robot::control::ControllableAdaptor Class Reference

Adapts one of a Controllable's ControlInterfaces in various ways. More...

Inheritance diagram for robot::control::ControllableAdaptor:

[legend]Collaboration diagram for robot::control::ControllableAdaptor:

[legend]List of all members.

Public Types
enum	AdaptorType { PassThrough, Range, Stride }
enum	Param { End = -1 }
Public Member Functions
	ControllableAdaptor (AdaptorType type, ref< Controllable > controllable, const String &interfaceName="", const String &adaptedInterfaceName="", const String &adaptedInterfaceType="")
	ControllableAdaptor (const ControllableAdaptor &c)
virtual String	className () const
virtual Object &	clone () const
void	setRanges (Int inputStart=0, Int outputStart=0, SInt inputEnd=End, SInt outputEnd=End)
	select subranges of input & output vectors
void	setStrides (Int inputStart=0, Int outputStart=0, Int inputStride=1, Int outputStride=1)
	select periodic elements from input & output vectors
virtual void	setControlInterface (ref< ControlInterface > controlInterface)
virtual bool	isConnected () const
virtual bool	iterate (const base::Time &time)
virtual ref< ControlInterface >	getControlInterface (String interfaceName="") throw (std::invalid_argument)
	Provide ControlInterface for named interface (or default/possibly-only interface).
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)
Protected Member Functions
void	indexOutOfRange () const
Int	adaptInputIndex (Int i) const
Int	adaptOutputIndex (Int i) const
virtual void	onUnreference () const
	break cyclic reference with adaptorInterface
Protected Attributes
AdaptorType	type
bool	rangesSet
Int	inputStart
Int	outputStart
SInt	inputEnd
SInt	outputEnd
bool	stridesSet
Int	inputStride
Int	outputStride
ref< Controllable >	controllable
	Controllable we're adapting.
ref< ControlInterface >	adaptedInterface
	interface to be adapted
ref< AdaptorControlInterface >	adaptorInterface
	interface that adapts the controllable
String	newInterfaceName
String	newInterfaceType
int	_refCount
bool	onUnreferenceEnabled
Friends
class	AdaptorControlInterface

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Detailed Description

Adapts one of a Controllable's ControlInterfaces in various ways.

For example, by selecting a range of inputs and outputs.

Todo:

perhaps a ControlInterfaceAdaptor would be a better idea (avoid dependance on Controllable). Could implement a ControlInterfaceCombiner to joint interfaces. Couldn't then have any active adaptation scheme as is possible with this class.

Definition at line 46 of file ControllableAdaptor.

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Member Enumeration Documentation

enum robot::control::ControllableAdaptor::AdaptorType

Enumeration values: PassThrough  Range  Stride  Definition at line 49 of file ControllableAdaptor.

enum robot::control::ControllableAdaptor::Param

Enumeration values: End  Definition at line 50 of file ControllableAdaptor.

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Constructor & Destructor Documentation

robot::control::ControllableAdaptor::ControllableAdaptor (  AdaptorType  type, ref< Controllable >  controllable, const String &  interfaceName = "", const String &  adaptedInterfaceName = "", const String &  adaptedInterfaceType = "" )

Referenced by clone().

robot::control::ControllableAdaptor::ControllableAdaptor (  const ControllableAdaptor &  c  )

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Member Function Documentation

Int robot::control::ControllableAdaptor::adaptInputIndex (  Int  i  )  const [protected]

Int robot::control::ControllableAdaptor::adaptOutputIndex (  Int  i  )  const [protected]

virtual String robot::control::ControllableAdaptor::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 57 of file ControllableAdaptor.

virtual Object& robot::control::ControllableAdaptor::clone (   )  const [inline, virtual]

Definition at line 58 of file ControllableAdaptor. References ControllableAdaptor(), and NewObj.

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::control::ControllableAdaptor::getControlInterface (  String  interfaceName = ""  )  throw (std::invalid_argument) [virtual]

Provide ControlInterface for named interface (or default/possibly-only interface). Exceptions: std::invalid_argument  if the specified interface name is unknown. Implements robot::Controllable.

void robot::control::ControllableAdaptor::indexOutOfRange (   )  const [inline, protected]

Definition at line 86 of file ControllableAdaptor. References Exception.

virtual bool robot::control::ControllableAdaptor::isConnected (   )  const [inline, virtual]

Query if the Controller has been passed all the ControlInterfaces it needs via setControlInterface() Reimplemented from robot::Controller. Definition at line 69 of file ControllableAdaptor. References adaptedInterface.

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 bool robot::control::ControllableAdaptor::iterate (  const base::Time &  time  )  [virtual]

Execute an iteration of the control loop. returns true if it wants to quit the loop - however this may be ignored by the user/caller. Implements robot::Controller.

virtual void robot::control::ControllableAdaptor::onUnreference (   )  const [protected, virtual]

break cyclic reference with adaptorInterface Reimplemented from base::Referenced.

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().

virtual void robot::control::ControllableAdaptor::setControlInterface (  ref< ControlInterface >  controlInterface  )  [virtual]

Provide ControlInterface through which Controller may control. Can be called multiple times to pass multiple ControlInterfaces. Unknown ControlInterface types will be ignored. Implements robot::Controller.

void robot::control::ControllableAdaptor::setRanges (  Int  inputStart = 0, Int  outputStart = 0, SInt  inputEnd = End, SInt  outputEnd = End )

select subranges of input & output vectors

void robot::control::ControllableAdaptor::setStrides (  Int  inputStart = 0, Int  outputStart = 0, Int  inputStride = 1, Int  outputStride = 1 )

select periodic elements from input & output vectors

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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Friends And Related Function Documentation

friend class AdaptorControlInterface [friend]

Definition at line 136 of file ControllableAdaptor.

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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().

ref<ControlInterface> robot::control::ControllableAdaptor::adaptedInterface [protected]

interface to be adapted Definition at line 131 of file ControllableAdaptor. Referenced by isConnected().

ref<AdaptorControlInterface> robot::control::ControllableAdaptor::adaptorInterface [mutable, protected]

interface that adapts the controllable Definition at line 132 of file ControllableAdaptor.

ref<Controllable> robot::control::ControllableAdaptor::controllable [protected]

Controllable we're adapting. Definition at line 130 of file ControllableAdaptor.

SInt robot::control::ControllableAdaptor::inputEnd [mutable, protected]

Definition at line 80 of file ControllableAdaptor.

Int robot::control::ControllableAdaptor::inputStart [protected]

Definition at line 79 of file ControllableAdaptor.

Int robot::control::ControllableAdaptor::inputStride [protected]

Definition at line 82 of file ControllableAdaptor.

String robot::control::ControllableAdaptor::newInterfaceName [protected]

Definition at line 133 of file ControllableAdaptor.

String robot::control::ControllableAdaptor::newInterfaceType [protected]

Definition at line 134 of file ControllableAdaptor.

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().

SInt robot::control::ControllableAdaptor::outputEnd [mutable, protected]

Definition at line 80 of file ControllableAdaptor.

Int robot::control::ControllableAdaptor::outputStart [protected]

Definition at line 79 of file ControllableAdaptor.

Int robot::control::ControllableAdaptor::outputStride [protected]

Definition at line 82 of file ControllableAdaptor.

bool robot::control::ControllableAdaptor::rangesSet [protected]

Definition at line 78 of file ControllableAdaptor.

bool robot::control::ControllableAdaptor::stridesSet [protected]

Definition at line 81 of file ControllableAdaptor.

AdaptorType robot::control::ControllableAdaptor::type [protected]

Definition at line 77 of file ControllableAdaptor.

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

• robot/control/ControllableAdaptor

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