robot::ToolDescription Class Reference

Inheritance diagram for robot::ToolDescription:

[legend]Collaboration diagram for robot::ToolDescription:

[legend]List of all members.


Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	ToolDescription ()
	ToolDescription (const ToolDescription &t)
virtual String	className () const
ToolDescription &	operator= (const ToolDescription &t)
virtual KinematicChain	getKinematicChain (Int p=0) const
bool	operator== (const ToolDescription &td) const
bool	operator!= (const ToolDescription &td) const
bool	equals (ref< const ToolDescription > td) 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
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
	ToolDescription (const String &name)
virtual void	setKinematicChain (const KinematicChain &kc)
virtual void	setName (const String &name)
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled
Friends
class	Robot

Detailed Description

An abstract description of a Tool

Definition at line 41 of file ToolDescription.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

robot::ToolDescription::ToolDescription ( ) [inline]

Definition at line 44 of file ToolDescription.

robot::ToolDescription::ToolDescription ( const ToolDescription & t ) [inline]

Definition at line 45 of file ToolDescription.

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

Definition at line 83 of file ToolDescription.

Member Function Documentation

virtual String robot::ToolDescription::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 48 of file 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.

bool robot::ToolDescription::equals ( ref< const ToolDescription > td ) const [inline]

Definition at line 72 of file ToolDescription.

void robot::ToolDescription::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.
Definition at line 79 of file ToolDescription.

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

String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool robot::ToolDescription::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.
Definition at line 76 of file ToolDescription.

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

get a kinematic chain that describes this tool. The first link of a tool is static (0-dof). For example, a simple extension tool consists of a single static link, thus has 0-dof. In general, tools can have an arbitrary number of links, possibly with joints, analogous to a manipulator.
Definition at line 60 of file ToolDescription.

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<<(), operator=(), robot::RobotDescription::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 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::ToolDescription::operator!= ( const ToolDescription & td ) const [inline]

Definition at line 70 of file ToolDescription.

ToolDescription& robot::ToolDescription::operator= ( const ToolDescription & t ) [inline]

Definition at line 50 of file ToolDescription.
References base::Named::getName(), kinematicChain, and base::Named::setName().

bool robot::ToolDescription::operator== ( const ToolDescription & td ) const [inline]

Definition at line 64 of file ToolDescription.
References kinematicChain.

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]

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

Definition at line 85 of file ToolDescription.

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(), 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().

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.