Main Page Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages

robot::SerialManipulator Class Reference

Abstract interface for serial manipulator description classes. More...

Inherits robot::Manipulator.

Inherited by robot::sim::SimulatedSerialManipulator, and TestRobot::TestRobotManipulator.

Inheritance diagram for robot::SerialManipulator:

[legend]Collaboration diagram for robot::SerialManipulator:

[legend]List of all members.

Public Types
typedef base::array< JointParameters >	Parameters
	Parameters describing complete manipulator. More...
enum	Type { Serial, Parallel }
Public Methods
virtual Type	type () const
virtual const Parameters &	getParameters () const=0
	returns all of manipulator's joint parameters. More...
virtual Parameters &	getParameters ()=0
	returns all of manipulator's joint parameters. More...
virtual void	serialize (base::Serializer &s)
	read or write object state to Serializer. More...
virtual Matrix4	getBaseTransform () const=0
	the transformation from the base origin to the origin of the first joint(s). More...
virtual String	getName () 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
Static Public Methods
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Protected Methods
	SerialManipulator ()
	SerialManipulator (const SerialManipulator &sm)
	SerialManipulator (String name)
Protected Attributes
String	name
int	_refCount
bool	onUnreferenceEnabled

Detailed Description

Abstract interface for serial manipulator description classes.

Describables serial manipulator via Denavit-Hartenberg parameters.

Definition at line 42 of file SerialManipulator.

Member Typedef Documentation

typedef base::array<JointParameters> robot::SerialManipulator::Parameters

Parameters describing complete manipulator.

Definition at line 100 of file SerialManipulator.
Referenced by robot::sim::SimulatedSerialManipulator::externalize, robot::sim::SimulatedSerialManipulator::getParameters, and TestRobot::TestRobotManipulator::TestRobotManipulator.

Member Enumeration Documentation

enum robot::Manipulator::Type [inherited]

Enumeration values:

Serial

Parallel

Definition at line 43 of file Manipulator.
Referenced by type, and robot::ParallelManipulator::type.

Constructor & Destructor Documentation

robot::SerialManipulator::SerialManipulator ( ) [inline, protected]

Definition at line 112 of file SerialManipulator.
Referenced by SerialManipulator, and robot::sim::SimulatedSerialManipulator::SimulatedSerialManipulator.

robot::SerialManipulator::SerialManipulator ( const SerialManipulator & sm ) [inline, protected]

Definition at line 113 of file SerialManipulator.
References robot::Manipulator::Manipulator, and SerialManipulator.

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

Definition at line 114 of file SerialManipulator.
References robot::Manipulator::Manipulator, robot::RobotPart::name, and base::String.

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.

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

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 108 of file Referenced.
References base::Referenced::onUnreferenceEnabled.
Referenced by robot::control::ControllableAdaptor::ControllableAdaptor.

virtual Matrix4 robot::Manipulator::getBaseTransform ( ) const [pure virtual, inherited]

the transformation from the base origin to the origin of the first joint(s).

Implemented in robot::sim::SimulatedSerialManipulator.

virtual String robot::RobotPart::getName ( ) const [inline, virtual, inherited]

Definition at line 41 of file RobotPart.
References robot::RobotPart::name, and base::String.
Referenced by serialize.

virtual Parameters& robot::SerialManipulator::getParameters ( ) [pure virtual]

returns all of manipulator's joint parameters.

Implemented in robot::sim::SimulatedSerialManipulator.

virtual const Parameters& robot::SerialManipulator::getParameters ( ) const [pure virtual]

returns all of manipulator's joint parameters.

Implemented in robot::sim::SimulatedSerialManipulator.
Referenced by serialize.

const Serializable::SerializableInstantiator & Serializable::getSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName

) [static, inherited]

Definition at line 52 of file Serializable.cpp.
References Exception, and base::String.

template<class BaseClass>

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & derivedClassTypeName ) [inline, static, inherited]

Definition at line 71 of file Serializable.
References base::String.

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 58 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.
Definition at line 114 of file Referenced.
Referenced by base::Referenced::unreference.

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 58 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::kinematics::FullSpaceSolver::reduceA.

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

Return the number pointers currently referencing this object.
Definition at line 105 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::onUnreference, and robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference.

void Serializable::registerSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName,

const SerializableInstantiator & instantiator

) [static, inherited]

Definition at line 33 of file Serializable.cpp.
References Exception, and base::String.

template<class BaseClass, class DerivedClass>

void base::Serializable::registerSerializableInstantiator ( const SerializableInstantiator & instantiator ) [inline, static, inherited]

Definition at line 62 of file Serializable.

virtual void robot::SerialManipulator::serialize ( base::Serializer & s ) [inline, virtual]

read or write object state to Serializer.

Implements base::Serializable.
Definition at line 105 of file SerialManipulator.
References robot::RobotPart::getName, and getParameters.

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

Implements robot::Manipulator.
Definition at line 46 of file SerialManipulator.
References robot::Manipulator::Serial, and robot::Manipulator::Type.
Referenced by robot::sim::SimulatedSerialManipulator::formatSupported.

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 74 of file Referenced.
References base::Referenced::_refCount, Exception, and base::Referenced::onUnreference.