Actin  Version 5.5.5
Software for Robotics Simulation and Control
EcSbManipulatorCollectionData Class Reference

Holds a class to describe a manipulator. More...

#include <ecSbManipulatorCollectionData.h>

Inheritance diagram for EcSbManipulatorCollectionData:
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Collaboration diagram for EcSbManipulatorCollectionData:
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Public Member Functions

 ECXMLOBJECT (EcSbManipulatorCollectionData)
 
virtual void registerComponents () EC_OVERRIDE
 Creates a static creator method. More...
 
virtual const EcStringparentLabel () const
 get parent label More...
 
virtual void setParentLabel (const EcString &parentLabel)
 set parent label More...
 
virtual const EcStringconnectionFrame () const
 get connection frame label More...
 
virtual void setConnectionFrame (const EcString &connectionFrame)
 set connection frame label More...
 
virtual const EcStringparentConnectionFrame () const
 get connection frame label of parent More...
 
virtual void setParentConnectionFrame (const EcString &parentConnectionFrame)
 set connection frame label of parent More...
 
virtual const EcSbLinkDataVectorlinks () const EC_OVERRIDE
 get link vector More...
 
virtual void setLinks (const EcSbLinkDataVector &links) EC_OVERRIDE
 set links More...
 
virtual const EcSbManipulatorCollectionDataVectormanipulators () const
 get manipulators More...
 
virtual void setManipulators (const EcSbManipulatorCollectionDataVector &manipulators)
 set manipulators More...
 
virtual const EcEndEffectorSetendEffectorSet () const
 get end effector set More...
 
virtual void setEndEffectorSet (const EcEndEffectorSet &endEffectorSet)
 set end effector set More...
 
virtual const EcEndEffectorSetVectorendEffectorSetVector () const
 get end effector set More...
 
virtual const EcStateEqualityConstraintVectorstateEqualityConstraints () const
 get state equality constraints More...
 
virtual void setStateEqualityConstraints (const EcStateEqualityConstraintVector &stateEqualityConstraints)
 set state equality constraints More...
 
- Public Member Functions inherited from EcSbManipulatorData
 ECXMLOBJECT (EcSbManipulatorData)
 
virtual EcBoolean fixedBaseFlag () const
 get fixed base flag More...
 
virtual void setFixedBaseFlag (EcBoolean fixedBaseFlag)
 set fixed base flag More...
 
virtual const EcCoordinateSystemTransformationposition () const
 get position More...
 
virtual void setPosition (const EcCoordinateSystemTransformation &position)
 set position More...
 
- Public Member Functions inherited from EcSbLinkData
 ECXMLOBJECT (EcSbLinkData)
 
virtual const EcSbPhysicalExtentphysicalExtent () const
 get physical extent More...
 
virtual void setPhysicalExtent (const EcSbPhysicalExtent &physicalExtent)
 set physical extent More...
 
virtual const EcSbKinematicskinematics () const
 get kinematics parameters More...
 
virtual void setKinematics (const EcSbKinematics &kinematics)
 set kinematics parameters More...
 
virtual const EcSbJointActuatorjointActuator () const
 get joint actuator More...
 
virtual void setJointActuator (const EcSbJointActuator &jointActuator)
 set joint actuator More...
 
virtual const EcRigidBodyMassPropertiesmassProperties () const
 get mass properties More...
 
virtual void setMassProperties (const EcRigidBodyMassProperties &massProperties)
 set mass properties More...
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream
 
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 write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to 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 EcXmlObjectclone () const =0
 clone
 
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
 
virtual EcBoolean equality (const EcXmlObject *other) const =0
 equality - a virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const =0
 creates new object - a virtual new to an EcXmlObject pointer
 
virtual const EcTokentoken () const =0
 gets the xml token used for writing out.
 

Protected Attributes

EcXmlString m_ParentLabel
 parent identifier
 
EcXmlString m_ConnectionFrame
 joint frame label of link
 
EcXmlString m_ParentConnectionFrame
 joint frame label of parent link
 
EcSbLinkDataVector m_Links
 vector of child links
 
EcSbManipulatorCollectionDataVector m_Manipulators
 vector of manipulators
 
EcEndEffectorSet m_EndEffectorSet
 end effectors
 
EcEndEffectorSetVector m_vEndEffectorSets
 end effector set vector
 
EcStateEqualityConstraintVector m_StateEqualityConstraints
 state equality constraints
 
- Protected Attributes inherited from EcSbManipulatorData
EcXmlBoolean m_FixedBaseFlag
 fixed base flag
 
EcCoordinateSystemTransformation m_Position
 object position
 
- Protected Attributes inherited from EcSbLinkData
EcSbPhysicalExtent m_PhysicalExtent
 Physical Extent.
 
EcSbKinematics m_Kinematics
 Kinematics.
 
EcSbJointActuator m_JointActuator
 Joint actuator.
 
EcRigidBodyMassProperties m_MassProperties
 Mass properties.
 
EcSbLinkDataVector m_Links
 vector of child links
 
- 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...
 
- 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 ()
 
- 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 class to describe a manipulator.

Definition at line 22 of file ecSbManipulatorCollectionData.h.

Member Function Documentation

virtual const EcString& EcSbManipulatorCollectionData::connectionFrame ( ) const
virtual

get connection frame label

Returns
connection frame label
EcSbManipulatorCollectionData::ECXMLOBJECT ( EcSbManipulatorCollectionData  )

ECXMLOBJECT(EcCls) Macro declares a constructor, destructor, copy constructor, equal operator, and equality operator

virtual const EcEndEffectorSet& EcSbManipulatorCollectionData::endEffectorSet ( ) const
virtual

get end effector set

Returns
end effector set
virtual const EcEndEffectorSetVector& EcSbManipulatorCollectionData::endEffectorSetVector ( ) const
virtual

get end effector set

Returns
end effector set vector
virtual const EcSbLinkDataVector& EcSbManipulatorCollectionData::links ( ) const
virtual

get link vector

Returns
link vector

Reimplemented from EcSbLinkData.

virtual const EcSbManipulatorCollectionDataVector& EcSbManipulatorCollectionData::manipulators ( ) const
virtual

get manipulators

Returns
manipulator vector
virtual const EcString& EcSbManipulatorCollectionData::parentConnectionFrame ( ) const
virtual

get connection frame label of parent

Returns
parent connection frame label
virtual const EcString& EcSbManipulatorCollectionData::parentLabel ( ) const
virtual

get parent label

Returns
parent label
virtual void EcSbManipulatorCollectionData::registerComponents ( )
virtual

Creates a static creator method.

register components This is a pure virtual function. The derived class should use this method register all its relevant components.

Reimplemented from EcSbManipulatorData.

virtual void EcSbManipulatorCollectionData::setConnectionFrame ( const EcString connectionFrame)
virtual

set connection frame label

Parameters
connectionFrameconnectionframe The connection frame label
virtual void EcSbManipulatorCollectionData::setEndEffectorSet ( const EcEndEffectorSet endEffectorSet)
virtual

set end effector set

Parameters
endEffectorSetendEffectorSet The end effector set
virtual void EcSbManipulatorCollectionData::setLinks ( const EcSbLinkDataVector links)
virtual

set links

Parameters
linkslinks The link vector

Reimplemented from EcSbLinkData.

virtual void EcSbManipulatorCollectionData::setManipulators ( const EcSbManipulatorCollectionDataVector manipulators)
virtual

set manipulators

Parameters
manipulatorsmanipulators The manipulator vector
virtual void EcSbManipulatorCollectionData::setParentConnectionFrame ( const EcString parentConnectionFrame)
virtual

set connection frame label of parent

Parameters
parentConnectionFrameparentConnectionFrame The parent connection frame label
virtual void EcSbManipulatorCollectionData::setParentLabel ( const EcString parentLabel)
virtual

set parent label

Parameters
parentLabelparentLabel The parent label
virtual void EcSbManipulatorCollectionData::setStateEqualityConstraints ( const EcStateEqualityConstraintVector stateEqualityConstraints)
virtual

set state equality constraints

Parameters
stateEqualityConstraintsstateEqualityConstraints The state equality constraints
virtual const EcStateEqualityConstraintVector& EcSbManipulatorCollectionData::stateEqualityConstraints ( ) const
virtual

get state equality constraints

Returns
state equality constraints

The documentation for this class was generated from the following file: