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

Holds a dynamic simulator for a manipulator system. More...

#include <ecDynSimulatorSystem.h>

Inheritance diagram for EcDynamicSimulatorSystem:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcDynamicSimulatorSystem ()
 default constructor
 
virtual ~EcDynamicSimulatorSystem ()
 destructor
 
 EcDynamicSimulatorSystem (const EcDynamicSimulatorSystem &orig)
 copy constructor
 
EcDynamicSimulatorSystemoperator= (const EcDynamicSimulatorSystem &orig)
 assignment operator
 
EcBoolean operator== (const EcDynamicSimulatorSystem &orig) const
 equality operator
 
virtual EcBoolean mergeWith (const EcDynamicSimulatorSystem &orig)
 merge operation
 
virtual EcBoolean exchangeWith (const EcU32 manipIndex, const EcU32 otherManipIndex, const EcSystemSimulation &otherSystemSim)
 Exchange with another EcIndividualDynamicSimulator.
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 initialize XML components for reading and writing
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcIndividualDynamicSimulatorVectordynamicSimulators () const
 gets the individual dynamic simulators
 
virtual void setDynamicSimulators (const EcIndividualDynamicSimulatorVector &dynamicSimulators)
 sets the individual dynamic simulators
 
virtual void setManipulatorDynamicallySimulate (const EcU32 &manipIndex, const EcBoolean &value=EcTrue)
 set the dynamic simulator flag on the manipulator level
 
virtual EcBoolean manipulatorDynamicallySimulate (const EcU32 &manipIndex)
 set the dynamic simulator flag on the manipulator level
 
virtual const EcXmlRealdynamicSystemTimeStep () const
 gets dynamic simulator time step
 
virtual void setDynamicSystemTimeStep (const EcXmlReal &dynamicSystemTimestep)
 sets dynamic simulator time step
 
virtual void pushIndividualSimulator (const EcIndividualDynamicSimulator &individual)
 pushes an individual dynamic simulator onto the vector
 
virtual EcBoolean simulateThrough (EcStatedSystem &statedSystem, const EcManipulatorTorqueVector &manipTorqueVector, const EcManipulatorSystemState &defaultState, EcReal newTime)
 dynamically simulates up to newTime with the given control torques. set the state in the stated system to the new state. More...
 
virtual const EcManipulatorSystemStatesimulateThrough (const EcStatedSystem &statedSystem, const EcManipulatorTorqueVector &manipTorqueVector, const EcManipulatorSystemState &defaultState, EcReal newTime, EcBoolean &status)
 dynamically simulates up to newTime with the given control torques. More...
 
virtual EcBoolean simulateThrough (EcStatedSystem &statedSystem, const EcManipulatorControlInputVector &manipControlInputVector, const EcManipulatorSystemState &defaultState, EcReal newTime)
 dynamically simulates up to newTime with the given control inputs. set the state in the stated system to the new state. More...
 
virtual const EcManipulatorSystemStatesimulateThrough (const EcStatedSystem &statedSystem, const EcManipulatorControlInputVector &manipControlInputVector, const EcManipulatorSystemState &defaultState, EcReal newTime, EcBoolean &status)
 dynamically simulates up to newTime with the given control inputs. More...
 
virtual EcBoolean simulateThrough (EcStatedSystem &statedSystem, const EcManipulatorTorqueVector &manipTorqueVector, const EcManipulatorExternalForceVector &manipForceVector, const EcManipulatorSystemState &defaultState, EcReal newTime)
 dynamically simulates up to newTime with the given control torques and external forces. set the state in the stated system to the new state. More...
 
virtual const EcManipulatorSystemStatesimulateThrough (const EcStatedSystem &statedSystem, const EcManipulatorTorqueVector &manipTorqueVector, const EcManipulatorExternalForceVector &manipForceVector, const EcManipulatorSystemState &defaultState, EcReal newTime, EcBoolean &status)
 dynamically simulates up to newTime with the given control torques and external forces. More...
 
virtual EcBoolean simulateThrough (EcStatedSystem &statedSystem, const EcManipulatorControlInputVector &manipControlInputVector, const EcManipulatorExternalForceVector &manipForceVector, const EcManipulatorSystemState &defaultState, EcReal newTime)
 dynamically simulates up to newTime with the given control inputs and external forces. set the state in the stated system to the new state. More...
 
virtual const EcManipulatorSystemStatesimulateThrough (const EcStatedSystem &statedSystem, const EcManipulatorControlInputVector &manipControlInputVector, const EcManipulatorExternalForceVector &manipForceVector, const EcManipulatorSystemState &defaultState, EcReal newTime, EcBoolean &status)
 dynamically simulates up to newTime with the given control inputs and external forces. More...
 
virtual void initialize (const EcStatedSystem &statedSystem)
 initialize the simulator with a stated system
 
virtual const EcTokentoken () const EC_OVERRIDE
 gets the xml token used for writing out
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read this object from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write this object to an XML stream
 
virtual void configureIntegrationStates ()
 properly size the integration states
 
virtual const EcSystemActiveStatesystemActiveState () const
 gets the system active state
 
virtual EcSystemActiveStatesystemActiveState ()
 gets the system active state (non-const)
 
virtual void setSystemActiveState (const EcSystemActiveState &systemActiveState)
 sets the system active state
 
virtual const EcStatedSystemstatedSystem () const
 gets the stated system
 
virtual EcStatedSystemstatedSystem ()
 gets the stated system – non-const
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 

Static Public Member Functions

static EcDynamicSimulatorSystem nullObject ()
 get a null object
 
static EcDynamicSimulatorSystem defaultObject ()
 create an object with default values
 

Protected Member Functions

virtual EcU32 initSimulateThrough (const EcStatedSystem &statedSystem, EcU32 vectorSize)
 initiate simulating forward through newTime
 
virtual void addExternalForceVector (const EcManipulatorExternalForceVector &manipForceVector, EcSystemActiveState &activeState) const
 add the given external force vector to the general force vector of the provided system active state.
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 

Protected Attributes

EcIndividualDynamicSimulatorVector m_DynamicSimulators
 the dynamic simulators for the individual manipulators
 
EcXmlReal m_DynamicSystemTimestep
 the timestep for the dynamic simulator system
 
EcManipulatorSystemState m_UtilityState
 a utility state
 
EcManipulatorSystemState m_UtilityState2
 a second utility state
 
EcStatedSystem m_UtilityStatedSystem
 a utility stated system
 
EcSystemActiveState m_SystemActiveState
 active state vector
 
EcManipulatorExternalForceVector m_ManipExtForceVec
 general force vector vector
 
EcManipulatorExternalForceVector m_EmptyManipExtForceVec
 empty general force vector vector
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

Holds a dynamic simulator for a manipulator system.

Holds a dynamic simulator for a manipulator system.

Definition at line 29 of file ecDynSimulatorSystem.h.

Member Function Documentation

virtual EcBoolean EcDynamicSimulatorSystem::simulateThrough ( EcStatedSystem statedSystem,
const EcManipulatorTorqueVector manipTorqueVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime 
)
virtual

dynamically simulates up to newTime with the given control torques. set the state in the stated system to the new state.

Parameters
[in,out]statedSystemThe stated system to be simulated. The new state at the new time will be set in statedSystem upon return.
[in]manipTorqueVectorThe control torques applied to the manipulators in the system.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
Returns
True if successful or false otherwise.
virtual const EcManipulatorSystemState& EcDynamicSimulatorSystem::simulateThrough ( const EcStatedSystem statedSystem,
const EcManipulatorTorqueVector manipTorqueVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime,
EcBoolean status 
)
virtual

dynamically simulates up to newTime with the given control torques.

Parameters
[in]statedSystemThe stated system to be simulated.
[in]manipTorqueVectorThe control torques applied to the manipulators in the system.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
[out]statusTrue if successful or false otherwise.
Returns
The new state at newTime.
virtual EcBoolean EcDynamicSimulatorSystem::simulateThrough ( EcStatedSystem statedSystem,
const EcManipulatorControlInputVector manipControlInputVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime 
)
virtual

dynamically simulates up to newTime with the given control inputs. set the state in the stated system to the new state.

Parameters
[in,out]statedSystemThe stated system to be simulated. The new state at the new time will be set in statedSystem upon return.
[in]manipControlInputVectorThe control inputs applied to the manipulators in the system.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
Returns
True if successful or false otherwise.
virtual const EcManipulatorSystemState& EcDynamicSimulatorSystem::simulateThrough ( const EcStatedSystem statedSystem,
const EcManipulatorControlInputVector manipControlInputVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime,
EcBoolean status 
)
virtual

dynamically simulates up to newTime with the given control inputs.

Parameters
[in]statedSystemThe stated system to be simulated.
[in]manipControlInputVectorThe control inputs applied to the manipulators in the system.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
[out]statusTrue if successful or false otherwise.
Returns
The new state at newTime.
virtual EcBoolean EcDynamicSimulatorSystem::simulateThrough ( EcStatedSystem statedSystem,
const EcManipulatorTorqueVector manipTorqueVector,
const EcManipulatorExternalForceVector manipForceVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime 
)
virtual

dynamically simulates up to newTime with the given control torques and external forces. set the state in the stated system to the new state.

Parameters
[in,out]statedSystemThe stated system to be simulated. The new state at the new time will be set in statedSystem upon return.
[in]manipTorqueVectorThe control torques applied to the manipulators in the system.
[in]manipForceVectorThe external forces applied to the manipulators. These forces will be added to the link interaction forces. These external forces could be artificial.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
Returns
True if successful or false otherwise.
virtual const EcManipulatorSystemState& EcDynamicSimulatorSystem::simulateThrough ( const EcStatedSystem statedSystem,
const EcManipulatorTorqueVector manipTorqueVector,
const EcManipulatorExternalForceVector manipForceVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime,
EcBoolean status 
)
virtual

dynamically simulates up to newTime with the given control torques and external forces.

Parameters
[in]statedSystemThe stated system to be simulated.
[in]manipTorqueVectorThe control torques applied to the manipulators in the system.
[in]manipForceVectorThe external forces applied to the manipulators. These forces will be added to the link interaction forces. These external forces could be artificial.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
[out]statusTrue if successful or false otherwise.
Returns
The new state at newTime.
virtual EcBoolean EcDynamicSimulatorSystem::simulateThrough ( EcStatedSystem statedSystem,
const EcManipulatorControlInputVector manipControlInputVector,
const EcManipulatorExternalForceVector manipForceVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime 
)
virtual

dynamically simulates up to newTime with the given control inputs and external forces. set the state in the stated system to the new state.

Parameters
[in,out]statedSystemThe stated system to be simulated. The new state at the new time will be set in statedSystem upon return.
[in]manipControlInputVectorThe control inputs applied to the manipulators in the system.
[in]manipForceVectorThe external forces applied to the manipulators. These forces will be added to the link interaction forces. These external forces could be artificial.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
Returns
True if successful or false otherwise.
virtual const EcManipulatorSystemState& EcDynamicSimulatorSystem::simulateThrough ( const EcStatedSystem statedSystem,
const EcManipulatorControlInputVector manipControlInputVector,
const EcManipulatorExternalForceVector manipForceVector,
const EcManipulatorSystemState defaultState,
EcReal  newTime,
EcBoolean status 
)
virtual

dynamically simulates up to newTime with the given control inputs and external forces.

Parameters
[in]statedSystemThe stated system to be simulated.
[in]manipControlInputVectorThe control inputs applied to the manipulators in the system.
[in]manipForceVectorThe external forces applied to the manipulators. These forces will be added to the link interaction forces. These external forces could be artificial.
[in]defaultStateIf the dynamic simulator is off, the default state will be used.
[in]newTimeThe new time.
[out]statusTrue if successful or false otherwise.
Returns
The new state at newTime.

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.