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

Base motion script object class. More...

#include <ecMotionScriptObject.h>

Inheritance diagram for EcMotionScriptObject:
EcBaseManipulatorMotion EcBaseMotionScriptContainer EcBaseMotionScriptDefineVariable< ValueTypePointer > EcBaseMotionScriptSetDataMap< ValueTypePointer > EcBaseMotionScriptVariable EcMotionScriptAssertApproxEqual EcMotionScriptAssignVariable EcMotionScriptFindSolution EcMotionScriptIf EcMotionScriptPrintVariable EcMotionScriptSetDigitalInput EcMotionScriptSetDigitalOutput EcMotionScriptWait EcMotionScriptWhile

Public Types

enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED,
  ABORTED
}
 status
 

Public Member Functions

 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 Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime)=0
 run the script
 
virtual void restart ()=0
 restart by setting the status to NOT_STARTED
 
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 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

EcBaseMotionScriptContainerm_pContainer
 the container
 
Status m_Status
 motion status
 
EcReal m_Progress
 motion script progress in [0, 1]
 
EcBoolean m_PauseFlag
 

Detailed Description

Base motion script object class.

Definition at line 47 of file ecMotionScriptObject.h.

Member Function Documentation

static EcBoolean EcMotionScriptObject::registerScript ( const EcString scriptToken,
const EcMotionScriptObjectCreator creator 
)
static

register a motion script

Parameters
scriptTokenThe token of the motion script to register
createThe creator functor of the motion script to register
Returns
False if the scriptToken has already been registered. True otherwise.

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.