Actin®  Version 5.2.0
Software for Robotics Simulation and Control
Ec Namespace Reference

Energid common namespace. More...

Namespaces

 Split
 Additional operations that the split function can run during the split.
 

Classes

struct  Aggregator
 
class  Application
 Provides global allocation and access to manager objects. More...
 
class  AsyncThread
 Class to handle asynchronous threading in the simulation. More...
 
class  AsyncThreadData
 Allows users to serialize thread setup state. More...
 
class  AsyncThreadVectorData
 List of AsyncThreadData objects. More...
 
class  ConnectionManager
 Provides signal mechanism for plugins and simulation components. More...
 
class  ConnectionManagerTypes
 Provides signal mechanism for plugins and simulation components. More...
 
class  EcBase64Filter
 The base64 filter. More...
 
class  EcDeque
 container for efficient caching of data More...
 
class  EcFilters
 A complete filter specification. More...
 
class  EcFilterStream
 The high-level class invoking filters on an input stream. More...
 
class  EcWatchedVar
 A template class for timed waits on data. More...
 
class  FileUtil
 Set of utilities to find and track the location of files during load. More...
 
class  GLWidget
 osgQt derived GLWidget class for use with Ec::Viewer More...
 
class  HardwareCalibrationPoint
 Individual parameters used to configure hardware. More...
 
class  HardwareCalibrationPointVector
 XML Vector container for Ec::HardwareCalibrationPoint. More...
 
class  HardwareConfigBase
 Individual parameters used to configure hardware. More...
 
class  HardwareConfigBaseVector
 XML Vector container for Ec::HardwareConfigBase. More...
 
class  HardwarePlugin
 Provides an abstract class that provides base-level capability for dealing with hardware-connected devices. More...
 
class  HardwarePluginData
 XML class used to hold hardware configuration. More...
 
class  HardwarePluginDataElement
 XML pointer class to Ec::HardwarePluginData. More...
 
class  InputHandlerSlotObject
 Populates slotManager with slots of EcDefaultInputHandler. More...
 
class  IOBuffer
 Buffers data between plugins and simulation. More...
 
class  LogicalAndCompleteResults
 
class  LogicalAndResults
 Provides traits classes for signals used by foundCore and network. More...
 
struct  LogicalNorResults
 
class  MainWidgetPlugin
 Provide an interface layer for allowing a viewer to interface with a simulation. Since it is an integral part of the viewer it is not loaded separately (as an .ecp). Bypass standard creation macros. More...
 
struct  ManipulationDirectorDirectionSignal
 
class  Plugin
 Provides an abstract class to be used as a template for creating dynamically loaded functions. More...
 
class  PluginGUI
 Provides an abstract class to be used as a template for creating dynamically loaded functions. More...
 
class  PluginManager
 Provides a loader class for handling the loading and unloading of plugins. More...
 
struct  PluginTestResult
 A test result struct. More...
 
class  PluginThread
 Thread to handle asynchronous plugin data flow. More...
 
class  Print
 Generalized printing routines. Allows for printing across shared libraries as well as printing to multiple outputs. More...
 
class  RealTimeMemoryUsage
 
class  RenderingStatistics
 Provide rendering statistics on the status bar. More...
 
struct  SensorListRequestCombiner
 
struct  SignalActionRunningStateToggledTraits
 
struct  SignalAttachmentChangeTraits
 
struct  SignalAttachmentMapChangeTraits
 Signal for attachment map. More...
 
struct  SignalCollisionMapChangeTraits
 Signal for collision exclusion map. More...
 
struct  SignalControlDescriptionChangeTraits
 
struct  SignalControlMethodChangeTraits
 
struct  SignalControlModeChangeTraits
 
struct  SignalControlStopStateChangeTraits
 Signal for control stop state. More...
 
struct  SignalControlSystemChangeTraits
 Signal for control system change. More...
 
struct  SignalCoordinatedMoveTraits
 
struct  SignalEndEffectorSetTraits
 
struct  SignalHardwareEnableTraits
 
struct  SignalHardwareEStopTraits
 Signal indicating Emergency Stop has been issued. More...
 
struct  SignalHardwarePostConfigTraits
 Signal issued immediately after loading configuration from file. More...
 
struct  SignalHardwarePreConfigTraits
 Signal issued immediately before loading configuration from file. More...
 
struct  SignalHardwareStatusTraits
 
struct  SignalHardwareTorqueEnableTraits
 
struct  SignalInitPluginTraits
 Signal to notify that a plugin has been initialized. More...
 
struct  SignalLoadPluginTraits
 Signal to notify that a plugin has been loaded in memory. More...
 
struct  SignalManipulationSceneDirectionUpdateTraits
 
struct  SignalManipulationSequenceCompleteTraits
 
struct  SignalManipulationSequenceUpdateTraits
 
struct  SignalManipulatorAddTraits
 
struct  SignalManipulatorAddVirtualTraits
 
struct  SignalManipulatorDeleteTraits
 
struct  SignalManipulatorDeleteVirtualTraits
 
struct  SignalManipulatorExchangeBeginTraits
 Signal for exchange manipulator begin. More...
 
struct  SignalManipulatorExchangeEndTraits
 
struct  SignalManipulatorMergeBeginTraits
 Signal for merge manipulator begin. More...
 
struct  SignalManipulatorMergeEndTraits
 Signal for merge manipulator end. More...
 
struct  SignalManipulatorUpdateTraits
 
struct  SignalManipulatorUpdateVirtualTraits
 
struct  SignalNetworkConnectTraits
 Signal for reporting when a TCP connection is established. More...
 
struct  SignalNetworkCustomMessageTraits
 Signal for dealing with custom messages. More...
 
struct  SignalNetworkDisconnectTraits
 Signal for reporting when a TCP connection is severed. More...
 
struct  SignalNetworkMessageTraits
 Signal for dealing with messages before standard processing. More...
 
struct  SignalNetworkObjectTraits
 Signal for dealing with return messages from non-network plugins. More...
 
struct  SignalNetworkResultsTraits
 Signal for reporting back network results messages. More...
 
struct  SignalPluginTest
 Signal to trigger a plugin test and return the result. More...
 
struct  SignalPoseChangeTraits
 
struct  SignalPosesLoadedTraits
 
struct  SignalRemoteCommandResultTraits
 Signal indicating that a remote command has been completed. More...
 
struct  SignalRequestRestart
 Signal for a plugin to request actinRT to restart. More...
 
struct  SignalRequestShutdown
 Signal for a plugin to request actinRT to shutdown. More...
 
struct  SignalSensorListRequest
 
struct  SignalSensorStatePushRequest
 Signal to request sensor state update. More...
 
struct  SignalSensorStateUpdate
 
struct  SignalSetFocusDistance
 
struct  SignalSimulationChangeTraits
 
struct  SignalSimulationCloseBeginTraits
 Signal for Simulation close begin. More...
 
struct  SignalSimulationCloseEndTraits
 Signal for Simulation close end. More...
 
struct  SignalSimulationEnableTraits
 
struct  SignalSimulationPauseTraits
 Signal indicating that the simulation is paused. More...
 
struct  SignalSimulationResetTraits
 Signal indicating that the simulation is reset. More...
 
struct  SignalSimulationStartTraits
 Signal indicating that the simulation is running. More...
 
struct  SignalSimulationStateTraits
 
struct  SignalSimulationStopTraits
 Signal indicating that the simulation is stopped. More...
 
struct  SignalSimulationThreadUpdateRateChangeTraits
 
struct  SignalSimulationTimeStepTraits
 Signal indicating that a simulation timestep has been completed. More...
 
struct  SignalStopMotionTraits
 Signal when a stop motion command has changed. More...
 
struct  SignalStopPlanningTraits
 Signal to stop path planning. More...
 
struct  SignalToolOffsetChangedTraits
 
struct  SignalToolOffsetIndexChangedTraits
 
struct  SignalTriggerImageCapture
 
struct  SignalUnloadPluginTraits
 Signal to notify that a plugin has been unloaded from memory. More...
 
struct  SignalVirtualSystemInit
 Signal when the virtual system is initialized. More...
 
class  SimulationThread
 Thread to handle asynchronous simulation data flow. More...
 
class  Viewer
 Base class for integrated Qt QMainWindow and OpenSceneGraph's osgViewer::CompositeViewer. Provides a default capability for a single view with easy expansion for additional shared windows. More...
 
class  ViewerContextMenu
 Context menu support (right-click) within Ec::Viewer class. More...
 
class  ViewerInputHandler
 General mouse interaction capability for Ec::Viewer. More...
 
class  ViewerPlugin
 Provide Viewer access to Plugin API. More...
 
class  VirtualIOBuffer
 Buffers data between plugins and virtual system. More...
 

Typedefs

typedef boost::iostreams::aggregate_filter< char, std::allocator< char > > base_type
 convenience type for boost aggregate filer of type char
 
typedef std::vector< Plugin * > PluginVector
 Vector type of Ec::Plugin* from std::vector.
 
typedef EcU32 InitAndShutdownMode
 type define of InitAndShutdownMode
 
typedef EcU32 HardwareStatus
 type define of HardwareStatus
 
typedef boost::shared_ptr< EcSystemSimulationScopedSysSim
 
typedef boost::shared_ptr< const EcSystemSimulationCScopedSysSim
 Const version of scoped handle. These are currently setup to not lock.
 
typedef EcU32 BitFlags
 Size of bit flags.
 
typedef std::vector< PluginTestResultPluginTestResultVector
 a vector of test results
 
typedef EcCamera Camera
 

Enumerations

enum  PluginBaseEnum { EndOfBaseEnums }
 Enumerations used for Plugin API access. More...
 
enum  HardwareParamTypeEnum { HardwareUnits = 0x8000 }
 Enumerations for hardware paremeter type. More...
 
enum  InitAndShutdownModeEnum {
  InitFromSimulation = 0x01,
  InitFromHardware = 0x02,
  InitDisabled = 0x04,
  InitStateToHome = 0x08,
  InitMask = 0x0f,
  ShutdownToHome = 0x10,
  PowerOff = 0x20,
  TorqueDisable = 0x40,
  ShutdownMask = 0xf0
}
 Enumerations for initialization and shutdown behavior. More...
 
enum  HardwareStatusEnum {
  HardwareStatusOk = 0,
  HardwareStatusNoPort = 1,
  HardwareStatusBadConfig = 2,
  HardwareStatusIncompatState = 3,
  HardwareStatusReadError = 4,
  HardwareStatusWriteError = 5,
  HardwareStatusWaitTimeout = 6,
  HardwareStatusHalted = 7,
  HardwareStatusActinError = 8,
  HardwareStatusDivergenceError = 9,
  HardwareStatusGeneralError = 90,
  HardwareStatusEnd = 99
}
 
enum  ParamTypeEnum {
  AccelerationFactor =EndOfBaseEnums,
  ActiveState,
  ActualEndEffector,
  ActualVelocity,
  AntiCollision,
  AttachmentMap,
  Base,
  BaseAccelerationFactor,
  BaseSpeedFactor,
  BaseVelocity,
  CollisionExclusionMap,
  CollisionPriority,
  CollisionResult,
  CollisionStop,
  CalculationTime,
  ControlDescriptor,
  ControlMethod,
  ControlMode,
  ControlSystem,
  CoordinatedJointAngle,
  DataMap,
  DesiredEndEffector,
  DesiredEndEffectorRelative,
  DesiredForce,
  DesiredJointControlEndEffector,
  DesiredVelocity,
  DhFrame,
  DigitalInput,
  DigitalOutput,
  DisplaySystemDataCapture,
  DynamicSimulation,
  EndEffector,
  EndEffectorSet,
  ExternalControl,
  ForceControlDescriptor,
  ForceControlOn,
  HomeState,
  ImageSensor,
  InitJointAngle,
  JointAngle,
  JointController,
  JointVelocity,
  Manipulator,
  ManipulatorSystemConfiguration,
  ManipulatorGraspingModule,
  ManipulatorLinkProps,
  MeasuredForce,
  MeasuredUpdatePeriod,
  NamedFrames,
  NamedFramesInSystem,
  OutputWriterVector,
  PositionControlSystem,
  PrimaryFrame,
  ProfiledEndEffectors,
  PropagationResults,
  Shape,
  SimulateForward,
  SimulationHome,
  SimulationReset,
  SimulationThreadUpdateRate,
  SimulationMutex,
  SimulationTime,
  SimRunState,
  SpeedFactor,
  State,
  StatedSystem,
  StaticCollisionExclusionMap,
  StopMotion,
  SystemControlExecutive,
  SystemDataCapture,
  SystemEnvironment,
  SystemSimulation,
  ToolOffset,
  ToolOffsetFixEE,
  ViewerParameters,
  VirtualActive,
  VirtualManipulatorIndex,
  WhatChanged,
  EndOfSimParams
}
 
enum  ParamModifier { VirtualSystem = 0x10000 }
 Enumerations used as modifier for paremeter types above. More...
 
enum  SimulationRunState {
  SimulationStopped,
  SimulationRunning,
  SimulationPaused
}
 Enumeration on state of the current simulation. More...
 
enum  BitFlagsEnum {
  DesiredForceBit = 0x001,
  DesiredPosBit = 0x002,
  DesiredVelBit = 0x004,
  EESetBit = 0x008,
  StateBit = 0x010,
  ForceControlBit = 0x020,
  ForceSensorBit = 0x040,
  EESetIndexBit = 0x080,
  ForceControlDescriptorBit = 0x100,
  PositionControlSystemBit = 0x200,
  ForceControlSystemBit = 0x400,
  AttachmentMapBit = 0x800,
  ControlModeBit = 0x1000,
  DesiredJointPosBit = 0x2000
}
 
enum  StopMode {
  ResumeMotion,
  SoftStop,
  HardStop,
  CustomStop
}
 Enumeration on stop mode. More...
 
enum  RunStateEnum {
  RunStatePause,
  RunStateStart,
  RunStateStop,
  RunStateCancel
}
 run states More...
 
enum  PluginParamTypeEnum {
  PM_SetModifier = 0x8000,
  PM_Ack = 0x0100,
  PM_EmergencyStop,
  PM_HardwareEnable,
  PM_Reset,
  PM_ProgramRunState,
  PM_ProgramFinished,
  PM_ProgramUpdate,
  PM_ManipulationActionContainer,
  PM_ManipulationDirector,
  PM_ManipulationDirectorScript,
  PM_ManipulationActionManager,
  PM_ManipulationAction,
  PM_RrtPathPlanner,
  PM_DesiredEndEffectorPP,
  PM_ManipulationSequence,
  PM_InitialState,
  PM_NetworkModifier,
  PM_SystemSimulationFromFile,
  PM_Terminate,
  PM_AttachmentChange,
  PM_EndEffectorSet
}
 Plugin Messages (PM) used to pass data through the network transport. More...
 
enum  GuiParamTypeEnum {
  StartOfGuiParams = 0x100,
  BackgroundColor,
  Cursor,
  DisplayMask,
  GuiThreadUpdateRate,
  GuideFrame,
  Height,
  PovParameters,
  RenderVirtual,
  SelectedArm,
  SelectedEndEffector,
  Signal,
  SystemReady,
  ViewerAttribute,
  VisualizationParameters,
  Width,
  SignalAboutToSave,
  SignalGuiUpdate,
  SignalContextMenu,
  SignalPreRender,
  SignalPostRender,
  SignalFrameDone,
  SignalLoadScene,
  SignalPlaybackCompleted,
  SignalSensorInput,
  SignalReset,
  SignalWindowResized,
  SignalManipulatorAdded,
  SignalManipulatorDeleted,
  SignalManipulatorUpdated,
  SignalManipulatorExchangeBegin,
  SignalManipulatorExchangeEnd,
  SignalManipulatorMergeBegin,
  SignalManipulatorMergeEnd,
  SignalManipulatorAddedVirtual,
  SignalManipulatorDeletedVirtual,
  SignalManipulatorUpdatedVirtual,
  SignalPauseSimulation,
  SignalStartSimulation,
  SignalStopSimulation,
  SignalResetSimulation,
  SignalSimulationCloseBegin,
  SignalSimulationCloseEnd,
  SignalSimulationEnabled,
  SignalSimulationChanged,
  SignalSimulationTimeStep,
  SignalActiveManipulatorChanged,
  SignalActiveEndEffectorChanged,
  SignalControlDescriptionChanged,
  SignalControlMethodChanged,
  SignalControlModeChanged,
  SignalControlSystemChanged,
  SignalEndEffectorSetChanged,
  SignalPluginLoaded,
  SignalPluginUnloaded,
  SignalActionsEnabled,
  SignalExit
}
 

Functions

template<typename T >
EcBoolean writeBinary (const T &value, std::ostream &ofs)
 
template<typename T >
EcBoolean readBinary (T &value, std::istream &ifs)
 
template<typename T >
T * plugin_load_and_cast (const EcString &name)
 
template<typename T >
T * plugin_find_and_cast (const EcString &name)
 
boost::shared_ptr< boost::thread > createTimerThread (boost::function< void()> function, boost::posix_time::time_duration interval)
 
void startTimerThread (boost::function< void()> function, boost::posix_time::time_duration interval)
 
EcBoolean setCustomOsThreadName (boost::thread::native_handle_type threadHandle, const EcString &name)
 Set the custom OS name of the supplied boost::thread.
 
template<typename ContainerType >
void eraseEmpty (ContainerType &container)
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcStringVector split (const EcString &input, const EcString &delimiters, Split::Options options=Split::None)
 Split a string into a vector of strings. Expensive in C++98, but inexpensive once we are using C++11, see N3510.
 
template<typename Container >
EcBoolean containsValue (const Container &container, const typename Container::value_type &value)
 
template<typename T >
std::vector< T > & append (std::vector< T > &lhs, const std::vector< T > &rhs)
 Append one vector to the end of another vector.
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString getLastLineFromFile (const EcString &filePath)
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString getFileName (const EcString &filePath)
 Retrieve only the filename from a filePath.
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL void setupLogger (const EcString &logFilePath)
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString replacementString (const EcString &key, EcStringStringMap &env)
 Lookup a value from the environment map. If there is no associated value in the map, then attempt to look it up as an environment variable. More...
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcStringVector splitString (const EcString &s, const EcString &delimiters)
 Split a string, given delimiters. More...
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString substituteEnvironmentInString (EcString s, EcStringStringMap &env)
 Substitute all "${VAR_NAME}" patterns in a string with the VAR_NAME value found in a map. More...
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString regexFirstMatch (const EcString input, const boost::regex &pattern, const EcSizeT captureGroupIndex)
 Retrieve the first matching substring using the specified capture group index. More...
 
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString generateUuidString ()
 

Variables

const EcString PluginExtension = ".ecp"
 The plugin file extension.
 

Detailed Description

Energid common namespace.

Vector of AsyncThreadData objects.

Message queueing.

Provide backwards compatiblity with EcREADBIN.

Provide backwards compatibility with EcWRITEBIN.

Typedef Documentation

typedef boost::shared_ptr< EcSystemSimulation > Ec::ScopedSysSim

The purpose of ScopedSim is to provide a safe mechanism to access the simulation. It provides automatic release of the mutex when it goes out of scope. Users should enclose this variable to limit the amount of time holding the lock so that other thread operations don't get stalled.

Definition at line 32 of file defaultBuffer/ecIOBuffer.h.

Enumeration Type Documentation

Bits indicating what changed in the last timestep. Consumers can use these flags to adjust behavior based on the change. Note that if the plugin is running at a different rate than the simulation, then there is no guarantee that all changes will be visible. The changed values are valid only until the next simulation timestep is calculated.

Enumerator
DesiredForceBit 

DesiredForce change.

DesiredPosBit 

DesiredEE change.

DesiredVelBit 

DesiredVel change.

EESetBit 

EndEffectorSet change.

StateBit 

State change.

ForceControlBit 

ForceControlOn change.

ForceSensorBit 

MeasuredForce change.

EESetIndexBit 

End-effector set index change.

ForceControlDescriptorBit 

Force descriptor index change.

PositionControlSystemBit 

PCS change.

ForceControlSystemBit 

FCS change.

AttachmentMapBit 

Change in attachment map.

ControlModeBit 

Control mode change.

DesiredJointPosBit 

Desired joint control EE change.

Definition at line 296 of file ecIOParams.h.

Enumerator
StartOfGuiParams 

Specify a value beyond those in ecIOParams.h.

BackgroundColor 

(SG, EcColor)

Cursor 

(S , EcU32)

DisplayMask 

( G, EcU32)

GuiThreadUpdateRate 

(SG, EcReal)

GuideFrame 

(SG, EcCoordinateSystemTransformation)

Height 

( G, EcU32)

PovParameters 

(SG, EcPovParameters)

RenderVirtual 

( S, EcBoolean) Turn rendering on/off for a virtual manipulator

SelectedArm 

(SG, EcU32)

SelectedEndEffector 

(SG, EcU32)

Signal 

(S , signal) Trigger various signals

SystemReady 

(SG, EcBoolean)

ViewerAttribute 

(SG, EcU32)

VisualizationParameters 

(SG, EcVisualizationParameters)

Width 

( G, EcU32)

SignalAboutToSave 

() called just before the file is saved

SignalGuiUpdate 

() called when the viewer->update method is called

SignalContextMenu 

(QMenu*) Connect custom context menu

SignalPreRender 

() Before rendering starts

SignalPostRender 

() After rendering is complete

SignalFrameDone 

(double) Frame complete with timestamp

SignalLoadScene 

() File loaded

SignalPlaybackCompleted 

() Playback file finished

SignalSensorInput 

(EcSG3DInputData*) slot connection

SignalReset 

() Reset GUI and Rendering Window

SignalWindowResized 

(EcInt32 width, EcInt32 height) new width, height

SignalManipulatorAdded 

(QString manipLabel) When manipulator is added to the system

SignalManipulatorDeleted 

(EcU32 manipIndex) When manipulator is deleted from the system

SignalManipulatorUpdated 

(EcU32 manipIndex) When a manipulator is updated in the system

SignalManipulatorExchangeBegin 

When exchange of manipualtor is initiated to the system.

SignalManipulatorExchangeEnd 

(EcU32 manipIndex)When exchange of manipualtor is completed

SignalManipulatorMergeBegin 

When merge of manipualtor is initiated to the system.

SignalManipulatorMergeEnd 

When merge of manipualtor is completed.

SignalManipulatorAddedVirtual 

(QString manipLabel) When manipulator is added to the virtual system

SignalManipulatorDeletedVirtual 

(EcU32 manipIndex) When manipulator is deleted from the virtual system

SignalManipulatorUpdatedVirtual 

(EcU32 manipIndex) When a manipulator is updated in the virtual system

SignalPauseSimulation 

() Simulation paused

SignalStartSimulation 

() Simulation started

SignalStopSimulation 

() Simulation ended

SignalResetSimulation 

() Simulation reset

SignalSimulationCloseBegin 

When close simulation is initiated.

SignalSimulationCloseEnd 

When close simulation is completed.

SignalSimulationEnabled 

(bool bEnabled) Alternative to Signal{Start,Stop}Simulation

SignalSimulationChanged 

(EcU32 simulationStateChanges) One or more simulation parameters have changed. The simulation parameters being monitored are stored as a bit representation identified by BitFlagsEnum defined in plugins/ecIOParams.h. Thus accumulated simulation state changes if any are notified through this signal every simulation cycle or timestep. The parameters being monitored are AttachmentMap, Active EE Set Index, DesiredVelocity etc

SignalSimulationTimeStep 

(double time) It is emitted for every simulation step and provides the calculated time step in that cycle

SignalActiveManipulatorChanged 

(EcU32 activeManipIndex) When active manipulator is changed

SignalActiveEndEffectorChanged 

(EcU32 activeEEIndex) When active EE is changed

SignalControlDescriptionChanged 

(EcU32 manipIndex, EcU32 controlDescIndex)

SignalControlMethodChanged 

(EcU32 manipIndex, EcU32 controlMethodIndex)

SignalControlModeChanged 

(EcU32 manipIndex, EcU32 controlModeIndex)

SignalControlSystemChanged 

() emiited whenever the control system is changed

SignalEndEffectorSetChanged 

(EcU32 manipIndex, EcU32 activeEESetIndex)

SignalPluginLoaded 

(Ec::Plugin*), emiited when a plugin is loaded and passes the loaded plugin pointer

SignalPluginUnloaded 

(Ec::Plugin*), emitted when a plugin is unloaded and passed the plugin pointer of the unloaded plugin

SignalActionsEnabled 

(bool bEnabled) Widgets enabled when simulatiom file is loaded

SignalExit 

() Application exit

Definition at line 37 of file ecPluginGUI.h.

Enumerations for hardware paremeter type.

Enumerator
HardwareUnits 

Specify that param given is in hw units.

Definition at line 18 of file ecHardwarePluginTypes.h.

Some basic enumerations of standard errors. Users are free to expand the usage as long as the values are beyond HardwareStatusEnd.

Enumerator
HardwareStatusOk 

Successful.

HardwareStatusNoPort 

Unable to connect to port.

HardwareStatusBadConfig 

Configuration file error.

HardwareStatusIncompatState 

Incompatible simulation state.

HardwareStatusReadError 

Error when reading from hardware.

HardwareStatusWriteError 

Error when writing to hardware.

HardwareStatusWaitTimeout 

Timed out waiting for hardware to complete move.

HardwareStatusHalted 

Hardware is in a halted state.

HardwareStatusActinError 

Error generated from simulation API.

HardwareStatusDivergenceError 

Hardware state has diverged from simulation state.

HardwareStatusGeneralError 

Uncategorized error.

HardwareStatusEnd 

Custom values placed after this.

Definition at line 43 of file ecHardwarePluginTypes.h.

Enumerations for initialization and shutdown behavior.

Enumerator
InitFromSimulation 

Set hardware to simulation position.

InitFromHardware 

Set simulation from hardware position.

InitDisabled 

Start up in a disabled state.

InitStateToHome 

Startup hardware value sets homing angles.

ShutdownToHome 

Move arm to home position on exit.

PowerOff 

Attempt to power off hardware on exit.

TorqueDisable 

Turn off torque on exit.

Definition at line 24 of file ecHardwarePluginTypes.h.

Enumerations used as modifier for paremeter types above.

Enumerator
VirtualSystem 

Modifier used to get/set properties of the virtual system.

Definition at line 278 of file ecIOParams.h.

Parameters to describe the I/O commands. They can be either a Get(G), Set(S) or Set and Get(SG) In the get version of the method, the parameter being obtained will be of reference type, while in set version, it will be a const reference get a const pointer of the required parameter (Pr) get a const value of the required parameter (P) or get a boost shared pointer of the required parameter (B). The second argument corresponds to the parameter type that it expects. A subset can also be specified. For example an EcOrientation can be retrieved from the ActualEndEffector instead of the entire EcCoordinateSystemTransformation. Some of the abbreviations used in the comments are: MC(Motion Constraint), MCI (Motion Constraint Index), MCS ((Motion Constraint Set), MCSI (Motion Constraint Set Index)

Enumerator
AccelerationFactor 

SG <AccelerationFactor, EcReal>(EcU32 manipIndex, EcReal accelerationFactor) Acceleration factor, get/set acceleration factor for a manipulator's velocity controller SG <AccelerationFactor, EcReal>(EcU32 manipIndex, EcU32 eeSetIndex, EcU32 eeIndex, EcReal accelerationFactor) get/set acceleration factor for motion constraint of a manipulator

ActiveState 

SG <ActiveState, EcManipulatorActiveState>(const EcU32 manipIndex, EcManipulatorActiveState) get/set active state for a manipulator SGP <ActiveState, EcManipulatorActiveStateVector>(EcManipulatorActiveStateVector& value) get/set active state vector GPrB <ActiveState, EcSystemActiveState>(EcSystemActiveState& value) gets the active state of the system

ActualEndEffector 

G <ActualEndEffector, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 mcIndex, EcCoordinateSystemTransformation& value) gets the true coordinates of MC as a EcCoordinateSystemTransformation for a specific mcIndex of a manipulator specified by manipIndex G <ActualEndEffector, EcManipulatorEndEffectorPlacement>(const EcU32 manipIndex, const EcU32 mcIndex, EcEndEffectorPlacement& value) gets the true location of MC as a EcEndEffectorPlacement for a specific mcIndex of a manipulator specified by manipIndex G <ActualEndEffector, EcVector>(const EcU32 manipIndex, const EcU32 mcIndex, EcVector& value) gets/returns the true placement of MC as a EcVector for a specific mcIndex of a manipulator specified by manipIndex G <ActualEndEffector, EcOrientation>(const EcU32 manipIndex, const EcU32 eeIndex, EcOrientation& value) gets the orientation of MC as a EcOrientation for a specific mcIndex of a manipulator specified by manipIndex GP <ActualEndEffector, EcManipulatorEndEffectorPlacementVector>(EcManipulatorEndEffectorPlacementVector& value) gets/returns the true placement of MC as a EcManipulatorEndEffectorPlacementVector G <ActualEndEffector, EcManipulatorEndEffectorPlacement>(const EcU32 manipIndex, const EcU32 mcSetIndex, EcManipulatorEndEffectorPlacement& value) gets the current placement of a specific mcSetIndex of a manipulator as a EcManipulatorEndEffectorPlacement datatype G <ActualEndEffector, EcReal>(const EcU32 manipIndex, const EcU32 mcIndex, EcReal& value) gets the scalar placement of a specific MC with one degree of constraint of a manipulator

ActualVelocity 

G <ActualVelocity, EcManipulatorEndEffectorVelocity>, (const EcU32 manipIndex, EcManipulatorEndEffectorVelocity& value) gets the actual MC velocities for a manipulator G <ActualVelocity, EcRealVector>, (const EcU32 manipIndex, const EcU32 mcIndex, EcRealVector& value) gets the actual MC velocity for a specific mcIndex of a manipulator specified by manipIndex

AntiCollision 

SG <AntiCollision, EcBoolean>(const EcU32 manIndex, EcBoolean& antiCollStatus) Turn on/off anti-collision in control system for a manipulator.

AttachmentMap 

SG <AttachmentMap, EcManipulatorAttachmentMap>(EcManipulatorAttachmentMap& value) get/set the attachment map.

Base 

SG <Base, EcCoordinateSystemTransformation>(const EcU32 manipIndex, EcCoordinateSystemTransformation& value) get/set the coordinates of base of a manipulator SG <Base, EcVector>(const EcU32 manipIndex, EcVector& value) get/set the coordinates of base of a manipulator as a EcVector datatype SG <Base, EcOrientation>(const EcU32 manipIndex, EcOrientation& value) get/set the coordinates of base of a manipulator given as an EcOrientation datatype

BaseAccelerationFactor 

SG <BaseAccelerationFactor, EcReal>(const EcU32 manipIndex, EcReal& value) get/set Base acceleration factor for a manipulator.

BaseSpeedFactor 

SG <BaseSpeedFactor, EcReal>(const EcU32 manipIndex, EcReal& value) get/set the Base speed factor for a manipulator.

BaseVelocity 

SG <BaseVelocity, EcGeneralVelocity>(const EcU32 manipIndex, EcGeneralVelocity &value) get/set the Base Velocity for a manipulator.

CollisionExclusionMap 

SG <CollisionExclusionMap, EcSystemCollisionExclusionMap>(EcSystemCollisionExclusionMap& value) get/set the Dynamic or runtime collision exclusion map for the system SG <CollisionExclusionMap, EcManipulatorSelfCollisionLinkMap>(const EcU32 manIndex, EcManipulatorSelfCollisionLinkMap& value) get/set the self collision map for a manipulator

CollisionPriority 

SG <CollisionPriority, EcAntiCollisionPriorityList>(EcAntiCollisionPriorityList& value) get/set the EcAntiCollisionPriorityList for the system.

CollisionResult 

S <CollisionResult, EcPropagationResultData>(const EcU32 manipIndex, EcPropagationResultData& value) Set the "collision" part of the EcPropagationResultData to the manipulator. This is used when a different process performs collision detection and sends the result.

CollisionStop 

S <CollisionStop, EcBoolean>(const EcU32 manipIndex, EcBoolean& value) Turn on/off "stop at collision" property for a manipulator. If set, on collision the manipulator stops moving further.

CalculationTime 

P <CalculationTime, EcReal>() returns the Time taken to compute a timestep.

ControlDescriptor 

SG <ControlDescriptor, EcU32>(const EcU32 manipIndex, EcU32& cdIdex) get/set the active Control descriptor specified by the cdIndex to be used/being used by a manipulator G <ControlDescriptor, EcStringVector>(const EcU32 manipIndex, EcStringVector& value) get all the names/labels of Control descriptors available for a manipulator as a EcStringVector

ControlMethod 

SG <ControlMethod, EcU32>(const EcU32 manipIndex, EcU32& value) get/set the active "Position Control Method" to be used for a manipulator G <ControlMethod, EcStringVector>(const EcU32 manipIndex, EcStringVector& value) get the registered token names of all available "Position Control Methods" for a manipulator

ControlMode 

S <ControlMode, EcU32>(const EcU32 manipIndex, EcU32 controlMode) set the Control mode to be used for a manipulator G <ControlMode, EcU32Vector>(const EcU32 manipIndex, EcU32Vector& value) get all the available Control modes for a manipulator SG <ControlMode, EcU32>(const EcU32 manipIndex, const EcU32 mcIndex, EcU32& controlMode) get/set the Control mode to be used for the MC of the active MCS for a manipulator SG <ControlMode, EcU32>(const EcU32 manipIndex, const EcU32 mcSetIndex, const EcU32 mcIndex, EcU32& controlMode) get/set the Control mode to be used for the specified MC of the specified MCS for a manipulator

ControlSystem 

SGPrB <ControlSystem, EcForceControlSystem>(EcForceControlSystem& value) get/set the force conrol system to be used. This method is also supported in a form where a shared pointer to the EcForceControlSystm is returned. SGPr <ControlSystem, EcPositionControlContainer>(EcPositionControlContainer& value) get/set the EcPositionControlContainer to be used. SGPrB <ControlSystem, EcPositionControlSystem>(EcPositionControlSystem& value) get/set the EcPositionControlSystem to be used.This is also supported in a form (paramPtr) where a const pointer to EcPositionControlSystem is returned or paramScopedPtr where a boost scoped pointer is returned SGP <ControlSystem, EcBooean>(EcBoolean& value) Turn the position control on/off for all manipulators in the system SG <ControlSystem, EcBooean>(const EcU32 manipIndex, EcBoolean& value) Turn the position control on/off for a manipulator

CoordinatedJointAngle 

Not implemented or supported.

DataMap 

SG <DataMap, EcDataMap>(EcDataMap& value) get/set the Custom data to exchange among plugins SG <DataMap, EcReal>(const EcString& key, EcReal& value) get/set a EcReal value for a particular key in the data map SG <DataMap, EcXmlRealVector>(const EcString& key, EcXmlRealVector& value) get/set a EcXmlRealVector value for a particular key in the data map We can get/set values of different data types for a particular key in the data map. The above two lines describes variation of the method to set a EcReal value or EcXmlRealVector value. The other supported data types are, EcU32, EcXmlU32Vector, EcString

DesiredEndEffector 

SGP <DesiredEndEffector, EcManipulatorEndEffectorPlacementVector>(EcManipulatorEndEffectorPlacementVector& value) get/set the desired placement of the current active MC as a EcManipulatorEndEffectorPlacementVector SG <DesiredEndEffector, EcManipulatorEndEffectorPlacement>(const EcU32 manipIndex, EcManipulatorEndEffectorPlacement& value) get/set the desired placement of active MC of a manipulator as a EcManipulatorEndEffectorPlacement. This method is also available where we can get the placement as a EcRealVector S <DesiredEndEffector, EcManipulatorEndEffectorPlacement>(const EcU32 manipIndex, const EcU32 mcIndex, EcManipulatorEndEffectorPlacement& value) set the desired placement of a specific MC of a manipulator as a EcManipulatorEndEffectorPlacement SG <DesiredEndEffector, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 mcIndex, EcCoordinateSystemTransformation& value) get/set the desired placement of a specific MC of a manipulator as a EcCoordinateSystemTransformation. This method is also available where we can get the placement as a EcEndEffectorPlacement, EcVector, EcOrientation SG <DesiredEndEffector, EcReal>(const EcU32 manipIndex, const EcU32 mcIndex, EcReal& value) Specialization for DesiredEndEffector to handle linear constraint EEs, It will take the incoming value as the value of Z component and assume a value of 0 for X and Y component while setting, and in the get method, the translation of the Z component is returned S <DesiredEndEffector, ParamTypeEnum>, can be used to set the desired MC placement to actual placement of the MC in one call

DesiredEndEffectorRelative 

S <DesiredEndEffectorRelative, EcEndEffectorPlacement>(const EcU32 manIndex, const EcU32 eeSetIndex, const EcU32 eeIndex, const EcEndEffectorPlacement& offset) set the relative desired placement of MC of the specified MCS and MC of a manipulator.

DesiredForce 

SGP <DesiredForce, EcManipulatorSensorForceVector>(EcManipulatorSensorForceVector& value) get/set the DesiredForce for all the manipulators SG <DesiredForce, EcManipulatorSensorForce>(const EcU32 manIndex, EcManipulatorSensorForce& value) get/set the DesiredForce for a manipulator

DesiredJointControlEndEffector 

S <DesiredJointControlEndEffector, EcEndEffectorPlacement>(const EcU32 manipIndex, const EcEndEffectorPlacement& value) set the placement for the desired joint control MC for a manipulator.

DesiredVelocity 

SGP <DesiredVelocity, EcManipulatorEndEffectorVelocityVector>(EcManipulatorEndEffectorVelocityVector& value) get/set the desired MC velocities for all manipulators SG <DesiredVelocity, EcManipulatorEndEffectorVelocity>(const EcU32 manipIndex, EcManipulatorEndEffectorVelocity& value) get/set the desired MC velocities for a manipulator SG <DesiredVelocity, EcRealVector>(const EcU32 manipIndex, const EcU32 mcIndex, EcRealVector& mvVelocity) get/set the desired MC velocity for a specific MC of a manipulator

DhFrame 

G <DhFrame, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 linkIndex, EcCoordinateSystemTransformation&) get the DH frame in system coordinates for a specific link of a manipulator.

DigitalInput 

SG <DigitalInput, EcU32Vector>(EcU32Vector& value) get/set the Digital Input vector. Used to communicate with an external device. SG <DigitalInput, EcU32>(const EcU32 inputIndex, EcU32& value) get/set the Digital Input for a particular index

DigitalOutput 

SG <DigitalOutput, EcU32Vector>(EcU32Vector& value) get/set the Digital Output vector. Used to communicate with an external device. SG <DigitalOutput, EcU32>(const EcU32 boardIndex, EcU32& value) get/set the Digital Onput for a particular board S <DigitalOutput, EcBoolean>(const EcU32 boardId, const EcU32 channelId, const EcBoolean& value) set the Digital Output for a specific channel of a specific board

DisplaySystemDataCapture 

SG <DisplaySystemDataCapture, EcDisplaySystemDataCaptureVector>(EcDisplaySystemDataCaptureVector& value) get/set the EcDisplaySystemDataCapture for the system.

DynamicSimulation 

SGPr <DynamicSimulation, EcDynamicSimulatorSystem>(EcDynamicSimulatorSystem& value) get/set the EcDynamicSimulatorSystem SGP <DynamicSimulation, EcBoolean>(EcBoolean& value) Turn on/off dynamic simulation capability for the system SG <DynamicSimulation, EcBoolean>(const EcU32 manipIndex, EcBoolean& value) Turn on/off "Dynamic Simulation" capability for a manipulator in the system

EndEffector 

S <EndEffector, EcU32>(const EcU32 manipIndex, EcU32& mcIndex) get/set the Active motion constraint of a manipulator.

EndEffectorSet 

SGP <EndEffectorSet, EcEndEffectorSetVector>(EcEndEffectorSetVector& value) get/set the active Motion Constraint Sets for the system SG <EndEffectorSet, EcEndEffectorSetVector>(const EcU32 manipIndex, EcEndEffectorSetVector& value) get/set the Motion Constraint Sets for a manipulator SG <EndEffectorSet, EcEndEffectorSet>(const EcU32 manipIndex, EcEndEffectorSet& value) get/set the active MCS for a manipulator SG <EndEffectorSet, EcEndEffectorSet>(const EcU32 manipIndex, const EcU32 mcSetIndex, EcEndEffectorSet& value) set method will replace the MCS at the mcSetIndex for a manipulator, except for JointControllerEndEffectorSet get method will return the MC Set at the specified mcSetIndex for a manipulator SG <EndEffectorSet, EcBoolean>(const EcU32 manipIndex, const EcBoolean& value) Turn on/off the use of Soft MCS for a manipulator SG <EndEffectorSet, EcU32>(const EcU32 manIndex, EcU32& activeMcSetIndex) get/set the Active MCS of a manipulator to the specified activeMcSetIndex

ExternalControl 

SP <ExternalControl, EcBoolean>(EcBoolean& value) Turn on/off the ability to Externally control simulation components S <ExternalControl, EcManipulatorTorqueVector>(EcManipulatorTorqueVector& value) set the external torques to control manipulators during dynamic simulation S <ExternalControl, EcManipulatorTorque>(const EcU32 manipIndex, EcManipulatorTorque& value) set the external torque to control a specific manipulator during dynamic simulation S <ExternalControl, EcBooleanVectorVector>(EcBooleanVectorVector& value) set which of the variable joint controllers would use the external control torque in the system

ForceControlDescriptor 

SG <ForceControlDescriptor, EcU32>(const EcU32 manIndex, EcU32& value) get/set the active Force control descriptor to be used for a manipulator.

ForceControlOn 

SG <ForceControlOn, EcBoolean>(EcBoolean& value) Turn on/off "Force Control".

HomeState 

G <HomeState, EcSystemSimulation>(EcSystemSimulation& value) gets HomeState of the simulation.

ImageSensor 

G <ImageSensor, EcImageSensor>(const EcU32 manipIndex, EcImageSensor& value) get the image sensor value for a specific manipulator SG <ImageSensor, EcImageSensorVector>(EcImageSensorVector& value) get/set the image sensor values for the system

InitJointAngle 

SG <InitJointAngle, EcRealVector>(const EcU32 manIndex, EcRealVector& value) get/set the initial joint state for a manipulator.

JointAngle 

SG <JointAngle, EcRealVectorVector>(EcRealVectorVector& value) get/set the Joint positions for all the links of all the manipulators in the system SG <JointAngle, EcRealVector>(const EcManipLinkIndexPairVector& manipLinkIndices, EcRealVector& value) get/set the Joint positions for specific links of specific manipulators specified by the manip-link vector SG <JointAngle, EcRealVector>(const EcU32 manipIndex, EcRealVector& value) get/set the Joint positions for links of a manipulator SG <JointAngle, EcReal>(const EcU32 manipIndex, const EcU32 jointIndex, EcReal& jointPos) get/set the Joint position for a specific joint of a manipulator

JointController 

SGPr <JointController, EcJointControllerSystemContainer>(EcJointControllerSystemContainer& value) get/set the EcJointControllerSystemContainer for the system.

JointVelocity 

SG <JointVelocity, EcRealVectorVector>(EcRealVectorVector& value) get/set the Joint velocity for all the joints of all manipulators in the system SG <JointVelocity, EcRealVector>(const EcU32 manipIndex, EcRealVector& value) get/set the Joint velocity for all the joints of a manipulator in the system SG <JointVelocity, EcReal>(const EcU32 manipIndex, const EcU32 jointIndex, EcReal& jointVel) get/set the Joint velocity for a specific joint of a manipulator in the system

Manipulator 

PrB <Manipulator, EcIndividualManipulatorVector>() get a const pointer to EcIndividualManipulatorVector for all manipulators in the system S <Manipulator, EcIndividualManipulator>(const EcIndividualManipulator& value) add a new manipulator to the system G <Manipulator, EcIndividualManipulator>(const EcU32 manipIndex, EcIndividualManipulator& value) get manipulator data of a manipulator in the system specified by manipIndex G <Manipulator, EcIndividualManipulator>(const EcString& manipLabel, EcIndividualManipulator& value) get manipulator data of a manipulator in the system specified by manipulator name/label G <Manipulator, EcManipulatorLink>(const EcU32 manipIndex, const EcU32 linkIndex, EcManipulatorLink& value) //get manipulator link data of a specific link of a manipulator in the system G <Manipulator, EcStringVector>(EcStringVector& manipLabels) get manipulator names/labels of all manipulators in the system G <Manipulator, EcStringVector>(const EcU32 manipIndex, EcStringVector& linkLabels) get link names/labels of a manipulator in the system SG <Manipulator, EcString>(const EcU32 manipIndex, EcString& manipLabel) get/set manipulator name/label of a manipulator in the system G <Manipulator, EcString>(const EcU32 manipIndex, const EcU32 linkIndex, EcString& linkLabel) get link name/label of a specific link of a manipulator in the system SG <Manipulator, EcU32>(EcU32& activeManipIndex) get/set active manipulator S <Manipulator, EcU32>(const EcU32 manipIndex, const EcU32& cloneOrDelete) This method is used to clone or delete a manipulator identified by manipIndex. If cloneOrDelete is 0, specified manipulator is deleted else it is cloned P <Manipulator, EcU32>() This method returns the number of manipulators in the system

ManipulatorSystemConfiguration 

SG <ManipulatorSystemConfiguration, EcManipulatorSystemConfiguration>(EcManipulatorSystemConfiguration& value) get/set the attachment map and the collision exclusion map through the EcManipulatorSystemConfiguration.

ManipulatorGraspingModule 

SGPr <ManipulatorGraspingModule, EcManipulatorGraspingModuleVector>(EcManipulatorGraspingModuleVector& value) get/set the EcManipulatorGraspingModules for the system.

ManipulatorLinkProps 

S <ManipulatorLinkProps, EcManipulatorLink>(const EcU32 manipIndex, const EcU32 linkIndex, const EcManipulatorLink& value) set the link data/properties for a specific link of a manipulator.

MeasuredForce 

SG <MeasuredForce, EcManipulatorSensorForce>(const EcU32 manipIndex, EcManipulatorSensorForce& val) get/set the manipulator sensor force for a manipulator.

MeasuredUpdatePeriod 

P <MeasuredUpdatePeriod, EcReal>() returns the Time between calls to runSimulationCycle.

NamedFrames 

SG <NamedFrames, EcNamedFrames>(const EcU32 manipIndex, const EcU32 linkIndex, EcNamedFrames& value) get/set the named frame for a specific link of a manipulator SG <NamedFrames, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 linkIndex, const EcString& key, EcCoordinateSystemTransformation& value) get/set the coordinates for an existing named frame identified by key at a specific link of a manipulator SG <NamedFrames, EcNamedFrames>(EcNamedFrames& value) get/set the named frame at the manipulator system level SG <NamedFrames, EcCoordinateSystemTransformation>(const EcString& key, EcCoordinateSystemTransformation& value) get/set the coordinates for an existing named frame identified by key at the manipulator system level

NamedFramesInSystem 

G <NamedFramesInSystem, EcNamedFrames>(const EcU32 manipIndex, const EcU32 linkIndex, EcNamedFrames& value) get all the available named frames for a specific link of a manipulator in the system G <NamedFramesInSystem, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 linkIndex, const EcString& key, EcCoordinateSystemTransformation& value) get the coordinates for a specific named frame identified by name/key at a specific link of a manipulator in the system

OutputWriterVector 

SG <OutputWriterVector, EcOutputWriterVector>(EcOutputWriterVector& value) get/set the EcOutputWriterVector.

PositionControlSystem 

SGPr <PositionControlSystem, EcPositionControlContainer>(EcPositionControlContainer& value) get/set the EcPositionControlContainer for the system SGPr <PositionControlSystem, EcPositionControlSystem>(EcPositionControlSystem& value) get/set the EcPositionControlSystem for the system

PrimaryFrame 

G <PrimaryFrame, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 linkIndex, EcCoordinateSystemTransformation& value) get/set the coordinates of primary frame for a specific link of a manipulator.

ProfiledEndEffectors 

S <ProfiledEndEffectors, EcU32Vector>(const EcU32 manipIndex, const EcU32Vector& value) set the motion constraints specified as a vector of MC indices to use profiled position control for a manipulator.

PropagationResults 

G <PropagationResults, EcPropagationResultDataVector>(EcPropagationResultDataVector& value) get the Propagation result data for the system G <PropagationResults, EcPropagationResultData>(const EcU32 manipIndex, EcPropagationResultData& value) get the Propagation result data for a manipulator

Shape 

S <Shape, EcShape>(const EcU32 manipIndex, const EcU32 linkIndex, EcShape& value) Replace the shape of a link of a manipulator.

SimulateForward 

(S ,EcTime) Only in the virtual manipulator system - used to calculate the virtual simulation state at the set time

SimulationHome 

S <SimulationHome, EcBoolean>(const EcBoolean& savePlacement) Stores the current state as home state and If savePlacement is True, stores the desired placement also.

SimulationReset 

S <SimulationReset,EcBoolean>(const EcBoolean& resetPlacement) Reset the simulation to initial state. If resetPlacement is True, the desired EE placement is to be reset as well.

SimulationThreadUpdateRate 

SP <SimulationThreadUpdateRate, EcReal>(const EcReal& value) get/set the Simulation thread (IODataBroker) frame rate in Hz.

SimulationMutex 

G <SimulationMutex,EcSharedMutexLock>(EcSharedMutexLock& value) get the simulation mutex lock G <SimulationMutex,EcSharedMutexSharedLock>(EcSharedMutexSharedLock& value) get the simulation shared mutex lock

SimulationTime 

G <SimulationTime, EcTime>(EcTime& value) get the current Simulation Time in seconds.

SimRunState 

SGP <SimRunState, SimulationRunState>(SimulationRunState& value) get/set the simulation run state.

SpeedFactor 

SG <SpeedFactor, EcReal>(const EcU32 manipIndex, EcReal& value) get/set the Speed factor for a manipulator S <SpeedFactor, EcReal>(const EcU32 manipIndex, const EcU32 mcSetIndex, const EcU32 mcIndex, EcReal& value) get/set the Speed factor for a specific MC of a specific MCS of a manipulator

State 

SGP <State, EcManipulatorSystemState>(EcManipulatorSystemState& value) get/set the manipulator system state as EcManipulatorSystemState SG <State, EcPositionState>(const EcU32 manipIndex, EcPositionState& value) get/set the EcPositionState for a manipulator SG <State, EcPositionState>(const EcU32 manipIndex, EcVelocityState& value) get/set the EcVelocityState for a manipulator

StatedSystem 

SPrB <StatedSystem, EcStatedSystem>(EcStatedSystem& value) get/set the EcStatedSystem.

StaticCollisionExclusionMap 

SG <StaticCollisionExclusionMap, EcSystemCollisionExclusionMap>(EcSystemCollisionExclusionMap& value) get/set the static collision exclusion map for the system.

StopMotion 

S <StopMotion, EcBoolean>(const EcU32 manipIndex, const EcBoolean& stopOrResume) Stop or resume the motion of a manipulator. If stopOrResume is true, it causes a SoftStop else it is resume motion. S <StopMotion, EcU32>(const EcU32 manipIndex, const EcU32& stopOrResume) Stop or resume the motion of joint motion consraint of a manipulator. S <StopMotion, EcU32>(const EcU32 manipIndex, const EcU32 eeSetIndex, const EcU32& stopOrResume) Stop or resume the motion of a specific motion consraint of a manipulator. stopOrResume in both the methods can take values from enumeration StopMode. If the value is other than ResumeMotion, the motion constraint will be stopped

SystemControlExecutive 

Pr <SystemControlExecutive, EcSystemControlExecutive>() Retrieves a const pointer to the EcSystemControlExecutive.

SystemDataCapture 

SG <SystemDataCapture, EcSystemDataCapture>(EcSystemDataCapture& value) get/set the EcSystemDataCapture.

SystemEnvironment 

SG <SystemEnvironment, EcSystemEnvironment>(EcSystemEnvironment& value) get/set the EcSystemEnvironment.

SystemSimulation 

SGPrB <SystemSimulation, EcSystemSimulation>(EcSystemSimulation& value) get/set the EcSystemSimulation.

ToolOffset 

G <ToolOffset, EcSizeT>(const EcU32 manipIndex, EcSizeT& value) get the total number of ToolOffsets available for a manipulator SG <ToolOffset, EcCoordinateSystemTransformationVector>(const EcU32 manipIndex, EcCoordinateSystemTransformationVector& value) get/set the coordinates of all the ToolOffsets for a manipulator SG <ToolOffset, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 toolOffsetIndex, EcCoordinateSystemTransformation& value) get/set the coordinates of a specifc ToolOffset for a manipulator SG <ToolOffset, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 mcSetIndex, const EcU32 mcIndex, EcCoordinateSystemTransformation& value) get/set the coordinates of an external ToolOffset for a specific MC within a specific MCS of a manipulator SG <ToolOffset, EcCoordinateSystemTransformation>(const EcU32 manipIndex, const EcU32 mcSetIndex, const EcU32 mcIndex, const EcU32 toolOffsetIndex, EcCoordinateSystemTransformation& value) get/set the ToolOffset index for a specific MC within a specific MCS of a manipulator

ToolOffsetFixEE 

S <ToolOffsetFixEE, EcCoordinateSystemTransformation>(EcCoordinateSystemTransformation)(EcU32 manipIndex, EcU32 toolIndex, const EcCoordinateSystemTransformation) set the Tool offset coordinates for a specific tool offset index of a manipulator (sets tool offset but does not move the MC)

ViewerParameters 

SGP <ViewerParameters, EcViewerParameters>(EcViewerParameters& value) get/set EcViewerParameters.

VirtualActive 

SP <VirtualActive, EcBoolean>(const EcBoolean& value) Check whether the virtual system is active.

VirtualManipulatorIndex 

G <VirtualManipulatorIndex, EcU32>(const EcU32 manipIndex, EcU32& value) Get the virtual manipulator index associated with the given manipulator index.

WhatChanged 

P <WhatChanged, EcU32>(EcU32) Changed bit flags.

EndOfSimParams 

End of enums designation.

Definition at line 29 of file ecIOParams.h.

Enumerations used for Plugin API access.

Enumerator
EndOfBaseEnums 

Signal end of plugin enumerations.

Definition at line 14 of file ecPluginParams.h.

Plugin Messages (PM) used to pass data through the network transport.

Enumerator
PM_SetModifier 

Change operation from get to set.

PM_Ack 

Acknowledgement message (EcBoolean)

PM_HardwareEnable 

(GS,EcBoolean)

PM_ProgramRunState 

(GS,RunStateEnum)

PM_ProgramFinished 

(EcBoolean)

PM_ProgramUpdate 

(time,status,director,directorstate)

PM_ManipulationActionContainer 

(EcManipulationActionContainer)

PM_ManipulationDirector 

(EcManipulationDirector)

PM_ManipulationDirectorScript 

(EcManipulationScript)

PM_ManipulationActionManager 

(EcManipulationActionManager)

PM_ManipulationAction 

(EcString)

PM_RrtPathPlanner 

(EcRrtPathPlanner)

PM_DesiredEndEffectorPP 

(S,EcManipulatorEndEffectorPlacement) Desired EE using path planning

PM_ManipulationSequence 

(EcString)

PM_InitialState 

(SG,EcManipulatorSystemState)

PM_NetworkModifier 

(NetworkMode)

PM_SystemSimulationFromFile 

(EcString)

PM_AttachmentChange 

(EcU32, EcBoolean) Manipulator index and whether it was attached (true) or detached (false)

PM_EndEffectorSet 

(EcU32) Active end-effector set index

Definition at line 45 of file ecPluginSignals.h.

run states

Enumerator
RunStatePause 

pause

RunStateStart 

start

RunStateStop 

stop

RunStateCancel 

cancel

Definition at line 36 of file ecPluginSignals.h.

Enumeration on state of the current simulation.

Enumerator
SimulationStopped 

Simulation is Stopped.

SimulationRunning 

Simulation is Running.

SimulationPaused 

Simulation is Paused.

Definition at line 284 of file ecIOParams.h.

Enumeration on stop mode.

Enumerator
ResumeMotion 

Resume motion after stop.

SoftStop 

Controlled stop.

HardStop 

Stop immediately, i.e. joint velocities drop to zero in one time step.

CustomStop 

Change to stop EE set (or joint EE set) and stop. Stop EE set must be provided.

Definition at line 316 of file ecIOParams.h.

Function Documentation

template<typename Container >
EcBoolean Ec::containsValue ( const Container &  container,
const typename Container::value_type &  value 
)

Return true if the container contains an element with a value equal to the supplied value.

REQUIREMENTS:

  1. The container must be iterable.
  2. The container must have a ::value_type typedef.
boost::shared_ptr<boost::thread> Ec::createTimerThread ( boost::function< void()>  function,
boost::posix_time::time_duration  interval 
)
inline

Create a new thread that periodically calls the supplied function.

Example Usage:

Periodically call memberFunction() from within a ParentClass object every 5 seconds.

boost::shared_ptr<boost::thread> timerThreadPtr = Ec::createTimerThread(boost::bind(&ParentClass::memberFunction, boost::ref(*this)), boost::posix_time::milliseconds(5000));

template<typename ContainerType >
void Ec::eraseEmpty ( ContainerType &  container)

Remove the empty elements that exist within a container.

REQUIREMENTS:

  1. The container must be iterable.
  2. The container must have a ::value_type typedef.
  3. The type of the elements within the container must have an accessible "empty()" member function.
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString Ec::generateUuidString ( )

Retrieve the last line in a file as an EcString. This function seeks to the end of the file, so it is very fast (even when used on massive files).

EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString Ec::getLastLineFromFile ( const EcString filePath)

Retrieve the last line in a file as an EcString. This function seeks to the end of the file, so it is very fast (even when used on massive files).

template<typename T >
T* Ec::plugin_find_and_cast ( const EcString name)

Create a convenience cast from a general Plugin* to a specific class. This will not attempt to load the plugin if it is not already loaded.

Template Parameters
Tthe specific plugin type
Parameters
namethe name of the plugin

Definition at line 503 of file ecPlugin.h.

References Ec::Plugin::findPlugin().

template<typename T >
T* Ec::plugin_load_and_cast ( const EcString name)

Create a convenience cast from a general Plugin* to a specific class. This will attempt to load the plugin if it is not already loaded.

Template Parameters
Tthe specific plugin type
Parameters
namethe name of the plugin

Definition at line 495 of file ecPlugin.h.

References Ec::Plugin::getPlugin().

template<typename T >
EcBoolean Ec::readBinary ( T &  value,
std::istream &  ifs 
)

for now, just use native format

Definition at line 123 of file ecMacros.h.

References EcTrue.

Referenced by writeBinary(), and Ec::Print::writeBinary().

EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString Ec::regexFirstMatch ( const EcString  input,
const boost::regex &  pattern,
const EcSizeT  captureGroupIndex 
)

Retrieve the first matching substring using the specified capture group index.

Parameters
inputThe input string to search.
patternThe regex pattern used to search the string.
captureGroupIndexThe index of the capture group that we want to return (1 based).
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString Ec::replacementString ( const EcString key,
EcStringStringMap env 
)

Lookup a value from the environment map. If there is no associated value in the map, then attempt to look it up as an environment variable.

Parameters
keyLookup key for the environment map
env(Input/Output) The map containing the environment variables and associated values
EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcStringVector Ec::splitString ( const EcString s,
const EcString delimiters 
)

Split a string, given delimiters.

Parameters
sThe input string to split
delimitersThe delimiters for splitting the string
void Ec::startTimerThread ( boost::function< void()>  function,
boost::posix_time::time_duration  interval 
)
inline

Create a new thread that periodically calls the supplied function.

Example Usage:

Periodically call memberFunction() from within a ParentClass object every 5 seconds.

Ec::startTimerThread(boost::bind(&ParentClass::memberFunction, boost::ref(*this)), boost::posix_time::milliseconds(5000));

EC_FOUNDATION_BOOSTEXTENSIONS_DECL EcString Ec::substituteEnvironmentInString ( EcString  s,
EcStringStringMap env 
)

Substitute all "${VAR_NAME}" patterns in a string with the VAR_NAME value found in a map.

Parameters
sThe input string to substitute (this is intentionally copy by value)
env(Input/Output) The map containing the environment variables and associated values
template<typename T >
EcBoolean Ec::writeBinary ( const T &  value,
std::ostream &  ofs 
)

for now, just use native format

Definition at line 106 of file ecMacros.h.

References EcTrue, and readBinary().

Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.