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

Base manipulator motion class for a manipulator. More...

#include <ecBaseManipulatorMotion.h>

Inheritance diagram for EcBaseManipulatorMotion:
EcMotionScriptObject EcBaseEndEffectorSetMotion EcBaseManipulatorMotionExcludeCollision< IsExcluding > EcBaseManipulatorMotionExcludeCollision< EcFalse > EcBaseManipulatorMotionExcludeCollision< EcTrue > EcManipulatorMotionAttachManipulator EcManipulatorMotionDetachManipulator EcManipulatorMotionRrtPlan EcManipulatorMotionSetActiveControlDescription EcManipulatorMotionSetActiveEndEffectorSet EcManipulatorMotionSetActivePositionControlMethod EcManipulatorMotionSetBaseSpeedFactor EcManipulatorMotionSetSensedState EcManipulatorMotionSetToolOffset

Public Member Functions

void setManipulatorIndex (const EcU32 manipIndex)
 set manipulator index
 
void setManipulatorIndex (const EcMotionScriptU32ObjectSharedPtr &pManipIndex)
 set manipulator 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 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.
 

Protected Attributes

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 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)
 

Detailed Description

Base manipulator motion class for a manipulator.

Definition at line 15 of file ecBaseManipulatorMotion.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.