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

Joint motion. More...

#include <ecEndEffectorMotionMoveJoint.h>

Inheritance diagram for EcEndEffectorMotionMoveJoint:
EcBaseEndEffectorPositionMotion EcBaseEndEffectorMotion EcBaseEndEffectorSetMotion EcBaseManipulatorMotion EcMotionScriptObject EcEndEffectorMotionMoveJointMixed EcEndEffectorMotionMoveJointRelative

Public Member Functions

void moveJoint (const EcRealVector &desiredJoint, const EcReal speedFactor, const EcReal tolerance, const EcBoolean useDefaultSet=EcFalse)
 move joint More...
 
void moveJoint (const EcRealVector &desiredJoint, const EcReal speedFactor, const EcReal accelerationFactor, const EcReal tolerance, const EcBoolean useDefaultSet=EcFalse)
 Move joint. More...
 
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 void restart () EC_OVERRIDE
 restart by setting the status to NOT_STARTED More...
 
virtual EcBoolean calculateCartesianGoal (const EcBaseControlSystemModifier &modifier, const EcU32 eeSetIndex, const EcU32 eeIndex, EcCoordinateSystemTransformation &pose) const EC_OVERRIDE
 calculate Cartesian goal More...
 
- Public Member Functions inherited from EcBaseEndEffectorPositionMotion
void setTolerance (const EcReal value)
 set tolerance
 
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 run the script More...
 
- Public Member Functions inherited from EcBaseEndEffectorMotion
void setEeIndex (const EcU32 eeIndex)
 set end effector index
 
void setEeIndex (const EcMotionScriptU32ObjectSharedPtr &pEeIndex)
 set end effector index
 
void setIsBuffered (EcBoolean value)
 set is buffered
 
EcBoolean isBuffered () const
 get is buffered
 
- Public Member Functions inherited from EcBaseEndEffectorSetMotion
void setEeSetIndex (const EcU32 eeSetIndex)
 set end effector set index
 
void setEeSetIndex (const EcMotionScriptU32ObjectSharedPtr &pEeSetIndex)
 set end effector set index
 
- 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 EcBaseEndEffectorSetMotion
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 Member Functions

virtual EcBoolean evaluateParameters (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 evaluate parameters More...
 
virtual EcBoolean calculatePlacement (const EcBaseControlSystemModifier &modifier)
 calculate placement
 
EcReal calculateJointDifference (const EcBaseControlSystemModifier &modifier) const
 calculate joint difference
 
EcBoolean calculateJointProgress (const EcBaseControlSystemModifier &modifier)
 Calculate joint progress. More...
 
void runInProgress (EcBaseControlSystemModifier &modifier) EC_OVERRIDE
 run during IN_PROGRESS
 
void runStopping (EcBaseControlSystemModifier &modifier) EC_OVERRIDE
 run during STOPPING
 
- Protected Member Functions inherited from EcBaseEndEffectorPositionMotion
EcBoolean applyPositionMotion (EcBaseControlSystemModifier &modifier)
 apply position motion: motion limits, control mode, placement
 
EcBoolean applyStoppingMotion (EcBaseControlSystemModifier &modifier)
 apply stopping motion: control mode, velocity
 
EcBoolean applyMotionLimits (EcBaseControlSystemModifier &modifier)
 apply motion limits
 
EcBoolean isStopped (const EcBaseControlSystemModifier &modifier, const EcReal tolerance) const
 Calculate EE velocity and determine if the EE is stopped.
 
- Protected Member Functions inherited from EcBaseEndEffectorMotion
EcBoolean calculatePositionDifference (const EcBaseControlSystemModifier &modifier, const EcEndEffectorPlacement &desired, EcEndEffectorPlacement &actual, EcReal &difference) const
 calculate position difference from desired
 
EcBoolean calculatePositionProgress (const EcBaseControlSystemModifier &modifier, const EcReal initialDifference, const EcReal tolerance, const EcEndEffectorPlacement &desired, EcEndEffectorPlacement &actual, EcReal &progress) const
 
EcBoolean calculateVelocityDifference (const EcBaseControlSystemModifier &modifier, const EcRealVector &desired, EcXmlRealVector &actual, EcReal &difference) const
 calculate current velocity difference from desired
 
EcBoolean calculateVelocityProgress (const EcBaseControlSystemModifier &modifier, const EcReal initialDifference, const EcReal tolerance, const EcRealVector &desired, EcXmlRealVector &actual, EcReal &progress) const
 

Protected Attributes

EcMotionScriptRealVectorObjectSharedPtr m_pDesiredJoints
 
EcBoolean m_UseDefaultSet
 
EcEndEffectorPlacement m_ActualEePlacement
 actual EE placement
 
EcReal m_InitialDifference
 initial difference
 
EcPositionState m_PositionState
 
- Protected Attributes inherited from EcBaseEndEffectorPositionMotion
EcMotionScriptRealObjectSharedPtr m_pSpeedFactor
 speed factor
 
EcMotionScriptRealObjectSharedPtr m_pAccelerationFactor
 acceleration factor
 
EcMotionScriptRealObjectSharedPtr m_pTolerance
 blend radius
 
EcEndEffectorPlacement m_DesiredEePlacement
 desired EE placement
 
- Protected Attributes inherited from EcBaseEndEffectorMotion
EcMotionScriptU32ObjectSharedPtr m_pEeIndex
 EE index.
 
EcBoolean m_IsBuffered
 used by the group motion manager
 
EcXmlRealVector m_ActualEeVelocity
 actual end effector velocity
 
- Protected Attributes inherited from EcBaseEndEffectorSetMotion
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
 
- Static Protected Member Functions inherited from EcBaseEndEffectorMotion
static EcBoolean parseSpeedAndAccelerationFactors (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg, EcMotionScriptRealObjectSharedPtr &speedFactor, EcMotionScriptRealObjectSharedPtr &accelerationFactor)
 parse speed and acceleration factors
 
static EcString writeSpeedAndAccelerationFactors (const EcMotionScriptRealObjectSharedPtr &speedFactor, const EcMotionScriptRealObjectSharedPtr &accelerationFactor)
 write speed and acceleration factors
 
- Static Protected Attributes inherited from EcBaseEndEffectorMotion
static const EcRealVector m_TheNullVelocity
 

Detailed Description

Joint motion.

End effector joint motion.

Definition at line 17 of file ecEndEffectorMotionMoveJoint.h.

Member Function Documentation

virtual EcBoolean EcEndEffectorMotionMoveJoint::calculateCartesianGoal ( const EcBaseControlSystemModifier modifier,
const EcU32  eeSetIndex,
const EcU32  eeIndex,
EcCoordinateSystemTransformation pose 
) const
virtual

calculate Cartesian goal

Implements EcBaseEndEffectorPositionMotion.

EcBoolean EcEndEffectorMotionMoveJoint::calculateJointProgress ( const EcBaseControlSystemModifier modifier)
protected

Calculate joint progress.

Returns
True if converged
virtual EcBoolean EcEndEffectorMotionMoveJoint::evaluateParameters ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 
)
protectedvirtual

evaluate parameters

Implements EcBaseEndEffectorPositionMotion.

void EcEndEffectorMotionMoveJoint::moveJoint ( const EcRealVector desiredJoint,
const EcReal  speedFactor,
const EcReal  tolerance,
const EcBoolean  useDefaultSet = EcFalse 
)

move joint

void EcEndEffectorMotionMoveJoint::moveJoint ( const EcRealVector desiredJoint,
const EcReal  speedFactor,
const EcReal  accelerationFactor,
const EcReal  tolerance,
const EcBoolean  useDefaultSet = EcFalse 
)

Move joint.

Parameters
[in]desiredJointthe desired joint positions
[in]speedFactorthe speed factor in range (0, 1]
[in]accelerationFactorthe acceleration factor in range (0, 1]
[in]tolerancethe tolerance
[in]useDefaultSetIf true, uses joint control end-effector set.
virtual EcBoolean EcEndEffectorMotionMoveJoint::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 
)
virtual

read list

Implements EcMotionScriptObject.

Reimplemented in EcEndEffectorMotionMoveJointMixed.

virtual void EcEndEffectorMotionMoveJoint::restart ( )
virtual

restart by setting the status to NOT_STARTED

Implements EcBaseEndEffectorMotion.

virtual EcString EcEndEffectorMotionMoveJoint::write ( ) const
virtual

write to script

Implements EcMotionScriptObject.

Reimplemented in EcEndEffectorMotionMoveJointMixed.


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.