robot::TestRobot Class Reference

Inheritance diagram for robot::TestRobot:

[legend]Collaboration diagram for robot::TestRobot:

[legend]List of all members.

Public Types
enum	JointType { Prismatic = KinematicChain::Link::Prismatic, Revolute = KinematicChain::Link::Revolute }
enum	CoordFrame {   UnknownFrame, EndEffectorFrame, EndEffectorBaseFrame, BaseFrame,   MountFrame, PlatformFrame, WorldFrame }
Public Member Functions
	TestRobot ()
	instantiate default robot (fixed platform with a single Puma manipulator)
	TestRobot (ref< base::VFile > robotSpecification, const base::Point3 &initialPosition, const base::Orient &initialOrientation)
	instantiate robot from file specification
	TestRobot (ref< const robot::RobotDescription > robotDescription, const base::Point3 &initialPosition, const base::Orient &initialOrientation)
	instantiate robot from a description
	TestRobot (const base::IVector &jointType, const base::Vector &alpha, const base::Vector &a, const base::Vector &d, const base::Vector &theta)
	instantiate a fixed platform with a single manipulator specified via D-H parameters
virtual String	className () const
virtual array< std::pair< String, String > >	controlInterfaces () const
virtual ref< ControlInterface >	getControlInterface (String interfaceName="") throw (std::invalid_argument)
virtual bool	isDescriptionProvided () const
	is there a description of this robot available?
const base::Point3	getPosition () const
	< get world frame position of robot
const base::Orient	getOrientation () const
	< get world frame orientation of robot
void	setPosition (const base::Point3 &pos)
void	setOrientation (const base::Orient &orient)
void	placeToolInProximity (ref< const ToolDescription > toolDescription, Int manipIndex=0)
void	removeToolFromProximity (Int manipIndex=0)
	remove any tool from within grasping range of the end-effector
virtual ref< const RobotDescription >	getRobotDescription () const throw (std::logic_error)
	get a description of the robot, if provided. Throws an exception if no description can be provided.
virtual ref< RobotDescription >	newRobotDescription () const
virtual ref< PlatformDescription >	newPlatformDescription () const
virtual ref< ManipulatorDescription >	newManipulatorDescription () const
virtual ref< ToolDescription >	newToolDescription () const
base::Matrix4	coordFrameTransform (CoordFrame from, CoordFrame to=PlatformFrame, Int manipulatorIndex=0, const base::Matrix4 &T=base::Matrix4(), const base::Point3 &platformPosition=base::Point3(), const base::Orient &platformOrientation=base::Orient()) 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
Static Public Member Functions
CoordFrame	coordFrame (const String &frameString)
	convert String coord. frame specifier to CoordFrame
String	coordFrame (CoordFrame coordFrame)
	convert coord. frame specifier to String
Protected Member Functions
void	create (String manipName, const base::IVector &jointType, const base::Vector &alpha, const base::Vector &a, const base::Vector &d, const base::Vector &theta)
void	initManipulators ()
void	setRobotDescription (ref< const RobotDescription > robotDescription)
Protected Attributes
base::Point3	position
	world frame position of robot
base::Orient	orientation
	world frame orientation of robot
array< Vector >	qa
	joint parameters of manipulators
array< Vector >	tqa
	joint parameters of tools (index corresponds to manipulators (qa) - i.e. at most one tool per manipulator)
array< bool >	toolProximity
	is a tool in proximity of manipulator end-effector?
array< bool >	toolGrasped
	is manipulator grasping a tool?
array< ref< const ToolDescription > >	tools
	which tool (in proximity and possibly being grasped)
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

A concrete Robot class that doesn't correspond to any real robot. It is useful for testing. The RobotDescription provided depends on the constructor used for instantiation.

Definition at line 45 of file TestRobot.

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Member Enumeration Documentation

enum robot::Robot::CoordFrame [inherited]

Enumeration values: UnknownFrame  EndEffectorFrame  EndEffectorBaseFrame  BaseFrame  MountFrame  PlatformFrame  WorldFrame  Definition at line 81 of file Robot.

enum robot::TestRobot::JointType

Enumeration values: Prismatic  Revolute  Definition at line 48 of file TestRobot.

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Constructor & Destructor Documentation

robot::TestRobot::TestRobot (   )

instantiate default robot (fixed platform with a single Puma manipulator)

robot::TestRobot::TestRobot (  ref< base::VFile >  robotSpecification, const base::Point3 &  initialPosition, const base::Orient &  initialOrientation )

instantiate robot from file specification

robot::TestRobot::TestRobot (  ref< const robot::RobotDescription >  robotDescription, const base::Point3 &  initialPosition, const base::Orient &  initialOrientation )

instantiate robot from a description

robot::TestRobot::TestRobot (  const base::IVector &  jointType, const base::Vector &  alpha, const base::Vector &  a, const base::Vector &  d, const base::Vector &  theta )

instantiate a fixed platform with a single manipulator specified via D-H parameters

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Member Function Documentation

virtual String robot::TestRobot::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 66 of file TestRobot.

virtual array<std::pair<String,String> > robot::TestRobot::controlInterfaces (   )  const [virtual]

A Robot provides a number of ControlInterfaces for various parts, such as its drive platform, manipulators and other sensors etc. Refer to documentation for specific concrete Robot implementation for specific ControlInterface names and descriptions. This method enumerates the ControlInterface names and their types. The interfaces can be obtained by passing the name to the getControlInterface() method. Reimplemented from robot::Robot.

String robot::Robot::coordFrame (  CoordFrame  coordFrame  )  [static, inherited]

convert coord. frame specifier to String

CoordFrame robot::Robot::coordFrame (  const String &  frameString  )  [static, inherited]

convert String coord. frame specifier to CoordFrame

base::Matrix4 robot::Robot::coordFrameTransform (  CoordFrame  from, CoordFrame  to = PlatformFrame, Int  manipulatorIndex = 0, const base::Matrix4 &  T = base::Matrix4(), const base::Point3 &  platformPosition = base::Point3(), const base::Orient &  platformOrientation = base::Orient() )  const [inherited]

Obtain transformation that will transform between coordinate frames Some transformations will require further information, such as specifying the forward kinematics transform from the base frame to the end-effector frame, or which manipulator (EndEffector[Base]Frame, BaseFrame & MountFrame) Transformations involving the WorldFrame require the platform position and orientation.

void robot::TestRobot::create (  String  manipName, const base::IVector &  jointType, const base::Vector &  alpha, const base::Vector &  a, const base::Vector &  d, const base::Vector &  theta )  [protected]

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 ref<ControlInterface> robot::TestRobot::getControlInterface (  String  interfaceName = ""  )  throw (std::invalid_argument) [virtual]

TestRobot provides the following ControlInterfaces (name:type): platformPosition:PlatformPositionControl outputs control the x,y and angle of the platform w.r.t to the world coordinate frame. The angle is clockwise relative to the x-axis (about z). manipulatorPositionN:JointPositionControl outputs control the position of a manipulators joints (angle for revolute joints and extension for prismatic joints) manipulatorProximityN:LinkProximitySensors Inputs provide proximity sensor information. manipulatorToolGripN:ToolGripControl single scalar input represents tool proximity to tool grip mechanism. 0 => not in range to be grasped, 1 => in range to be grasped (or currently grasped) single scalar output controls tool gripper latch 1 => grasp/latch tool, 0 => ungrasp/unlatch tool toolPositionN:JointPositionControl joint position for tool joints (if any). Note that the inputSize() and outputSize() change dynamically depending on which tool is grasped (0 when no tool is grasped) Implements robot::Robot.

const base::Orient robot::TestRobot::getOrientation (   )  const [inline]

< get world frame orientation of robot Definition at line 101 of file TestRobot.

const base::Point3 robot::TestRobot::getPosition (   )  const [inline]

< get world frame position of robot Definition at line 99 of file TestRobot. References base::Point3.

virtual ref<const RobotDescription> robot::Robot::getRobotDescription (   )  const throw (std::logic_error) [inline, virtual, inherited]

get a description of the robot, if provided. Throws an exception if no description can be provided. Definition at line 64 of file Robot. References Exception, and robot::Robot::isDescriptionProvided().

void robot::TestRobot::initManipulators (   )  [protected]

virtual bool robot::TestRobot::isDescriptionProvided (   )  const [inline, virtual]

is there a description of this robot available? Reimplemented from robot::Robot. Definition at line 97 of file TestRobot.

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

Reimplemented in robot::sim::SimulatedRobot. Definition at line 76 of file Robot. References NewObj.

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

Reimplemented in robot::sim::SimulatedRobot. Definition at line 75 of file Robot. References NewObj.

virtual ref<RobotDescription> robot::Robot::newRobotDescription (   )  const [inline, virtual, inherited]

Definition at line 74 of file Robot. References NewObj.

virtual ref<ToolDescription> robot::Robot::newToolDescription (   )  const [inline, virtual, inherited]

Definition at line 77 of file Robot. 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().

void robot::TestRobot::placeToolInProximity (  ref< const ToolDescription >  toolDescription, Int  manipIndex = 0 )

because tools are not physically simulated, we can 'magically' indicate that a tool is within grasping range of the end-effector

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 robot::TestRobot::removeToolFromProximity (  Int  manipIndex = 0  )

remove any tool from within grasping range of the end-effector

void robot::TestRobot::setOrientation (  const base::Orient &  orient  )  [inline]

Parameters: orient  set world frame orientation of robot Definition at line 105 of file TestRobot.

void robot::TestRobot::setPosition (  const base::Point3 &  pos  )  [inline]

Parameters: pos  set world frame position of robot Definition at line 103 of file TestRobot. References base::Point3.

void robot::Robot::setRobotDescription (  ref< const RobotDescription >  robotDescription  )  [inline, protected, inherited]

Definition at line 115 of file Robot.

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().

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().

base::Orient robot::TestRobot::orientation [protected]

world frame orientation of robot Definition at line 121 of file TestRobot.

base::Point3 robot::TestRobot::position [protected]

world frame position of robot Definition at line 120 of file TestRobot.

array<Vector> robot::TestRobot::qa [protected]

joint parameters of manipulators Definition at line 123 of file TestRobot.

array<bool> robot::TestRobot::toolGrasped [protected]

is manipulator grasping a tool? Definition at line 127 of file TestRobot.

array<bool> robot::TestRobot::toolProximity [protected]

is a tool in proximity of manipulator end-effector? Definition at line 126 of file TestRobot.

array<ref<const ToolDescription> > robot::TestRobot::tools [protected]

which tool (in proximity and possibly being grasped) Definition at line 128 of file TestRobot.

array<Vector> robot::TestRobot::tqa [protected]

joint parameters of tools (index corresponds to manipulators (qa) - i.e. at most one tool per manipulator) Definition at line 124 of file TestRobot.

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

• robot/TestRobot

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