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

Find joint solution for a manipulation end effector placement. More...

#include <ecMotionScriptFindSolution.h>

Inheritance diagram for EcMotionScriptFindSolution:
EcMotionScriptObject

Public Types

enum  ParameterType {
  FINDSOLUTION_PARAM_ATTACHPLACEMENT,
  FINDSOLUTION_PARAM_COLLISIONTHRESHOLD,
  FINDSOLUTION_PARAM_ATTACHEXCLUSION
}
 param type
 
typedef std::map< EcString, ParameterTypeEcMotionScriptFindSolutionParamMap
 
- Public Types inherited from EcMotionScriptObject
enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED,
  ABORTED
}
 status
 

Public Member Functions

 EcMotionScriptFindSolution ()
 default constructor
 
virtual const EcStringtoken () const EC_OVERRIDE
 token
 
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 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)
 

Additional Inherited Members

- 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
 

Detailed Description

Find joint solution for a manipulation end effector placement.

Definition at line 30 of file ecMotionScriptFindSolution.h.

Member Function Documentation

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

read list

(find_solution <manip_id> <ee_set_id> <solution_symbol> (<target_place_0> [<target_place_1> ...]) [(<para_0_str> <para_0_value>) ...])

Implements EcMotionScriptObject.

virtual void EcMotionScriptFindSolution::restart ( )
virtual

restart by setting the status to NOT_STARTED

Implements EcMotionScriptObject.

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

run the script

Implements EcMotionScriptObject.

virtual EcString EcMotionScriptFindSolution::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.