data Documentation

EcEndEffectorPlacementVector EcManipulatorEndEffectorPlacement::m_OffsetTransformations
protected

an transformation of offset to the primary frame of the relative link. This offset is given in system coord, when not using relative link.

Definition at line 248 of file ecManipEndEffectorPlace.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.