Actin®  Version 5.3.0
Software for Robotics Simulation and Control
ecLinkVelState.h
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1 #ifndef ecLinkVelState_H_
2 #define ecLinkVelState_H_
3 //------------------------------------------------------------------------------
4 // Copyright (c) 2002-2013 Energid Technologies. All rights reserved.
5 //
9 //
10 //------------------------------------------------------------------------------
11 #include <actinCore/actinCore_config.h> // Required to be first header.
13 #include <xml/ecXmlCompType.h>
14 #include <xml/ecXmlBasicType.h>
15 
18 {
19 public:
22  (
23  );
24 
26  virtual ~EcLinkVelocityState
27  (
28  );
29 
32  (
33  const EcLinkVelocityState& orig
34  );
35 
37  EcLinkVelocityState& operator=
38  (
39  const EcLinkVelocityState& orig
40  );
41 
43  EcBoolean operator==
44  (
45  const EcLinkVelocityState& orig
46  ) const;
47 
49  virtual EcBoolean xmlInit
50  (
51  ) EC_OVERRIDE;
52 
54  virtual EcXmlObject* clone
55  (
56  ) const EC_OVERRIDE;
57 
59  virtual void registerComponents
60  (
61  ) EC_OVERRIDE;
62 
64  virtual EcBoolean equality
65  (
66  const EcXmlObject* other
67  ) const EC_OVERRIDE;
68 
70  virtual EcXmlObject* newObject
71  (
72  ) const EC_OVERRIDE;
73 
75  virtual const EcGeneralVelocity& dhFrameVelocityInLocal
76  (
77  ) const;
78 
80  virtual void setDhFrameVelocityInLocal
81  (
82  const EcGeneralVelocity& dhFrameVelocityInLocal
83  );
84 
86  virtual const EcGeneralVelocity& dhFrameVelocityInSystem
87  (
88  ) const;
89 
91  virtual void setDhFrameVelocityInSystem
92  (
93  const EcGeneralVelocity& dhFrameVelocityInSystem
94  );
95 
97  virtual const EcGeneralVelocity& primaryFrameVelocityInSystem
98  (
99  ) const;
100 
102  virtual void setPrimaryFrameVelocityInSystem
103  (
104  const EcGeneralVelocity& primaryFrameVelocityInSystem
105  );
106 
108  virtual const EcGeneralVelocity& comVelocityInLocal
109  (
110  ) const;
111 
113  virtual void setComVelocityInLocal
114  (
115  const EcGeneralVelocity& value
116  );
117 
119  virtual const EcGeneralMotion& momentumInLocal
120  (
121  ) const;
122 
124  virtual void setMomentumInLocal
125  (
126  const EcGeneralMotion& value
127  );
128 
130  virtual const EcGeneralMotion& compositeMomentumInLocal
131  (
132  ) const;
133 
135  virtual void setCompositeMomentumInLocal
136  (
137  const EcGeneralMotion& value
138  );
139 
141  virtual EcBoolean localDhValid
142  (
143  ) const;
144 
146  virtual void setLocalDhValid
147  (
148  EcBoolean valid=EcTrue
149  );
150 
152  virtual EcBoolean systemDhValid
153  (
154  ) const;
155 
157  virtual void setSystemDhValid
158  (
159  EcBoolean valid=EcTrue
160  );
161 
163  virtual EcBoolean systemPrimaryValid
164  (
165  ) const;
166 
168  virtual void setSystemPrimaryValid
169  (
170  EcBoolean valid=EcTrue
171  );
172 
174  virtual EcBoolean localComValid
175  (
176  ) const;
177 
179  virtual void setLocalComValid
180  (
181  EcBoolean valid=EcTrue
182  );
183 
185  virtual EcBoolean localMomentumValid
186  (
187  ) const;
188 
190  virtual void setLocalMomentumValid
191  (
192  EcBoolean valid=EcTrue
193  );
194 
196  virtual EcBoolean compositeMomentumValid
197  (
198  ) const;
199 
201  virtual void setCompositeMomentumValid
202  (
203  EcBoolean valid=EcTrue
204  );
205 
207  virtual void invalidateAll
208  (
209  );
210 
212  virtual const EcToken& token
213  (
214  ) const EC_OVERRIDE;
215 
217  virtual EcBoolean read
218  (
219  EcXmlReader& stream
220  ) EC_OVERRIDE;
221 
223  virtual EcBoolean write
224  (
225  EcXmlWriter& stream
226  ) const EC_OVERRIDE;
227 
229  static EcLinkVelocityState nullObject
230  (
231  );
232 
233 protected:
234 
237 
240 
243 
246 
249 
252 
255 
258 
261 
264 
267 
270 };
271 
274 
275 #endif // ecLinkVelState_H_
EcGeneralMotion m_CompositeMomentumInLocal
the composite momentum of this link and its outboard links represented in local DH frame ...
virtual const EcToken & token() const =0
gets the xml token used for writing out.
EcXmlBoolean m_LocalDhValid
locally represented D-H frame validity flag
EcXmlBoolean m_CompositeMomentumValid
the validity flag for composite momentum
EcGeneralVelocity m_DhFrameVelocityInSystem
the system-represented velocity for the link
#define EC_OVERRIDE
Add wrapper around c++11 override keyword.
Definition: ecMacros.h:36
EcGeneralVelocity m_ComVelocityInLocal
the locally represented velocity for the center of mass
virtual EcBoolean xmlInit() EC_OVERRIDE
xmlInitialize
A general motion class – to be applied to general velocity and general acceleration.
const EcBoolean EcTrue
gives a representation of true
Definition: ecConstants.h:23
EcXmlBoolean m_LocalMomentumValid
the validity flag for momentum
EcXmlBoolean m_SystemPrimaryValid
system-represented primary frame validity flag
An EcString-like class that holds a tag and a namespace.
Definition: ecToken.h:41
A base class for xml objects.
Definition: ecXmlObject.h:23
EcGeneralVelocity m_DhFrameVelocityInLocal
the locally represented velocity for the link
virtual void registerComponents()=0
register components
EcXmlBoolean m_SystemDhValid
system-represented D-H frame validity flag
EcXmlBoolean m_LocalComValid
locally represented COM velocity validity flag
virtual EcBoolean read(EcXmlReader &stream) EC_OVERRIDE
read object from an XML stream
Configuration header for the foundation hierarchy.
An XML object that holds a compound set of XML data.
Definition: ecXmlCompType.h:23
virtual EcBoolean write(EcXmlWriter &stream) const EC_OVERRIDE
write object to an XML stream
EcGeneralVelocity m_PrimaryFrameVelocityInSystem
the system-represented velocity for the primary frame
#define EC_ACTINCORE_MANIPULATOR_DECL
manipulator directory
virtual EcXmlObject * clone() const =0
clone
bool EcBoolean
Boolean (0 or 1)
Definition: ecTypes.h:21
EcGeneralMotion m_MomentumInLocal
the momentum at center of mass represented in local DH frame
XML file writer.
Definition: ecXmlWriter.h:19
virtual EcBoolean equality(const EcXmlObject *other) const =0
equality - a virtual equality to an EcXmlObject pointer
virtual EcXmlObject * newObject() const =0
creates new object - a virtual new to an EcXmlObject pointer
An XML file reader.
Definition: ecXmlReader.h:17
Holds the velocity state of a single manipulator link.
EcXmlVectorType< EcLinkVelocityState > EcLinkVelocityStateVector
a vector of position states
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