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

Holds a motion script for setting the active end effector set for a manipulator. More...

#include <ecManipulatorMotionSetActiveEndEffectorSet.h>

Inheritance diagram for EcManipulatorMotionSetActiveEndEffectorSet:
Collaboration diagram for EcManipulatorMotionSetActiveEndEffectorSet:

Public Member Functions

void setActiveEndEffectorSet (const EcU32 value)
 set active end effector set
virtual const EcStringtoken () const EC_OVERRIDE
virtual EcBoolean read (const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg) EC_OVERRIDE
 read list More...
virtual EcString write () const EC_OVERRIDE
 write to script More...
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 run the script More...
virtual void restart () EC_OVERRIDE
 restart by setting the status to NOT_STARTED More...
- Public Member Functions inherited from EcBaseManipulatorMotion
void setManipulatorIndex (const EcU32 manipIndex)
 set manipulator index
void setManipulatorIndex (const EcMotionScriptU32ObjectSharedPtr &pManipIndex)
 set manipulator index
const EcMotionScriptU32ObjectSharedPtr & manipulatorIndex () const
 get manipulator index
void setMotionId (const EcInt32 id)
 Set the motion ID.
EcInt32 motionId () const
 Get the motion ID.
- Public Member Functions inherited from EcMotionScriptObject
 EcMotionScriptObject ()
 default constructor
virtual ~EcMotionScriptObject ()
Status status () const
 get status
EcReal progress () const
 get progress in [0, 1]
virtual EcBoolean setContainer (EcBaseMotionScriptContainer *pContainer)
 set the container More...
virtual EcMotionScriptObjectclone (EcBaseMotionScriptContainer *pContainer) const
 Clone with container. More...
EcBoolean readWithContainer (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 read with container
virtual void pause ()
 request to pause
virtual void resume ()
 request to resume

Static Public Member Functions

static EcMotionScriptObjectnewObject ()
 motion script object creator
static const EcStringscriptToken ()
 script token
- Static Public Member Functions inherited from EcMotionScriptObject
static EcMotionScriptSharedPtr parseScript (const EcString &script, EcString *pErrorMsg)
 parse script
static EcMotionScriptSharedPtr parseScript (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 parse script
static EcBoolean isKeyword (const EcString &symbol)
 is keyword
static EcBoolean tokenize (const EcString &script, EcStringList &tokens, EcString *pErrorMsg)
static EcBoolean readFromTokens (EcStringList &tokens, EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)
 read from tokens
static EcBoolean registerScript (const EcString &scriptToken, const EcMotionScriptObjectCreator &creator)
static EcStringSet registeredScriptTokens ()

Additional Inherited Members

- Public Types inherited from EcMotionScriptObject
enum  Status {
- Protected Attributes inherited from EcBaseManipulatorMotion
EcMotionScriptU32ObjectSharedPtr m_pManipIndex
 manipulator index
EcInt32 m_MotionId
 the motion ID, currently only used by the group motion manager
- Protected Attributes inherited from EcMotionScriptObject
 the container
Status m_Status
 motion status
EcReal m_Progress
 motion script progress in [0, 1]
EcBoolean m_PauseFlag

Detailed Description

Holds a motion script for setting the active end effector set for a manipulator.

Definition at line 14 of file ecManipulatorMotionSetActiveEndEffectorSet.h.

Member Function Documentation

virtual EcBoolean EcManipulatorMotionSetActiveEndEffectorSet::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 

read list

(set_acd <manipulator_index> <ee_set_index>)

Implements EcMotionScriptObject.

virtual void EcManipulatorMotionSetActiveEndEffectorSet::restart ( )

restart by setting the status to NOT_STARTED

Implements EcBaseManipulatorMotion.

virtual Status EcManipulatorMotionSetActiveEndEffectorSet::run ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 

run the script

Implements EcBaseManipulatorMotion.

virtual EcString EcManipulatorMotionSetActiveEndEffectorSet::write ( ) const

write to script

Implements EcMotionScriptObject.

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