robot::sim::IKORTest Class Reference

Inheritance diagram for robot::sim::IKORTest:

[legend]Collaboration diagram for robot::sim::IKORTest:

[legend]List of all members.

Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	IKORTest (ref< base::VFile > testSpecification, ref< base::VFileSystem > fs, ref< base::Cache > cache)
virtual String	className () const
ref< BasicEnvironment >	getEnvironment ()
	the environment in which tests are performed
ref< const BasicEnvironment >	getEnvironment () const
void	setEnvironment (ref< BasicEnvironment > env)
ref< Robot >	getRobot ()
	which robot is to be tested?
ref< const Robot >	getRobot () const
Int	getManipulatorIndex () const
	which of the robot's manipulators is to be tested?
Int	numTests () const
Test &	getTest (Int index)
base::PathName	getTestInputPath () const
	the VFileSystem path from which the test specification was read
void	saveResults (bool saveTrajFiles=true, base::PathName alternateOutputFileName=base::PathName())
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
virtual const String &	getName () const
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
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
Public Attributes
bool	displayObstacles
	true if obstacles are selected for display
bool	displayAxes
	true if coordinate axes selected for display
bool	displayPlatform
	true if the platform should be displayed
bool	displayEEPath
	true if the path of the manip/tool is selected for display
Int	displayStepMod
	only display every nth step (1 for all steps)
base::Point3	lookAtTarget
	camera parameters (as in gfx::LookAtCameraManipulator)
Real	alpha
Real	theta
Real	d
Protected Member Functions
virtual void	setName (const String &name)
Protected Attributes
ref< base::VFileSystem >	filesystem
ref< base::Cache >	cache
ref< SimulatedBasicEnvironment >	env
Int	testRobotIndex
	which robot from the environment is used for testing
Int	testManipulatorIndex
	which manipulator (in case the robot has multiple) is used for testing
array< Test >	tests
base::PathName	inputPath
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Test case for the IKOR tester Holds the description of a test to be run for IKOR (and optionally the results) - environment (robot, tools, obstacles); trajectory sequences etc.

Todo:

later, rather than instantiating a TestBasicEnvironment to externalize in, it should be left to the tester to instantiate. This will require an EnvironmentDescription heirarchy to mirror the Environment classes (in robot::sim)

Definition at line 58 of file IKORTest.

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Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values: Input  Output  IO  Definition at line 40 of file Externalizable.

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Constructor & Destructor Documentation

robot::sim::IKORTest::IKORTest (  ref< base::VFile >  testSpecification, ref< base::VFileSystem >  fs, ref< base::Cache >  cache )

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Member Function Documentation

virtual String robot::sim::IKORTest::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Reimplemented in robot::sim::VisualIKORTest. Definition at line 64 of file IKORTest.

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 void base::Externalizable::externalize (  Externalizer &  e, String  format = "", Real  version = 1.0 )  const [virtual, inherited]

write object state to Externalizer (throws if e is in Input) Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void robot::sim::IKORTest::externalize (  base::Externalizer &  e, String  format = "", Real  version = 1.0 )  [virtual]

read or write object state to Externalizer Implements base::Externalizable. Reimplemented in robot::sim::VisualIKORTest.

virtual bool robot::sim::IKORTest::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. Reimplemented in robot::sim::VisualIKORTest. Definition at line 183 of file IKORTest.

ref<const BasicEnvironment> robot::sim::IKORTest::getEnvironment (   )  const [inline]

Definition at line 146 of file IKORTest. References env.

ref<BasicEnvironment> robot::sim::IKORTest::getEnvironment (   )  [inline]

the environment in which tests are performed Definition at line 145 of file IKORTest. References env.

Int robot::sim::IKORTest::getManipulatorIndex (   )  const [inline]

which of the robot's manipulators is to be tested? Definition at line 154 of file IKORTest. References testManipulatorIndex.

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==().

ref<const Robot> robot::sim::IKORTest::getRobot (   )  const [inline]

Definition at line 151 of file IKORTest. References env, and testRobotIndex.

ref<Robot> robot::sim::IKORTest::getRobot (   )  [inline]

which robot is to be tested? Definition at line 150 of file IKORTest. References env, and testRobotIndex.

Test& robot::sim::IKORTest::getTest (  Int  index  )  [inline]

Definition at line 157 of file IKORTest. References Assert, numTests(), and tests.

base::PathName robot::sim::IKORTest::getTestInputPath (   )  const [inline]

the VFileSystem path from which the test specification was read Definition at line 160 of file IKORTest. References inputPath.

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]

Int robot::sim::IKORTest::numTests (   )  const [inline]

Definition at line 156 of file IKORTest. References tests. Referenced by getTest().

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 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]

void robot::sim::IKORTest::saveResults (  bool  saveTrajFiles = true, base::PathName  alternateOutputFileName = base::PathName() )

save the test and any results Externalizes the entire IKORTest specification with results (if present) Also, if saveTrajFiles is true, the result trajectory of each test is saved in a seperate file (per test)

void robot::sim::IKORTest::setEnvironment (  ref< BasicEnvironment >  env  )

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(), 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().

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().

Real robot::sim::IKORTest::alpha

Definition at line 179 of file IKORTest.

ref<base::Cache> robot::sim::IKORTest::cache [protected]

Definition at line 190 of file IKORTest.

Real robot::sim::IKORTest::d

Definition at line 179 of file IKORTest.

bool robot::sim::IKORTest::displayAxes

true if coordinate axes selected for display Definition at line 172 of file IKORTest.

bool robot::sim::IKORTest::displayEEPath

true if the path of the manip/tool is selected for display Definition at line 174 of file IKORTest.

bool robot::sim::IKORTest::displayObstacles

true if obstacles are selected for display Definition at line 171 of file IKORTest.

bool robot::sim::IKORTest::displayPlatform

true if the platform should be displayed Definition at line 173 of file IKORTest.

Int robot::sim::IKORTest::displayStepMod

only display every nth step (1 for all steps) Definition at line 175 of file IKORTest.

ref<SimulatedBasicEnvironment> robot::sim::IKORTest::env [protected]

Definition at line 191 of file IKORTest. Referenced by getEnvironment(), and getRobot().

ref<base::VFileSystem> robot::sim::IKORTest::filesystem [protected]

Definition at line 189 of file IKORTest.

base::PathName robot::sim::IKORTest::inputPath [protected]

Definition at line 197 of file IKORTest. Referenced by getTestInputPath().

base::Point3 robot::sim::IKORTest::lookAtTarget

camera parameters (as in gfx::LookAtCameraManipulator) Definition at line 178 of file IKORTest.

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().

Int robot::sim::IKORTest::testManipulatorIndex [protected]

which manipulator (in case the robot has multiple) is used for testing Definition at line 193 of file IKORTest. Referenced by getManipulatorIndex().

Int robot::sim::IKORTest::testRobotIndex [protected]

which robot from the environment is used for testing Definition at line 192 of file IKORTest. Referenced by getRobot().

array<Test> robot::sim::IKORTest::tests [protected]

Definition at line 196 of file IKORTest. Referenced by getTest(), and numTests().

Real robot::sim::IKORTest::theta

Definition at line 179 of file IKORTest.

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

• robot/sim/IKORTest

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