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

Holds a class to describe the results of a manipulator propagation. More...

#include <ecPropagationResultData.h>

Inheritance diagram for EcPropagationResultData:
EcXmlCompoundType EcXmlObject

Public Types

enum  ExceptionTypeEnum {
  NO_EXCEPTION = 0x00,
  COLLISION = 0x01,
  JOINT_LIMIT = 0x02,
  SINGULARITY = 0x04,
  GENERAL_STOPPING_CRITERION = 0x10
}
 
typedef EcU32 ExceptionType
 
- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 

Public Member Functions

 EcPropagationResultData ()
 default constructor
 
virtual ~EcPropagationResultData ()
 destructor
 
 EcPropagationResultData (const EcPropagationResultData &orig)
 copy constructor
 
EcPropagationResultDataoperator= (const EcPropagationResultData &orig)
 assignment operator
 
EcBoolean operator== (const EcPropagationResultData &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 EcBoolean exceptionOccurred () const
 return true if one or more exceptions (joint limit, singularity, collision, etc.) occurred
 
virtual EcBoolean hitJointLimit () const
 get the hit-joint-limit flag
 
virtual void setHitJointLimit (EcBoolean hitJointLimit=EcTrue)
 set the hit-joint-limit flag
 
virtual EcBoolean hitSingularity () const
 get the hit-singularity (algorithmic) flag
 
virtual void setHitSingularity (EcBoolean hitSingularity=EcTrue)
 set the hit-singularity (algorithmic) flag
 
virtual EcBoolean hitGeneralStoppingCriterion () const
 get the hit-singularity (algorithmic) flag
 
virtual void setHitGeneralStoppingCriterion (EcBoolean hitGeneralStoppingCriterion=EcTrue)
 set the hit-general-stopping-criterion flag
 
virtual const EcStringsatisfiedGeneralStoppingCriteriaDescription () const
 
virtual void setSatisfiedGeneralStoppingCriteriaDescription (const EcString &satisfiedGeneralStoppingCriteriaDescription)
 set the hit-general-stopping-criterion flag
 
virtual EcBoolean collisionOccurred () const
 set the collision occured flag
 
virtual void setCollisionOccurred (EcBoolean collisionOccurred=EcTrue)
 get the collision occured flag
 
virtual void setLinkIndexAtJointLimit (const EcU32 &value)
 set the link index at joint limit
 
virtual const EcU32linkIndexAtJointLimit () const
 get the link index at joint limit
 
virtual EcU32 collidedManipulator () const
 get this manipulator collision index
 
virtual void setCollidedManipulator (EcU32 manipIndex)
 set this manipulator collision index
 
virtual EcU32 collidedLink () const
 get this link collision index
 
virtual void setCollidedLink (EcU32 collisionLink)
 set this link collision index
 
virtual EcU32 otherCollidedLink () const
 get the other link collision
 
virtual void setOtherCollidedLink (EcU32 collisionLinkIndex)
 set the other link collision index
 
virtual EcU32 otherCollidedManipulator () const
 get the other manipulator collision index
 
virtual void setOtherCollidedManipulator (EcU32 collisionLinkIndex)
 set the other manipulator collision index
 
virtual EcU32 closestManipulator () const
 get closest manipulator id (self)
 
virtual void setClosestManipulator (EcU32 manipIndex)
 set closest manipulator id (self)
 
virtual EcU32 closestLink () const
 the closest link id (self)
 
virtual void setClosestLink (EcU32 closestLink)
 set the closest link id (self)
 
virtual EcU32 otherClosestLink () const
 get the other closest link
 
virtual void setOtherClosestLink (EcU32 linkIndex)
 set the other closest link index
 
virtual EcU32 otherClosestManipulator () const
 get the other closest manipulator index
 
virtual void setOtherClosestManipulator (EcU32 manipIndex)
 set the other closest manipulator index
 
virtual void setClosestDistance (EcReal dist)
 set the closest distance
 
virtual EcReal closestDistance () const
 get the closest distance
 
virtual void registerGenericStoppingCriterion (const EcString &criterionDescription)
 add a generic stopping criterion that has been satisfied
 
virtual void reset ()
 reset all values
 
virtual void reset (ExceptionType exceptionType)
 reset values from bitmask
 
virtual void set (const EcPropagationResultData &orig, ExceptionType exceptionType)
 set values from bitmask
 
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 const ExceptionType exceptionType () const
 
EcString generateReportMessage () const
 generate a text report of the propagation result data
 
- 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 EcPropagationResultData nullObject ()
 get an empty polygon
 

Protected Attributes

EcXmlBoolean m_CollisionOccurred
 flag indicating if a collision occurred
 
EcXmlU32 m_CollidedManipulator
 index indicating this manipulator that collided
 
EcXmlU32 m_CollidedLink
 index indicating which link on this manipulator that collided
 
EcXmlU32 m_OtherCollidedLink
 the link of the other manipulator that collided with this one
 
EcXmlU32 m_OtherCollidedManipulator
 the manipulator that this manipulator collided with
 
EcXmlU32 m_ClosestManipulator
 index of this manipulator where the closest distance occurred
 
EcXmlU32 m_ClosestLink
 index indicating which link gives the closest distance
 
EcXmlU32 m_OtherClosestLink
 the link of the other manipulator that is closest to this one
 
EcXmlU32 m_OtherClosestManipulator
 the manipulator that this manipulator is closest to
 
EcXmlReal m_ClosestDistance
 the closest distance
 
EcXmlU32 m_LinkIndexAtJointLimit
 the link index of the link at a joint limit
 
EcXmlBoolean m_HitJointLimit
 flag indicating if a joint limit is hit
 
EcXmlBoolean m_HitSingularity
 flag indicating a singularity (agorithmic) was encountered
 
EcXmlBoolean m_HitGeneralStoppingCriterion
 flag indicating that one or more of the generic stopping criteria were satisfied
 
EcXmlString m_SatisfiedGeneralStoppingCriteriaDescription
 string holding description of all satisfied general stopping criteria
 
- 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
 

Static Protected Attributes

static const EcString m_theDescriptionSeparator
 a separator (;) for general stopping criteria
 
- 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
 

Additional Inherited Members

- 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 ()
 

Detailed Description

Holds a class to describe the results of a manipulator propagation.

Holds a class to describe the results of a single-manipulator propagation.

Examples:
ecQuickStartKinematicsMain.cpp.

Definition at line 17 of file ecPropagationResultData.h.

Member Function Documentation

virtual const EcString& EcPropagationResultData::satisfiedGeneralStoppingCriteriaDescription ( ) const
virtual

get the string of descriptiosn of the satisfied general stopping criteria If the hitGeneralStoppingCriterion flag is false, this should be empty.

virtual const EcToken& EcPropagationResultData::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.