Actin®  Version 5.3.0
Software for Robotics Simulation and Control
ecStageIIIGraspingPassThrough.h
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1 #ifndef ecStageIIIGraspingPassThrough_H_
2 #define ecStageIIIGraspingPassThrough_H_
3 //------------------------------------------------------------------------------
4 // Copyright (c) 2004-2013 Energid Technologies. All rights reserved.
5 //
9 //
10 //------------------------------------------------------------------------------
11 #include <actin/actin_config.h> // Required to be first header.
13 
16 {
17 public:
20  (
21  );
22 
25  (
26  );
27 
30  (
32  );
33 
36  (
38  );
39 
41  EcBoolean operator==
42  (
44  ) const;
45 
47  virtual EcXmlObject* clone
48  (
49  ) const EC_OVERRIDE;
50 
52  virtual EcBoolean equality
53  (
54  const EcXmlObject* other
55  ) const EC_OVERRIDE;
56 
58  virtual EcXmlObject* newObject
59  (
60  ) const EC_OVERRIDE;
61 
63  virtual const EcToken& token
64  (
65  ) const EC_OVERRIDE;
66 
69  (
70  ) EC_OVERRIDE;
71 
74  (
75  const EcGraspInitParams& params
76  ) EC_OVERRIDE;
77 
79  virtual void appendControlDescriptions
80  (
81  EcVelocityControlDescriptionVector& controlDescriptions,
83  ) EC_OVERRIDE;
84 
87  (
88  EcForceControlDescriptionVector& controlDescriptions,
90  ) EC_OVERRIDE;
91 
94  (
95  ) EC_OVERRIDE;
96 
99  (
100  ) EC_OVERRIDE;
101 
104  (
105  EcReal time,
106  const EcGraspUpdateParams& params
107  ) EC_OVERRIDE;
108 
111  (
112  ) EC_OVERRIDE;
113 
115  virtual const EcManipulatorSensorForce& graspForce
116  (
117  ) EC_OVERRIDE;
118 
120  virtual const EcDataMap& dataMap
121  (
122  ) const EC_OVERRIDE;
123 
125  static const EcToken& classToken
126  (
127  );
128 
130  static EcXmlObject* creator
131  (
132  );
133 };
134 
135 #endif // ecStageIIIGraspingPassThrough_H_
virtual const EcToken & token() const =0
gets the xml token used for writing out.
#define EC_ACTIN_GRASPING_DECL
grasping directory
Definition: actin_config.h:151
#define EC_OVERRIDE
Add wrapper around c++11 override keyword.
Definition: ecMacros.h:36
This class provides a pass-through Stage II processor.
boost::uint32_t EcU32
32-bit unsigned integer
Definition: ecTypes.h:53
Holds a description of a velocity control system for an individual manipulator.
virtual const EcDataMap & dataMap() const =0
get the data map
virtual void appendForceControlDescriptions(EcForceControlDescriptionVector &controlDescriptions, const EcForceControlDescription &prototype=EcForceControlDescription())=0
Append force control descriptions required for the calculated grasp to a vector.
virtual EcBoolean calculateGrasp(const EcGraspInitParams &params)=0
initialize the grasp calculation for the specified object and manipulator
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 forces of all end effectors on a manipulator.
virtual EcU32 activeForceControlDescription()=0
Return the ative force control description index to be used for the grasp.
virtual const EcManipulatorEndEffectorPlacement & endEffectorPositions()=0
return the placements for the end effectors used in the grasp motion
Holds a description of the placement of all end effectors on a manipulator.
virtual EcGraspStatus::Enum update(EcReal time, const EcGraspUpdateParams &params)=0
Return the grasp status.
virtual EcXmlObject * clone() const =0
clone
bool EcBoolean
Boolean (0 or 1)
Definition: ecTypes.h:21
This class is a base class for stage I grasping.
virtual void appendControlDescriptions(EcVelocityControlDescriptionVector &controlDescriptions, const EcIndividualVelocityControlDescription &prototype=EcIndividualVelocityControlDescription())=0
Append control descriptions required for the calculated grasp to a vector.
virtual EcBoolean equality(const EcXmlObject *other) const =0
equality - a virtual equality to an EcXmlObject pointer
EcF64 EcReal
Alias for 64-bit float.
Definition: ecTypes.h:30
virtual EcXmlObject * newObject() const =0
creates new object - a virtual new to an EcXmlObject pointer
Holds a description of a force control description.
This class is a container for paremeters used for grasp initialization.
virtual const EcManipulatorSensorForce & graspForce()=0
Return the desired manipulator force required for the grasp.
Holds data organized by string maps.
Definition: ecDataMap.h:29
Configuration header for the actin hierarchy.
void registerComponents() EC_OVERRIDE
register XML member variables
This class is a container for paremeters used for grasp updates.
Enum
An enumeration of the status of a grasp: failed, in progress, finished, an so forth.
Definition: ecGraspStatus.h:16
virtual EcU32 activeControlDescription()=0
Return the ative control description index to be used for the grasp.
Created by Energid Technologies www.energid.com
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