robot::control::kinematics::IKORController::EEPositionControlInterface Class Reference

ControlInterface provided for controlling the desired End-Effector motion. More...

Inheritance diagram for robot::control::kinematics::IKORController::EEPositionControlInterface:

[legend]Collaboration diagram for robot::control::kinematics::IKORController::EEPositionControlInterface:

[legend]List of all members.

Public Member Functions
	EEPositionControlInterface (ref< IKORController > c, const String &interfaceName, const String &interfaceType)
	EEPositionControlInterface (const EEPositionControlInterface &copy)
virtual String	className () const
virtual Object &	clone () const
Int	inputSize () const
String	inputName (Int i) const
Real	getInput (Int i) const
const Vector &	getInputs () const
Int	outputSize () const
String	outputName (Int i) const
void	setOutput (Int i, Real value)
void	setOutputs (const Vector &values)
const String &	getType () 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
virtual const String &	getName () const
Protected Member Functions
void	setType (const String &type)
virtual void	setName (const String &name)
Protected Attributes
ref< IKORController >	c
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

ControlInterface provided for controlling the desired End-Effector motion.

Just holds a ref to IKORController and calls back to its members to do its work

Definition at line 120 of file IKORController.

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Constructor & Destructor Documentation

robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface (  ref< IKORController >  c, const String &  interfaceName, const String &  interfaceType )  [inline]

Definition at line 123 of file IKORController. References base::Named::setName(), and robot::ControlInterface::setType(). Referenced by clone().

robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface (  const EEPositionControlInterface &  copy  )  [inline]

Definition at line 125 of file IKORController.

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Member Function Documentation

virtual String robot::control::kinematics::IKORController::EEPositionControlInterface::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 128 of file IKORController.

virtual Object& robot::control::kinematics::IKORController::EEPositionControlInterface::clone (   )  const [inline, virtual]

Definition at line 129 of file IKORController. References EEPositionControlInterface(), 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.

Real robot::control::kinematics::IKORController::EEPositionControlInterface::getInput (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

const Vector& robot::control::kinematics::IKORController::EEPositionControlInterface::getInputs (   )  const [virtual]

Implements robot::ControlInterface.

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

const String& robot::ControlInterface::getType (   )  const [inline, inherited]

Definition at line 75 of file ControlInterface.

String robot::control::kinematics::IKORController::EEPositionControlInterface::inputName (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

Int robot::control::kinematics::IKORController::EEPositionControlInterface::inputSize (   )  const [virtual]

Implements robot::ControlInterface.

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 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().

String robot::control::kinematics::IKORController::EEPositionControlInterface::outputName (  Int  i  )  const [virtual]

Implements robot::ControlInterface.

Int robot::control::kinematics::IKORController::EEPositionControlInterface::outputSize (   )  const [virtual]

Implements robot::ControlInterface.

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 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(), EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::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().

void robot::control::kinematics::IKORController::EEPositionControlInterface::setOutput (  Int  i, Real  value )  [virtual]

Implements robot::ControlInterface.

void robot::control::kinematics::IKORController::EEPositionControlInterface::setOutputs (  const Vector &  values  )  [virtual]

Implements robot::ControlInterface.

void robot::ControlInterface::setType (  const String &  type  )  [inline, protected, inherited]

Definition at line 88 of file ControlInterface. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), EEPositionControlInterface(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), and robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface().

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().

ref<IKORController> robot::control::kinematics::IKORController::EEPositionControlInterface::c [protected]

Definition at line 142 of file IKORController.

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().

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

• robot/control/kinematics/IKORController

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