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

The core velocity control algorithm is represented through this class.A matrix W, vector F, and scalar S are used to define the control system. More...

#include <ecContExpCore.h>

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

 EcControlExpressionCore ()
 default constructor
 
 EcControlExpressionCore (const EcControlExpressionContainer *containerPointer)
 constructor from an EcControlExpressionContainer pointer
 
virtual ~EcControlExpressionCore ()
 destructor
 
 EcControlExpressionCore (const EcControlExpressionCore &orig)
 copy constructor
 
EcControlExpressionCoreoperator= (const EcControlExpressionCore &orig)
 assignment operator
 
EcBoolean operator== (const EcControlExpressionCore &orig) const
 equality operator
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcVelocityControlDatavalue () const EC_OVERRIDE
 
virtual void registerComponents () EC_OVERRIDE
 registers components with the parent
 
virtual void setContainer (const EcXmlBaseVariableCompoundType *container) EC_OVERRIDE
 
virtual const EcControlExpressionContainermatrix () const
 
virtual void setMatrixContainer (const EcControlExpressionContainer &matrixContainer)
 
virtual void setMatrixElement (const EcExpressionElement &matrixElement)
 
virtual const EcControlExpressionContainervector () const
 
virtual void setVectorContainer (const EcControlExpressionContainer &vectorContainer)
 
virtual void setVectorElement (const EcExpressionElement &vectorElement)
 
virtual const EcControlExpressionContainerscalar () const
 
virtual void setScalarContainer (const EcControlExpressionContainer &scalarContainer)
 
virtual void setScalarElement (const EcExpressionElement &scalarElement)
 
virtual const EcTokentoken () const EC_OVERRIDE
 
- Public Member Functions inherited from EcBaseControlExpressionCore
 EcBaseControlExpressionCore (const EcControlExpressionContainer *container)
 constructor from an EcControlExpressionContainer pointer
 
virtual const EcSoftConstraintHandlerContainersoftConstraintHandler () const
 
virtual void setSoftConstraintHandler (const EcSoftConstraintHandlerContainer &softConstraintHandlerContainer)
 
virtual void setSoftConstraintHandler (const EcBaseSoftConstraintHandler &softConstraintHandler)
 
- Public Member Functions inherited from EcExpressionElement
 EcExpressionElement ()
 default constructor - should not be used
 
 EcExpressionElement (const EcExpressionContainer *containerPointer)
 constructor from an EcExpressionContainer pointer
 
virtual ~EcExpressionElement ()
 destructor
 
 EcExpressionElement (const EcExpressionElement &orig)
 copy constructor
 
EcExpressionElementoperator= (const EcExpressionElement &orig)
 assignment operator
 
EcBoolean operator== (const EcExpressionElement &orig) const
 equality operator
 
- Public Member Functions inherited from EcBaseExpressionTreeElement
 EcBaseExpressionTreeElement ()
 default constructor
 
 EcBaseExpressionTreeElement (const EcXmlBaseVariableCompoundType *containerPointer)
 constructor given container pointer
 
virtual ~EcBaseExpressionTreeElement ()
 destructor
 
 EcBaseExpressionTreeElement (const EcBaseExpressionTreeElement &orig)
 copy constructor
 
EcBaseExpressionTreeElementoperator= (const EcBaseExpressionTreeElement &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseExpressionTreeElement &orig) const
 equality operator
 
virtual const EcXmlBaseVariableCompoundTypecontainer () const
 gets the container
 
- 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 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
 

Static Public Member Functions

static EcControlExpressionCore nullObject ()
 
static const EcTokenclassToken ()
 
static EcXmlObjectcreator ()
 

Protected Member Functions

virtual void calculateJointRates (EcVelocityControlData &array) const
 
- 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 ()
 

Protected Attributes

EcControlExpressionContainer m_Matrix
 the matrix (W) parameter
 
EcControlExpressionContainer m_Vector
 the vector (F) parameter
 
EcControlExpressionContainer m_Scalar
 the scalar (S) parameter
 
EcCoreVelocityControlTool m_VelContTool
 utility velocity control tool
 
EcRealVector m_UtilityLinearVector
 utility vector to hold the vector
 
EcRealVector m_UtilityJointRateVector
 utility vector to hold the joint rates
 
EcRealVector m_UtilityNullSpaceComponent
 utility vector to hold the null-space component
 
EcRealVector m_UtilityHandMotion
 utility hand-motion vector
 
EcManipulatorActivePositionState m_UtilityManipulatorActivePositionState
 utility active position state for recovery
 
- Protected Attributes inherited from EcBaseControlExpressionCore
EcSoftConstraintHandlerContainer m_SoftConstraintHandler
 the soft-constraint handler container
 
- Protected Attributes inherited from EcExpressionElement
EcVelocityControlData m_Array
 a real array to cache the returned value
 
- Protected Attributes inherited from EcBaseExpressionTreeElement
const EcXmlBaseVariableCompoundTypem_pContainer
 a pointer to the container
 
- 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...
 
- 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

The core velocity control algorithm is represented through this class.A matrix W, vector F, and scalar S are used to define the control system.

The core velocity control algorithm is represented through this class. A matrix W, vector F, and scalar S are used to define the control system.

Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.

Definition at line 19 of file ecContExpCore.h.

Member Function Documentation

virtual void EcControlExpressionCore::calculateJointRates ( EcVelocityControlData array) const
protectedvirtual

calculates the rates

Parameters
[in]array(EcVelocityControlData&) TODO
static const EcToken& EcControlExpressionCore::classToken ( )
static

token for this class

Returns
(EcToken&) The xml token
static EcXmlObject* EcControlExpressionCore::creator ( )
static

static creator function

Returns
(EcXmlObject*) The xml object
virtual const EcControlExpressionContainer& EcControlExpressionCore::matrix ( ) const
virtual

gets the matrix

Returns
(EcControlExpressionContainer&)The control expression matrix container
static EcControlExpressionCore EcControlExpressionCore::nullObject ( )
static

get a null object

Returns
(EcControlExpressionCore) The null object
virtual const EcControlExpressionContainer& EcControlExpressionCore::scalar ( ) const
virtual

gets the scalar

Returns
(EcControlExpressionContainer&) The scalar value
virtual void EcControlExpressionCore::setContainer ( const EcXmlBaseVariableCompoundType container)
virtual

sets the container

Parameters
[in]container(EcXmlBaseVariableCompoundType*) value to set

Reimplemented from EcBaseExpressionTreeElement.

virtual void EcControlExpressionCore::setMatrixContainer ( const EcControlExpressionContainer matrixContainer)
virtual

sets the matrix container

Parameters
[in]matrixContainer(EcControlExpressionContainer&) value to set
virtual void EcControlExpressionCore::setMatrixElement ( const EcExpressionElement matrixElement)
virtual

sets the matrix element

Parameters
[in]matrixElement(EcExpressionElement&) value to set
Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.
virtual void EcControlExpressionCore::setScalarContainer ( const EcControlExpressionContainer scalarContainer)
virtual

sets the scalar container

Parameters
[in]scalarContainer(EcControlExpressionContainer&) value to set
virtual void EcControlExpressionCore::setScalarElement ( const EcExpressionElement scalarElement)
virtual

sets the scalar element

Parameters
[in]scalarElement(EcExpressionElement&) value to set
Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.
virtual void EcControlExpressionCore::setVectorContainer ( const EcControlExpressionContainer vectorContainer)
virtual

sets the vector container

Parameters
[in]vectorContainer(EcControlExpressionContainer&) value to set
virtual void EcControlExpressionCore::setVectorElement ( const EcExpressionElement vectorElement)
virtual

sets the vector element

Parameters
[in]vectorElement(EcExpressionElement&) value to set
Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.
virtual const EcToken& EcControlExpressionCore::token ( ) const
virtual

return a token

Returns
(EcToken&) The xml token

Implements EcXmlObject.

virtual const EcVelocityControlData& EcControlExpressionCore::value ( ) const
virtual

return the value

Returns
The velocity control data

Implements EcExpressionElement.

virtual const EcControlExpressionContainer& EcControlExpressionCore::vector ( ) const
virtual

gets the vector

Returns
(EcControlExpressionContainer&) The control expression container

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