robot::ManipulatorDescription Class Reference

Inheritance diagram for robot::ManipulatorDescription:

[legend]Collaboration diagram for robot::ManipulatorDescription:

[legend]List of all members.


Public Types
enum	Type { Serial, Parallel }
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	ManipulatorDescription ()
	ManipulatorDescription (String name, Matrix4 baseTransform, KinematicChain kinematicChain)
	ManipulatorDescription (const ManipulatorDescription &md)
ManipulatorDescription &	operator= (const ManipulatorDescription &md)
virtual String	className () const
void	set (String name, Matrix4 baseTransform, KinematicChain kinematicChain)
virtual Type	type () const
virtual const KinematicChain &	getKinematicChain (Int p=0) const
virtual Matrix4	getBaseTransform () const
	the transformation from the mount origin to the base origin (the first joint)
bool	operator== (const ManipulatorDescription &md)
bool	operator!= (const ManipulatorDescription &md)
virtual bool	formatSupported (const String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0)
	read or write object state to Externalizer
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual const String &	getName () const
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
virtual bool	isSameKindAs (const Object &) const
virtual bool	isSameKindAs (const ReferencedObject &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
	ManipulatorDescription (String name)
virtual void	setType (Type type)
virtual void	setBaseTransform (const Matrix4 &m)
virtual void	setKinematicChain (const KinematicChain &kc)
virtual void	outputElementXML (base::Externalizer &e, base::dom::DOMElement *manipElem, String format, Real version) const
virtual void	inputElementXML (base::Externalizer &e, base::dom::DOMElement *manipElem, String format, Real version)
virtual void	setName (const String &name)
Protected Attributes
Type	mtype
Matrix4	baseTransform
	depricated
KinematicChain	kinematicChain
int	_refCount
bool	onUnreferenceEnabled
Friends
class	Robot

Detailed Description

An abstract description of a manipulator

Definition at line 42 of file ManipulatorDescription.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

enum robot::ManipulatorDescription::Type

Enumeration values:

Serial

Parallel

Definition at line 45 of file ManipulatorDescription.
Referenced by type().

Constructor & Destructor Documentation

robot::ManipulatorDescription::ManipulatorDescription ( ) [inline]

Definition at line 47 of file ManipulatorDescription.
References mtype, and Serial.

robot::ManipulatorDescription::ManipulatorDescription ( String name,

Matrix4 baseTransform,

KinematicChain kinematicChain

) [inline]

Definition at line 48 of file ManipulatorDescription.
References mtype, and Serial.

robot::ManipulatorDescription::ManipulatorDescription ( const ManipulatorDescription & md ) [inline]

Definition at line 50 of file ManipulatorDescription.
References baseTransform, kinematicChain, and mtype.

robot::ManipulatorDescription::ManipulatorDescription ( String name ) [inline, protected]

Definition at line 110 of file ManipulatorDescription.

Member Function Documentation

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

return the name of the object's class type. Must be defined by derived classes.
Implements base::Object.
Reimplemented in robot::sim::SimulatedManipulatorDescription.
Definition at line 62 of file ManipulatorDescription.

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 void robot::ManipulatorDescription::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) const [inline, virtual]

write object state to Externalizer (throws if e is in Input)

Reimplemented from base::Externalizable.
Reimplemented in robot::sim::SimulatedManipulatorDescription.
Definition at line 106 of file ManipulatorDescription.

virtual void robot::ManipulatorDescription::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.
Reimplemented in robot::sim::SimulatedManipulatorDescription.

virtual bool robot::ManipulatorDescription::formatSupported ( const String format,

Real version = 1.0,

ExternalizationType type = IO

) const [inline, virtual]

query if specific format is supported (for input, output or both)

Implements base::Externalizable.
Reimplemented in robot::sim::SimulatedManipulatorDescription.
Definition at line 103 of file ManipulatorDescription.

virtual Matrix4 robot::ManipulatorDescription::getBaseTransform ( ) const [inline, virtual]

the transformation from the mount origin to the base origin (the first joint)

Definition at line 88 of file ManipulatorDescription.
References baseTransform.

virtual const KinematicChain& robot::ManipulatorDescription::getKinematicChain ( Int p = 0 ) const [inline, virtual]

get a kinematic chain that describes this manipulator. For serial manipulators this is a unique chain of joints. For Parallel manipulators the chain obtained depends on the parameter. The chain doesn't include the base link. (NB: when/if parallel manipulator support is added, this argument may change or be overloaded, but there will always be a default that will provide the unique chain in the case of a serial manipulator)
Definition at line 84 of file ManipulatorDescription.
References kinematicChain.

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=(), operator=(), base::Named::operator=(), and operator==().

virtual void robot::ManipulatorDescription::inputElementXML ( base::Externalizer & e,

base::dom::DOMElement * manipElem,

String format,

Real version

) [protected, virtual]

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

Definition at line 52 of file ReferencedObject.

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

Definition at line 47 of file Object.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

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().

bool robot::ManipulatorDescription::operator!= ( const ManipulatorDescription & md ) [inline]

Definition at line 98 of file ManipulatorDescription.

ManipulatorDescription& robot::ManipulatorDescription::operator= ( const ManipulatorDescription & md ) [inline]

Definition at line 53 of file ManipulatorDescription.
References baseTransform, base::Named::getName(), kinematicChain, mtype, and base::Named::setName().

bool robot::ManipulatorDescription::operator== ( const ManipulatorDescription & md ) [inline]

Definition at line 91 of file ManipulatorDescription.
References baseTransform, base::Named::getName(), kinematicChain, and mtype.

virtual void robot::ManipulatorDescription::outputElementXML ( base::Externalizer & e,

base::dom::DOMElement * manipElem,

String format,

Real version

) const [protected, virtual]

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().

void base::Externalizable::save ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

void robot::ManipulatorDescription::set ( String name,

Matrix4 baseTransform,

KinematicChain kinematicChain

) [inline]

Definition at line 64 of file ManipulatorDescription.
References Serial, setBaseTransform(), setKinematicChain(), base::Named::setName(), and setType().

virtual void robot::ManipulatorDescription::setBaseTransform ( const Matrix4 & m ) [inline, protected, virtual]

Definition at line 113 of file ManipulatorDescription.
References baseTransform.
Referenced by set().

virtual void robot::ManipulatorDescription::setKinematicChain ( const KinematicChain & kc ) [inline, protected, virtual]

Definition at line 114 of file ManipulatorDescription.
References kinematicChain.
Referenced by set().

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=(), operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), set(), and physics::Solid::setName().

virtual void robot::ManipulatorDescription::setType ( Type type ) [inline, protected, virtual]

Definition at line 112 of file ManipulatorDescription.
References mtype.
Referenced by set().

virtual Type robot::ManipulatorDescription::type ( ) const [inline, virtual]

Definition at line 73 of file ManipulatorDescription.
References mtype, and Type.

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.