Actin®  Version 5.3.0
Software for Robotics Simulation and Control
ecManipEndEffectorVel.h
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1 #ifndef ecManipEndEffectorVel_H_
2 #define ecManipEndEffectorVel_H_
3 //------------------------------------------------------------------------------
4 // Copyright (c) 2001-2013 Energid Technologies. All rights reserved.
5 //
11 //
12 //------------------------------------------------------------------------------
13 #include <actinCore/actinCore_config.h> // Required to be first header.
14 #include <xml/ecXmlCompType.h>
15 #include <xml/ecXmlVectorType.h>
16 
18 
22 {
23 public:
26  (
27  );
28 
31  (
32  const EcXmlRealVectorVector& generalEndEffectorVelocities
33  );
34 
37  (
38  );
39 
42  (
44  );
45 
48  (
50  );
51 
53  EcBoolean operator==
54  (
56  ) const;
57 
59  virtual EcBoolean xmlInit
60  (
61  ) EC_OVERRIDE;
62 
64  virtual EcXmlObject* clone
65  (
66  ) const EC_OVERRIDE;
67 
69  virtual void registerComponents
70  (
71  ) EC_OVERRIDE;
72 
74  virtual EcBoolean equality
75  (
76  const EcXmlObject* other
77  ) const EC_OVERRIDE;
78 
80  virtual EcXmlObject* newObject
81  (
82  ) const EC_OVERRIDE;
83 
85  virtual const EcXmlRealVectorVector& generalEndEffectorVelocities
86  (
87  ) const;
88 
90  virtual EcXmlRealVectorVector& generalEndEffectorVelocities
91  (
92  );
93 
95  virtual void setGeneralEndEffectorVelocities
96  (
97  const EcXmlRealVectorVector& generalEndEffectorVelocities
98  );
99 
101  virtual EcBoolean setGeneralEndEffectorVelocity
102  (
103  const EcU32 endEffectorIndex,
104  const EcXmlRealVector& generalEndEffectorVelocity
105  );
106 
108  virtual void getSingleVector
109  (
110  EcRealVector& singleVector
111  ) const;
112 
114  virtual void getSingleVector
115  (
116  const EcU32Vector& endEffectorIndices,
117  EcRealVector& singleVector
118  ) const;
119 
122  virtual EcU32 doc
123  (
124  ) const;
125 
128  virtual EcU32 doc
129  (
130  const EcU32Vector& endEffectorIndices
131  ) const;
132 
134  virtual const EcToken& token
135  (
136  ) const EC_OVERRIDE;
137 
139  virtual EcBoolean read
140  (
141  EcXmlReader& stream
142  ) EC_OVERRIDE;
143 
145  virtual EcBoolean write
146  (
147  EcXmlWriter& stream
148  ) const EC_OVERRIDE;
149 
151  virtual EcBoolean readBin
152  (
153  std::istream& stream
154  );
155 
157  virtual EcBoolean writeBin
158  (
159  std::ostream& stream
160  ) const;
161 
163  static EcManipulatorEndEffectorVelocity nullObject
164  (
165  );
166 
167 protected:
170 };
171 
174 
175 #endif // ecManipEndEffectorVel_H_
virtual const EcToken & token() const =0
gets the xml token used for writing out.
#define EC_OVERRIDE
Add wrapper around c++11 override keyword.
Definition: ecMacros.h:36
boost::uint32_t EcU32
32-bit unsigned integer
Definition: ecTypes.h:53
virtual EcBoolean xmlInit() EC_OVERRIDE
xmlInitialize
#define EC_ACTINCORE_CONTROLCORE_DECL
controlCore directory
EcXmlRealVectorVector m_GeneralEndEffectorVelocities
a vector of velocity descriptions for general end effectors
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
Holds a description of the velocities of all end effectors on a manipulator.
virtual void registerComponents()=0
register components
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
virtual EcXmlObject * clone() const =0
clone
bool EcBoolean
Boolean (0 or 1)
Definition: ecTypes.h:21
XML file writer.
Definition: ecXmlWriter.h:19
virtual EcBoolean equality(const EcXmlObject *other) const =0
equality - a virtual equality to an EcXmlObject pointer
std::vector< EcReal > EcRealVector
a general floating-point vector
Definition: ecTypes.h:168
virtual EcXmlObject * newObject() const =0
creates new object - a virtual new to an EcXmlObject pointer
An XML file reader.
Definition: ecXmlReader.h:17
EcXmlVectorType< EcManipulatorEndEffectorVelocity > EcManipulatorEndEffectorVelocityVector
a vector of end-effector sets
std::vector< EcU32 > EcU32Vector
a general 32-bit unsigned integer vector
Definition: ecTypes.h:171
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