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

Joint motion. More...

#include <ecEndEffectorMotionStop.h>

Inheritance diagram for EcEndEffectorMotionStop:
EcBaseEndEffectorSetMotion EcBaseManipulatorMotion EcMotionScriptObject

Public Member Functions

 EcEndEffectorMotionStop ()
 default constructor
virtual void stop (const EcBoolean useCurrentEeSet, const EcReal tolerance=EcMICRO)
 stop motion for EE set
virtual const EcStringtoken () const EC_OVERRIDE
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 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 ()
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)
static EcBoolean readFromTokens (EcStringList &tokens, EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)
 read from tokens
static EcBoolean registerScript (const EcString &scriptToken, const EcMotionScriptObjectCreator &creator)

Protected Member Functions

EcBoolean calculateCurrentVelocityDifference (const EcBaseControlSystemModifier &modifier, const EcRealVector &desired, EcReal &difference) const
 calculate velocity difference
EcBoolean calculateVelocityProgress (const EcBaseControlSystemModifier &modifier, const EcRealVector &desired, const EcReal tolerance, EcReal &progress) const

Additional Inherited Members

- Public Types inherited from EcMotionScriptObject
enum  Status {
- 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
 the container
Status m_Status
 motion status
EcReal m_Progress
 motion script progress in [0, 1]
EcBoolean m_PauseFlag

Detailed Description

Joint motion.

End effector stop motion.

Definition at line 17 of file ecEndEffectorMotionStop.h.

Member Function Documentation

EcBoolean EcEndEffectorMotionStop::calculateVelocityProgress ( const EcBaseControlSystemModifier modifier,
const EcRealVector desired,
const EcReal  tolerance,
EcReal progress 
) const

calculate velocity progress

True if converged, false if otherwise.
virtual EcBoolean EcEndEffectorMotionStop::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 

read list

(stop_pose <manip_id> <tolerance>)

Implements EcMotionScriptObject.

virtual void EcEndEffectorMotionStop::restart ( )

restart by setting the status to NOT_STARTED

Implements EcBaseEndEffectorSetMotion.

virtual Status EcEndEffectorMotionStop::run ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 

run the script

Implements EcBaseEndEffectorSetMotion.

virtual EcString EcEndEffectorMotionStop::write ( ) const

write to script

Implements EcMotionScriptObject.

The documentation for this class was generated from the following file:
Created by Energid Technologies
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.