robot::AggregateControlInterface Class Reference

Inheritance diagram for robot::AggregateControlInterface:

[legend]Collaboration diagram for robot::AggregateControlInterface:

[legend]List of all members.

Public Member Functions
	AggregateControlInterface (const String &name, const String &type, array< ref< ControlInterface > > interfaces)
	AggregateControlInterface (const String &name, const String &type, ref< ControlInterface > interface1, ref< ControlInterface > interface2)
	AggregateControlInterface (const AggregateControlInterface &aci)
virtual String	className () const
virtual Int	inputSize () const
virtual String	inputName (Int i) const
virtual Real	getInput (Int i) const
virtual const Vector &	getInputs () const
virtual Int	outputSize () const
virtual String	outputName (Int i) const
virtual void	setOutput (Int i, Real value)
virtual void	setOutputs (const Vector &values)
const String &	getType () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual const String &	getName () const
Protected Member Functions
void	recomputeInputSize () const
void	recomputeOutputSize () const
void	inputIndex (Int aindex, Int &interfaceIndex, Int &index) const
void	outputIndex (Int aindex, Int &interfaceIndex, Int &index) const
void	setType (const String &type)
virtual void	setName (const String &name)
Protected Attributes
array< ref< ControlInterface > >	interfaces
Int	numInputs
Int	numOutputs
Vector	lastInputs
array< Int >	inputOffsets
array< Int >	outputOffsets
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Aggregates one of more ControlInterfaces into a single ControlInterface by concatenating their input/output vectors.

Definition at line 38 of file AggregateControlInterface.

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Constructor & Destructor Documentation

robot::AggregateControlInterface::AggregateControlInterface (  const String &  name, const String &  type, array< ref< ControlInterface > >  interfaces )

robot::AggregateControlInterface::AggregateControlInterface (  const String &  name, const String &  type, ref< ControlInterface >  interface1, ref< ControlInterface >  interface2 )

robot::AggregateControlInterface::AggregateControlInterface (  const AggregateControlInterface &  aci  )

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Member Function Documentation

virtual String robot::AggregateControlInterface::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 47 of file AggregateControlInterface.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual Real robot::AggregateControlInterface::getInput (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

virtual const Vector& robot::AggregateControlInterface::getInputs (   )  const [virtual]

Implements robot::ControlInterface.

virtual const String& base::Named::getName (   )  const [inline, virtual, inherited]

Definition at line 44 of file Named. References base::String. Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

const String& robot::ControlInterface::getType (   )  const [inline, inherited]

Definition at line 75 of file ControlInterface.

void robot::AggregateControlInterface::inputIndex (  Int  aindex, Int &  interfaceIndex, Int &  index )  const [protected]

virtual String robot::AggregateControlInterface::inputName (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

virtual Int robot::AggregateControlInterface::inputSize (   )  const [inline, virtual]

Implements robot::ControlInterface. Definition at line 49 of file AggregateControlInterface. References numInputs, and recomputeInputSize().

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

void robot::AggregateControlInterface::outputIndex (  Int  aindex, Int &  interfaceIndex, Int &  index )  const [protected]

virtual String robot::AggregateControlInterface::outputName (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

virtual Int robot::AggregateControlInterface::outputSize (   )  const [inline, virtual]

Implements robot::ControlInterface. Definition at line 55 of file AggregateControlInterface. References numOutputs, and recomputeOutputSize().

void robot::AggregateControlInterface::recomputeInputSize (   )  const [protected]

Referenced by inputSize().

void robot::AggregateControlInterface::recomputeOutputSize (   )  const [protected]

Referenced by outputSize().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void base::Named::setName (  const String &  name  )  [inline, protected, virtual, inherited]

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle. Definition at line 47 of file Named. References base::String. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

virtual void robot::AggregateControlInterface::setOutput (  Int  i, Real  value )  [virtual]

Implements robot::ControlInterface.

virtual void robot::AggregateControlInterface::setOutputs (  const Vector &  values  )  [virtual]

Implements robot::ControlInterface.

void robot::ControlInterface::setType (  const String &  type  )  [inline, protected, inherited]

Definition at line 88 of file ControlInterface. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), and robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface().

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

array<Int> robot::AggregateControlInterface::inputOffsets [mutable, protected]

Definition at line 72 of file AggregateControlInterface.

array< ref<ControlInterface> > robot::AggregateControlInterface::interfaces [protected]

Definition at line 68 of file AggregateControlInterface.

Vector robot::AggregateControlInterface::lastInputs [mutable, protected]

Definition at line 71 of file AggregateControlInterface.

Int robot::AggregateControlInterface::numInputs [mutable, protected]

Definition at line 70 of file AggregateControlInterface. Referenced by inputSize().

Int robot::AggregateControlInterface::numOutputs [mutable, protected]

Definition at line 70 of file AggregateControlInterface. Referenced by outputSize().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

array<Int> robot::AggregateControlInterface::outputOffsets [mutable, protected]

Definition at line 73 of file AggregateControlInterface.

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

• robot/AggregateControlInterface

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