robot::BasicControlInterface Class Reference

Inheritance diagram for robot::BasicControlInterface:

[legend]Collaboration diagram for robot::BasicControlInterface:

[legend]List of all members.

Public Member Functions
	BasicControlInterface (String name, String type, Int inputSize=0, Int outputSize=0)
	BasicControlInterface (const BasicControlInterface &bci)
virtual Int	inputSize () const
virtual String	inputName (Int i) const=0
virtual Real	getInput (Int i) const=0
virtual const Vector &	getInputs () const
virtual Int	outputSize () const
virtual String	outputName (Int i) const=0
virtual void	setOutput (Int i, Real value)=0
virtual void	setOutputs (const Vector &values)
const String &	getType () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
virtual String	className () const=0
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
virtual void	recomputeInputSize () const
virtual void	recomputeOutputSize () const
void	setType (const String &type)
virtual void	setName (const String &name)
Protected Attributes
Int	numInputs
Int	numOutputs
Vector	lastInputs
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Partial inplementation of ControlInterface to ease the implementation of concrete ControlInterface subclasses.

Definition at line 40 of file BasicControlInterface.

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Constructor & Destructor Documentation

robot::BasicControlInterface::BasicControlInterface (  String  name, String  type, Int  inputSize = 0, Int  outputSize = 0 )  [inline]

Definition at line 43 of file BasicControlInterface.

robot::BasicControlInterface::BasicControlInterface (  const BasicControlInterface &  bci  )  [inline]

Definition at line 47 of file BasicControlInterface.

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Member Function Documentation

virtual String base::Object::className (   )  const [pure virtual, inherited]

return the name of the object's class type. Must be defined by derived classes. Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

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::BasicControlInterface::getInput (  Int  i  )  const [pure virtual]

Implements robot::ControlInterface. Implemented in robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, and robot::TestRobot::ProximitySensorInterface. Referenced by getInputs().

virtual const Vector& robot::BasicControlInterface::getInputs (   )  const [inline, virtual]

Implements robot::ControlInterface. Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, robot::TestRobot::ManipulatorControlInterface, and robot::TestRobot::ToolControlInterface. Definition at line 55 of file BasicControlInterface. References getInput(), recomputeInputSize(), and base::Vector.

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.

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

Implements robot::ControlInterface. Implemented in robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, and robot::TestRobot::ProximitySensorInterface.

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

Implements robot::ControlInterface. Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, and robot::TestRobot::ToolControlInterface. Definition at line 51 of file BasicControlInterface. References recomputeInputSize(). Referenced by robot::TestRobot::ProximitySensorInterface::getInput(), robot::TestRobot::PlatformControlInterface::getInput(), robot::TestRobot::ManipulatorControlInterface::getInput(), robot::sim::SimulatedRobot::ProximitySensorInterface::getInput(), robot::sim::SimulatedRobot::PlatformControlInterface::getInput(), robot::sim::SimulatedRobot::ManipulatorControlInterface::getInput(), and robot::sim::SimulatedRobot::ProximitySensorInterface::inputName().

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().

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

Implements robot::ControlInterface. Implemented in robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, and robot::TestRobot::ProximitySensorInterface.

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

Implements robot::ControlInterface. Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, and robot::TestRobot::ToolControlInterface. Definition at line 63 of file BasicControlInterface. References recomputeOutputSize(). Referenced by robot::TestRobot::ProximitySensorInterface::setOutput(), robot::TestRobot::PlatformControlInterface::setOutput(), robot::TestRobot::ManipulatorControlInterface::setOutput(), robot::sim::SimulatedRobot::PlatformControlInterface::setOutput(), and robot::sim::SimulatedRobot::ManipulatorControlInterface::setOutput().

virtual void robot::BasicControlInterface::recomputeInputSize (   )  const [inline, protected, virtual]

Definition at line 76 of file BasicControlInterface. Referenced by getInputs(), and inputSize().

virtual void robot::BasicControlInterface::recomputeOutputSize (   )  const [inline, protected, virtual]

Definition at line 77 of file BasicControlInterface. Referenced by outputSize(), and setOutputs().

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::BasicControlInterface::setOutput (  Int  i, Real  value )  [pure virtual]

Implements robot::ControlInterface. Implemented in robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, and robot::TestRobot::ProximitySensorInterface. Referenced by setOutputs().

virtual void robot::BasicControlInterface::setOutputs (  const Vector &  values  )  [inline, virtual]

Implements robot::ControlInterface. Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, robot::TestRobot::ManipulatorControlInterface, and robot::TestRobot::ToolControlInterface. Definition at line 67 of file BasicControlInterface. References Assert, recomputeOutputSize(), setOutput(), base::vector< T >::size(), and base::Vector.

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().

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

Definition at line 80 of file BasicControlInterface.

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

Definition at line 79 of file BasicControlInterface.

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

Definition at line 79 of file BasicControlInterface.

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().

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

• robot/BasicControlInterface

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