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

RRT planning. More...

#include <ecManipulatorMotionRrtPlan.h>

Inheritance diagram for EcManipulatorMotionRrtPlan:
EcBaseManipulatorMotion EcMotionScriptObject

Public Types

enum  ParameterType {
  RRTPLAN_PARAM_MAXTIME,
  RRTPLAN_PARAM_SPEEDFACTOR,
  RRTPLAN_PARAM_ACCELERATIONFACTOR,
  RRTPLAN_PARAM_TOLERANCE,
  RRTPLAN_PARAM_COLLISIONTHRESHOLD,
  RRTPLAN_PARAM_PATHCACHING
}
 param type
 
typedef std::map< EcString, ParameterTypeEcManipulatorMotionRrtPlanParamMap
 
- Public Types inherited from EcMotionScriptObject
enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED,
  ABORTED
}
 status
 

Public Member Functions

 EcManipulatorMotionRrtPlan ()
 default constructor
 
virtual const EcStringtoken () const EC_OVERRIDE
 token More...
 
virtual EcBoolean read (const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg) EC_OVERRIDE
 read list More...
 
virtual EcString write () const EC_OVERRIDE
 write to script More...
 
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 run the script More...
 
virtual void restart () EC_OVERRIDE
 restart by setting the status to NOT_STARTED More...
 
- Public Member Functions inherited from EcBaseManipulatorMotion
void setManipulatorIndex (const EcU32 manipIndex)
 set manipulator index
 
void setManipulatorIndex (const EcMotionScriptU32ObjectSharedPtr &pManipIndex)
 set manipulator index
 
- Public Member Functions inherited from EcMotionScriptObject
 EcMotionScriptObject ()
 default constructor
 
virtual ~EcMotionScriptObject ()
 destructor
 
Status status () const
 get status
 
EcReal progress () const
 get progress in [0, 1]
 
virtual void setContainter (EcBaseMotionScriptContainer *pContainer)
 set the container
 
EcBoolean readWithContainer (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 read with container
 
virtual void pause ()
 request to pause
 
virtual void resume ()
 request to resume
 
virtual void abort ()
 Set the status to ABORTED.
 

Static Public Member Functions

static EcMotionScriptObjectnewObject ()
 motion script object creator
 
static const EcStringscriptToken ()
 script token
 
- Static Public Member Functions inherited from EcMotionScriptObject
static EcMotionScriptSharedPtr parseScript (const EcString &script, EcString *pErrorMsg)
 parse script
 
static EcMotionScriptSharedPtr parseScript (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 parse script
 
static EcBoolean isKeyword (const EcString &symbol)
 is keyword
 
static EcBoolean tokenize (const EcString &script, EcStringList &tokens, EcString *pErrorMsg)
 tokenize
 
static EcBoolean readFromTokens (EcStringList &tokens, EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)
 read from tokens
 
static EcBoolean registerScript (const EcString &scriptToken, const EcMotionScriptObjectCreator &creator)
 

Protected Attributes

EcMotionScriptRealVectorObjectSharedPtr m_pTargetJoints
 
EcBoolean m_UseExternalMaxTime
 max time
 
EcMotionScriptRealObjectSharedPtr m_pMaxTime
 default value: 5.0
 
EcBoolean m_UseExternalSpeedFactor
 speed factor
 
EcMotionScriptRealObjectSharedPtr m_pSpeedFactor
 default value: 1.0
 
EcBoolean m_UseAccelerationFactor
 acceleration factor
 
EcMotionScriptRealObjectSharedPtr m_pAccelerationFactor
 skip if not used
 
EcBoolean m_UseExternalTolerance
 blend radius
 
EcMotionScriptRealObjectSharedPtr m_pTolerance
 default value: EcMICRO
 
EcBoolean m_UseExternalCollisionThreshold
 collision threshold of rrt planner
 
EcMotionScriptRealObjectSharedPtr m_pCollisionThreshold
 default value: 0.01
 
EcBoolean m_UsePathCaching
 name of the data map string script
 
EcMotionScriptStringObjectSharedPtr m_pPathScriptName
 skip if not used
 
EcMotionScriptRealObjectSharedPtr m_pAssertThreshold
 skip if not used
 
EcBoolean m_AlwaysReplan
 
EcBoolean m_ReadyToExecute
 
EcBoolean m_HasCached
 
EcMotionScriptSequence m_MotionSequecnce
 
EcRrtPathPlanner m_PathPlanner
 
boost::shared_ptr< EcSystemControlExecutivem_pControlExecutive
 
EcThreadWorkerSharedPtr m_pThreadWorker
 
- Protected Attributes inherited from EcBaseManipulatorMotion
EcMotionScriptU32ObjectSharedPtr m_pManipIndex
 manipulator index
 
- Protected Attributes inherited from EcMotionScriptObject
EcBaseMotionScriptContainerm_pContainer
 the container
 
Status m_Status
 motion status
 
EcReal m_Progress
 motion script progress in [0, 1]
 
EcBoolean m_PauseFlag
 

Static Protected Attributes

static const EcManipulatorMotionRrtPlanParamMap m_RrtPlanParamMap
 

Detailed Description

RRT planning.

Plan a path in joint space for a manipulator, move along the path.

Definition at line 24 of file ecManipulatorMotionRrtPlan.h.

Member Function Documentation

virtual EcBoolean EcManipulatorMotionRrtPlan::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 
)
virtual

read list

(rrt_plan <manip_id> <desired_joint> [(<para_0_str> <para_0_value>) ...])

Implements EcMotionScriptObject.

virtual void EcManipulatorMotionRrtPlan::restart ( )
virtual

restart by setting the status to NOT_STARTED

Implements EcBaseManipulatorMotion.

virtual Status EcManipulatorMotionRrtPlan::run ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 
)
virtual

run the script

Implements EcBaseManipulatorMotion.

virtual const EcString& EcManipulatorMotionRrtPlan::token ( ) const
virtual

token

Implements EcMotionScriptObject.

virtual EcString EcManipulatorMotionRrtPlan::write ( ) const
virtual

write to script

Implements EcMotionScriptObject.


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.