robot::RobotDescription Class Reference

Inheritance diagram for robot::RobotDescription:

[legend]Collaboration diagram for robot::RobotDescription:

[legend]List of all members.


Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	RobotDescription ()
	RobotDescription (String name, ref< const PlatformDescription > platformDescription, array< ref< const ManipulatorDescription > > manipulatorDescriptions, array< Vector3 > manipulatorOffsets)
	RobotDescription (const RobotDescription &r)
virtual String	className () const
void	set (String name, ref< const PlatformDescription > platformDescription, array< ref< const ManipulatorDescription > > manipulatorDescriptions, array< Vector3 > manipulatorOffsets)
virtual ref< PlatformDescription >	newPlatformDescription () const
virtual ref< ManipulatorDescription >	newManipulatorDescription () const
RobotDescription &	operator= (const RobotDescription &r)
virtual ref< const PlatformDescription >	platform () const
	get description of this robot's platform
virtual const array< ref< const ManipulatorDescription > > &	manipulators () const
	get descriptions of this robot's manipulators (if any)
virtual const array< Vector3 > &	manipulatorOffsets () const
	get the offset of each manipulator from the platform origin
virtual KinematicChain	getKinematicChain (Int platformDOF=0, const base::Matrix4 &platformTransform=base::Matrix4(), Int manipIndex=0, Int manipChainIndex=0) const
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
	RobotDescription (const String &name)
void	setPlatformDescription (ref< const PlatformDescription > pd)
void	setManipulatorDescriptions (const array< ref< const ManipulatorDescription > > &mds)
void	setManipulatorOffsets (const array< Vector3 > offsets)
virtual void	setName (const String &name)
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled
Friends
class	Robot

Detailed Description

An abstract description of a Robot

Definition at line 45 of file RobotDescription.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

robot::RobotDescription::RobotDescription ( ) [inline]

Definition at line 48 of file RobotDescription.

robot::RobotDescription::RobotDescription ( String name,

ref< const PlatformDescription > platformDescription,

array< ref< const ManipulatorDescription > > manipulatorDescriptions,

array< Vector3 > manipulatorOffsets

) [inline]

Definition at line 49 of file RobotDescription.

robot::RobotDescription::RobotDescription ( const RobotDescription & r ) [inline]

Definition at line 56 of file RobotDescription.

robot::RobotDescription::RobotDescription ( const String & name ) [inline, protected]

Definition at line 123 of file RobotDescription.

Member Function Documentation

virtual String robot::RobotDescription::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::SimulatedRobotDescription.
Definition at line 62 of file RobotDescription.

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::RobotDescription::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::SimulatedRobotDescription.
Definition at line 118 of file RobotDescription.

virtual void robot::RobotDescription::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::SimulatedRobotDescription.

virtual bool robot::RobotDescription::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::SimulatedRobotDescription.
Definition at line 115 of file RobotDescription.

virtual KinematicChain robot::RobotDescription::getKinematicChain ( Int platformDOF = 0,

const base::Matrix4 & platformTransform = base::Matrix4(),

Int manipIndex = 0,

Int manipChainIndex = 0

) const [virtual]

get an equivelent kinematic chain for the robot (from world frame to indicated manipulator end-effector). The platform dof can either be 0, 3 or 6:

0-dof: the first link in the chain is a FixedTransform set to platformTransform (transform from world frame to platform origin)
3-dof: platform position in the 2D (x,y) plane with orientation theta about the Z-axis. The static components of the platform position are taken from platformTransform.
6-dof: platform position in 3D (x,y,z) and EulerRPY (roll, pitch, yaw) orientation. If the platform is not mobile, the platformDOF is considered 0 If the robot has no manipulator, the chain ends at the platform origin.

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=(), operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

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 const array<Vector3>& robot::RobotDescription::manipulatorOffsets ( ) const [inline, virtual]

get the offset of each manipulator from the platform origin

Definition at line 97 of file RobotDescription.

virtual const array<ref<const ManipulatorDescription> >& robot::RobotDescription::manipulators ( ) const [inline, virtual]

get descriptions of this robot's manipulators (if any)

Definition at line 94 of file RobotDescription.

virtual ref<ManipulatorDescription> robot::RobotDescription::newManipulatorDescription ( ) const [inline, virtual]

Reimplemented in robot::sim::SimulatedRobotDescription.
Definition at line 78 of file RobotDescription.
References NewObj.

virtual ref<PlatformDescription> robot::RobotDescription::newPlatformDescription ( ) const [inline, virtual]

Reimplemented in robot::sim::SimulatedRobotDescription.
Definition at line 77 of file RobotDescription.
References NewObj.

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().

RobotDescription& robot::RobotDescription::operator= ( const RobotDescription & r ) [inline]

Definition at line 81 of file RobotDescription.
References base::Named::getName(), manipOffsets, manipulatorDescrs, platformDescr, and base::Named::setName().

virtual ref<const PlatformDescription> robot::RobotDescription::platform ( ) const [inline, virtual]

get description of this robot's platform

Definition at line 91 of file RobotDescription.

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::RobotDescription::set ( String name,

ref< const PlatformDescription > platformDescription,

array< ref< const ManipulatorDescription > > manipulatorDescriptions,

array< Vector3 > manipulatorOffsets

) [inline]

Definition at line 65 of file RobotDescription.
References setManipulatorDescriptions(), setManipulatorOffsets(), base::Named::setName(), and setPlatformDescription().

void robot::RobotDescription::setManipulatorDescriptions ( const array< ref< const ManipulatorDescription > > & mds ) [inline, protected]

Definition at line 126 of file RobotDescription.
Referenced by set().

void robot::RobotDescription::setManipulatorOffsets ( const array< Vector3 > offsets ) [inline, protected]

Definition at line 127 of file RobotDescription.
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=(), operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

void robot::RobotDescription::setPlatformDescription ( ref< const PlatformDescription > pd ) [inline, protected]

Definition at line 125 of file RobotDescription.
Referenced by set().

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.