robot::sim::SimulatedRobot::ToolControlInterface Class Reference

Inheritance diagram for robot::sim::SimulatedRobot::ToolControlInterface:

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

[legend]List of all members.

Public Member Functions
	ToolControlInterface (const String &name, const String &type, ref< SimulatedSerialManipulator > sm, bool gripControl, ControlType controlType=ForceControl)
	ToolControlInterface (const ToolControlInterface &tci)
virtual String	className () const
virtual Object &	clone () const
virtual Int	inputSize () const
virtual String	inputName (Int i) const
virtual Real	getInput (Int i) const
virtual const Vector &	getInputs () const
virtual Int	outputSize () const
virtual String	outputName (Int i) const
virtual void	setOutput (Int i, Real value)
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
bool	gripControl
	is this a ToolGripControl? (or a JointPositionControl)
ref< SimulatedSerialManipulator >	sm
ControlType	controlType
Int	numInputs
Int	numOutputs
Vector	lastInputs
int	_refCount
bool	onUnreferenceEnabled

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Constructor & Destructor Documentation

robot::sim::SimulatedRobot::ToolControlInterface::ToolControlInterface (  const String &  name, const String &  type, ref< SimulatedSerialManipulator >  sm, bool  gripControl, ControlType  controlType = ForceControl )  [inline]

Definition at line 264 of file SimulatedRobot. Referenced by clone().

robot::sim::SimulatedRobot::ToolControlInterface::ToolControlInterface (  const ToolControlInterface &  tci  )  [inline]

Definition at line 269 of file SimulatedRobot. References gripControl.

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Member Function Documentation

virtual String robot::sim::SimulatedRobot::ToolControlInterface::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 273 of file SimulatedRobot.

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

Definition at line 274 of file SimulatedRobot. References NewObj, and ToolControlInterface().

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::ToolControlInterface::getInput (  Int  i  )  const [inline, virtual]

Implements robot::BasicControlInterface. Definition at line 286 of file SimulatedRobot. References Assert, gripControl, and inputSize(). Referenced by getInputs().

virtual const Vector& robot::sim::SimulatedRobot::ToolControlInterface::getInputs (   )  const [inline, virtual]

Reimplemented from robot::BasicControlInterface. Definition at line 299 of file SimulatedRobot. References getInput(), inputSize(), base::vector< T >::resize(), 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::ToolControlInterface::inputName (  Int  i  )  const [inline, virtual]

Implements robot::BasicControlInterface. Definition at line 283 of file SimulatedRobot. References gripControl, and base::intToString().

virtual Int robot::sim::SimulatedRobot::ToolControlInterface::inputSize (   )  const [inline, virtual]

Reimplemented from robot::BasicControlInterface. Definition at line 276 of file SimulatedRobot. References gripControl. Referenced by getInput(), and getInputs().

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::ToolControlInterface::outputName (  Int  i  )  const [inline, virtual]

Implements robot::BasicControlInterface. Definition at line 315 of file SimulatedRobot. References gripControl, and base::intToString().

virtual Int robot::sim::SimulatedRobot::ToolControlInterface::outputSize (   )  const [inline, virtual]

Reimplemented from robot::BasicControlInterface. Definition at line 308 of file SimulatedRobot. References gripControl. Referenced by setOutput(), and setOutputs().

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::ToolControlInterface::setOutput (  Int  i, Real  value )  [inline, virtual]

Implements robot::BasicControlInterface. Definition at line 323 of file SimulatedRobot. References Assert, gripControl, and outputSize().

virtual void robot::sim::SimulatedRobot::ToolControlInterface::setOutputs (  const Vector &  values  )  [inline, virtual]

Reimplemented from robot::BasicControlInterface. Definition at line 343 of file SimulatedRobot. References outputSize(), 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.

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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().

ControlType robot::sim::SimulatedRobot::ToolControlInterface::controlType [protected]

Definition at line 352 of file SimulatedRobot.

bool robot::sim::SimulatedRobot::ToolControlInterface::gripControl [protected]

is this a ToolGripControl? (or a JointPositionControl) Definition at line 350 of file SimulatedRobot. Referenced by getInput(), inputName(), inputSize(), outputName(), outputSize(), setOutput(), and ToolControlInterface().

Vector robot::BasicControlInterface::lastInputs [mutable, protected, inherited]

Definition at line 80 of file BasicControlInterface.

Int robot::BasicControlInterface::numInputs [mutable, protected, inherited]

Definition at line 79 of file BasicControlInterface.

Int robot::BasicControlInterface::numOutputs [mutable, protected, inherited]

Definition at line 79 of file BasicControlInterface.

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().

ref<SimulatedSerialManipulator> robot::sim::SimulatedRobot::ToolControlInterface::sm [protected]

Definition at line 351 of file SimulatedRobot.

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

• robot/sim/SimulatedRobot

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