Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcBaseEndEffectorSetMotion Class Referenceabstract

Base end-effector set motion class for one set of motion constraint. More...

#include <ecBaseEndEffectorSetMotion.h>

Inheritance diagram for EcBaseEndEffectorSetMotion:
EcBaseManipulatorMotion EcMotionScriptObject EcBaseEndEffectorMotion EcEndEffectorMotionStop EcBaseEndEffectorPositionMotion EcBaseInterpolatedEndEffectorMotion EcEndEffectorMotionInterpolatedPoseSequence EcEndEffectorMotionMovePoseSequence EcEndEffectorMotionMovePoseWithBlending EcEndEffectorMotionProfileJoint EcEndEffectorMotionProfilePose EcEndEffectorMotionSetTcp EcEndEffectorMotionSpeed

Public Member Functions

void setEeSetIndex (const EcU32 eeSetIndex)
 set end effector set index
 
void setEeSetIndex (const EcMotionScriptU32ObjectSharedPtr &pEeSetIndex)
 set end effector set index
 
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE=0
 run the script More...
 
virtual void restart () EC_OVERRIDE=0
 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
 
virtual const EcStringtoken () const =0
 token
 
virtual EcBoolean read (const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)=0
 read list
 
EcBoolean readWithContainer (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 read with container
 
virtual EcString write () const =0
 write to script
 
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 EcReal calculateRealVectorDifference (const EcRealVector &actual, const EcRealVector &desired)
 calculate the difference between two real vectors
 
- 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

EcMotionScriptU32ObjectSharedPtr m_pEeSetIndex
 EE set index.
 
- 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
 

Additional Inherited Members

- Public Types inherited from EcMotionScriptObject
enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED,
  ABORTED
}
 status
 

Detailed Description

Base end-effector set motion class for one set of motion constraint.

Definition at line 15 of file ecBaseEndEffectorSetMotion.h.

Member Function Documentation


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.