robot::sim::SimulatedRobot::ManipulatorControlInterface Class Reference

Inheritance diagram for robot::sim::SimulatedRobot::ManipulatorControlInterface:

[legend]Collaboration diagram for robot::sim::SimulatedRobot::ManipulatorControlInterface:

[legend]List of all members.


Public Member Functions
	ManipulatorControlInterface (const String &name, const String &type, ref< SimulatedSerialManipulator > sm, ControlType controlType=ForceControl)
	ManipulatorControlInterface (const ManipulatorControlInterface &mci)
virtual String	className () const
virtual Object &	clone () const
virtual String	inputName (Int i) const
virtual Real	getInput (Int i) const
virtual String	outputName (Int i) const
virtual void	setOutput (Int i, Real value)
virtual Int	inputSize () const
virtual const Vector &	getInputs () const
virtual Int	outputSize () const
virtual 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
virtual void	recomputeInputSize () const
virtual void	recomputeOutputSize () const
void	setType (const String &type)
virtual void	setName (const String &name)
Protected Attributes
ref< SimulatedSerialManipulator >	sm
ControlType	controlType
Int	numInputs
Int	numOutputs
Vector	lastInputs
int	_refCount
bool	onUnreferenceEnabled

Constructor & Destructor Documentation

robot::sim::SimulatedRobot::ManipulatorControlInterface::ManipulatorControlInterface ( const String & name,

const String & type,

ref< SimulatedSerialManipulator > sm,

ControlType controlType = ForceControl

) [inline]

Definition at line 210 of file SimulatedRobot.
References controlType.
Referenced by clone().

robot::sim::SimulatedRobot::ManipulatorControlInterface::ManipulatorControlInterface ( const ManipulatorControlInterface & mci ) [inline]

Definition at line 217 of file SimulatedRobot.
References controlType, and sm.

Member Function Documentation

virtual String robot::sim::SimulatedRobot::ManipulatorControlInterface::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 220 of file SimulatedRobot.

virtual Object& robot::sim::SimulatedRobot::ManipulatorControlInterface::clone ( ) const [inline, virtual]

Definition at line 221 of file SimulatedRobot.
References ManipulatorControlInterface(), 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 Real robot::sim::SimulatedRobot::ManipulatorControlInterface::getInput ( Int i ) const [inline, virtual]

Implements robot::BasicControlInterface.
Definition at line 226 of file SimulatedRobot.
References Assert, robot::BasicControlInterface::inputSize(), and sm.

virtual const Vector& robot::BasicControlInterface::getInputs ( ) const [inline, virtual, inherited]

Implements robot::ControlInterface.
Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, robot::TestRobot::ManipulatorControlInterface, and robot::TestRobot::ToolControlInterface.
Definition at line 55 of file BasicControlInterface.
References robot::BasicControlInterface::getInput(), robot::BasicControlInterface::recomputeInputSize(), and base::Vector.

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.

virtual String robot::sim::SimulatedRobot::ManipulatorControlInterface::inputName ( Int i ) const [inline, virtual]

Implements robot::BasicControlInterface.
Definition at line 223 of file SimulatedRobot.
References base::intToString().

virtual Int robot::BasicControlInterface::inputSize ( ) const [inline, virtual, inherited]

Implements robot::ControlInterface.
Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, and robot::TestRobot::ToolControlInterface.
Definition at line 51 of file BasicControlInterface.
References robot::BasicControlInterface::recomputeInputSize().
Referenced by robot::TestRobot::ProximitySensorInterface::getInput(), robot::TestRobot::PlatformControlInterface::getInput(), robot::TestRobot::ManipulatorControlInterface::getInput(), robot::sim::SimulatedRobot::ProximitySensorInterface::getInput(), robot::sim::SimulatedRobot::PlatformControlInterface::getInput(), getInput(), and robot::sim::SimulatedRobot::ProximitySensorInterface::inputName().

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().

virtual String robot::sim::SimulatedRobot::ManipulatorControlInterface::outputName ( Int i ) const [inline, virtual]

Implements robot::BasicControlInterface.
Definition at line 232 of file SimulatedRobot.
References controlType, and base::intToString().

virtual Int robot::BasicControlInterface::outputSize ( ) const [inline, virtual, inherited]

Implements robot::ControlInterface.
Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, and robot::TestRobot::ToolControlInterface.
Definition at line 63 of file BasicControlInterface.
References robot::BasicControlInterface::recomputeOutputSize().
Referenced by robot::TestRobot::ProximitySensorInterface::setOutput(), robot::TestRobot::PlatformControlInterface::setOutput(), robot::TestRobot::ManipulatorControlInterface::setOutput(), robot::sim::SimulatedRobot::PlatformControlInterface::setOutput(), and setOutput().

virtual void robot::BasicControlInterface::recomputeInputSize ( ) const [inline, protected, virtual, inherited]

Definition at line 76 of file BasicControlInterface.
Referenced by robot::BasicControlInterface::getInputs(), and robot::BasicControlInterface::inputSize().

virtual void robot::BasicControlInterface::recomputeOutputSize ( ) const [inline, protected, virtual, inherited]

Definition at line 77 of file BasicControlInterface.
Referenced by robot::BasicControlInterface::outputSize(), and robot::BasicControlInterface::setOutputs().

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(), 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().

virtual void robot::sim::SimulatedRobot::ManipulatorControlInterface::setOutput ( Int i,

Real value

) [inline, virtual]

Implements robot::BasicControlInterface.
Definition at line 242 of file SimulatedRobot.
References Assert, controlType, robot::BasicControlInterface::outputSize(), and sm.

virtual void robot::BasicControlInterface::setOutputs ( const Vector & values ) [inline, virtual, inherited]

Implements robot::ControlInterface.
Reimplemented in robot::sim::SimulatedRobot::ToolControlInterface, robot::TestRobot::ManipulatorControlInterface, and robot::TestRobot::ToolControlInterface.
Definition at line 67 of file BasicControlInterface.
References Assert, robot::BasicControlInterface::recomputeOutputSize(), robot::BasicControlInterface::setOutput(), base::vector< T >::size(), and base::Vector.

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

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