robot::sim::SimulatedTool Class Reference

Inheritance diagram for robot::sim::SimulatedTool:

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

[legend]List of all members.


Public Types
typedef std::bitset< sizeof(Int)*8	CollidableFlags )
typedef Int	CollidableFlag
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	SimulatedTool (ref< const robot::ToolDescription > toolDescription, const base::Point3 &initialPosition, const base::Orient &initialOrientation, ref< physics::SolidSystem > solidSystem, bool dynamic=true)
virtual String	className () const
virtual void	setDynamic (bool enabled)
virtual void	setSolidSystem (ref< physics::SolidSystem > solidSystem)
ref< const robot::ToolDescription >	getToolDescription () const
ref< physics::Solid >	getFirstLinkSolid () const
	< get the Solid for first link
ref< physics::Collidable >	getFirstLinkCollidable () const
	< get the Collidable associated with the first link
ref< physics::Collidable >	getFirstLinkProximitySensorCollidable () const
	< get the Collidable associated with the first link's proximity sensor
void	setJointForce (Int j, Real f)
	Set the force (torque for revolute joints) of joint j (first joint j=1).
void	setJointVel (Int j, Real v, Real maxForce=10.0)
	Set the velocity (ang. velocity for revolute joints) of joint j (first joint j=1).
void	setJointPos (Int j, Real p)
	Set the position (angle for revolute joints) of joint j (first joint j=1).
Real	getJointPos (Int j) const
	Get the current theta* angle (revolute) or position d (prismatic) of the joint.
Real	getJointVel (Int j) const
	Get the current joint velocity (ang. velocity for revolute joints).
void	attachTo (ref< physics::Solid > manipEESolid)
	attach the base Solid to the specified solid - this is the first joint
void	detatch ()
	detatch base Solid
Real	getClosestObjectDistance (Int link) const
	get distance to closest object detected by proximity sensors on the link
Vector3	getClosestObjectDirection (Int link) const
	get the direction vector to the closest object detected by proximity sensors on the link
Real	getClosestObjectSensorPosition (Int link) const
	get the distance along the link x-axis of the proximity sensor that detected the closest object to the link
virtual void	setPosition (const Point3 &pos)
virtual Point3	getPosition () const
virtual void	setOrientation (const Orient &orient)
virtual Orient	getOrientation () const
virtual void	setConfiguration (const base::Transform &configuration)
virtual base::Transform	getConfiguration () const
virtual ref< physics::Collidable >	createCollidable (CollidableFlags flags=0)
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, const String format="", Real version=1.0)
	read or write object state to Externalizer
void	externalize (base::Externalizer &e, const String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual void	setPositionOrientation (const Point3 &pos, const Orient &orient)
virtual void	setPosition2D (const base::Point2 &p, Real theta)
	set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)
virtual base::Point2	getPosition2D () const
	get the 2D (x,y) position
Real	getOrientation2D () const
	get the 2D angle theta (rot. angle about Z-axis)
virtual const String &	getName () 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
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
Static Public Attributes
const Real	maxDist
Protected Types
enum	CollidableClasses { SensorCollidableClass = 1 }
Protected Member Functions
	SimulatedTool (const SimulatedTool &st)
void	construct (const base::Point3 &initialPosition, const base::Orient &initialOrientation)
	construct an approximation of the tool from the D-H parameters (best we can do)
TransformInfo	computeLinkTransforms (const Transform &mountTransform, const base::Vector &q) const
	compute transform information for chain
virtual void	createLinks (const array< base::Dimension3 > &linkDims)
	create the Solids for each link and assemble them into a Spatial tree (and add them to solidSystem)
virtual void	positionLinks (const TransformInfo &transformInfo)
	position the links
virtual void	disableCollisions (const array< ref< physics::Collidable > > &collidables, const array< ref< physics::Collidable > > &proximityCollidables)
virtual void	attachJoints (const TransformInfo &transformInfo)
virtual void	handleCollision (ref< physics::CollisionState > collisionState)
	called from ProximityCollisionResponseHandler::handleCollision()
virtual array< base::Dimension3 >	computeLinkDimensions (const array< Real > &linkRadii)
virtual void	setName (const String &name)
Protected Attributes
ref< const robot::ToolDescription >	toolDescr
ref< physics::Solid >	firstSolid
	Solid for the first link.
ref< physics::Solid >	endSolid
	Solid for the tool end-effector.
base::Transform	firstLinkSolidToMount
	transform from origin of first link Solid to mount origin
ref< physics::SpatialTransform >	mountSpatial
	Spatial who's configuration is that of the tool's mount point.
ref< physics::SpatialGroup >	spatialGroup
	a group containing the Solids
bool	attached
	is this tool attached to the end-effector of a manipulator?
ref< physics::ConstraintGroup >	mountConstraintGroup
	group that holds the joint attaching the tool to the manipulator end-effector (valid if attached is true)
KinematicChain	chain
ref< physics::SolidSystem >	solidSystem
bool	dynamic
	true for a dynamic simulation, fasle for static (no force/torque or velocity control, just position control)
array< ref< physics::SpatialGroup > >	linkGroups
	a group for each link (which contains the link Solid and the group for the next link)
array< ref< physics::Solid > >	links
	Solids for each link.
array< ref< physics::Joint > >	joints
	Joint attaching each pair of consecutive links (dynamic simulation only).
array< Real >	linkLengths
	Length of each link corresponding with links[].
array< ref< physics::Collidable > >	collidables
	collidables for each link Solid
array< ref< physics::Collidable > >	proximityCollidables
	collidables for each link's proximity sensor
base::Vector	q
	current joint parameters (static simulation only)
ref< physics::CollidableGroup >	proximityCollidableGroup
array< ProximityData >	linkProximity
array< Real >	linkProximitySurfPosition
	dist from link axis of proximity sensor (i.e. on link sufrace)
int	_refCount
bool	onUnreferenceEnabled
Friends
class	SimulatedRobot
class	base::Serializable::SerializableDerivedInstantiator< SimulatedTool >
class	ProximityCollisionResponseHandler

Detailed Description

Represents a simulated manipulator tool according to a supplied D-H parameter specification. Simulated using gfx/physics.

Definition at line 54 of file SimulatedTool.

Member Typedef Documentation

typedef Int physics::CollidableProvider::CollidableFlag [inherited]

Definition at line 45 of file CollidableProvider.

typedef std::bitset<sizeof(Int)*8 physics::CollidableProvider::CollidableFlags) [inherited]

Definition at line 44 of file CollidableProvider.

Member Enumeration Documentation

enum robot::sim::SimulatedKinematicChain::CollidableClasses [protected, inherited]

Enumeration values:

SensorCollidableClass

Definition at line 177 of file SimulatedKinematicChain.

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

robot::sim::SimulatedTool::SimulatedTool ( ref< const robot::ToolDescription > toolDescription,

const base::Point3 & initialPosition,

const base::Orient & initialOrientation,

ref< physics::SolidSystem > solidSystem,

bool dynamic = true

)

robot::sim::SimulatedTool::SimulatedTool ( const SimulatedTool & st ) [inline, protected]

Definition at line 146 of file SimulatedTool.
References Unimplemented.

Member Function Documentation

virtual void robot::sim::SimulatedTool::attachJoints ( const TransformInfo & transformInfo ) [protected, virtual]

Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedTool::attachTo ( ref< physics::Solid > manipEESolid )

attach the base Solid to the specified solid - this is the first joint

virtual String robot::sim::SimulatedTool::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 66 of file SimulatedTool.

virtual array<base::Dimension3> robot::sim::SimulatedKinematicChain::computeLinkDimensions ( const array< Real > & linkRadii ) [protected, virtual, inherited]

compute the dimensions of each link's Solid based on the KinematicChain and fill in linkLengths[1..dof]
Reimplemented in robot::sim::SimulatedSerialManipulator.

TransformInfo robot::sim::SimulatedTool::computeLinkTransforms ( const Transform & mountTransform,

const base::Vector & q

) const [protected]

compute transform information for chain

void robot::sim::SimulatedTool::construct ( const base::Point3 & initialPosition,

const base::Orient & initialOrientation

) [protected, virtual]

construct an approximation of the tool from the D-H parameters (best we can do)

Implements robot::sim::SimulatedKinematicChain.

virtual ref<physics::Collidable> robot::sim::SimulatedTool::createCollidable ( CollidableFlags flags = 0 ) [virtual]

Implements physics::CollidableProvider.

virtual void robot::sim::SimulatedTool::createLinks ( const array< base::Dimension3 > & linkDims ) [protected, virtual]

create the Solids for each link and assemble them into a Spatial tree (and add them to solidSystem)

Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedTool::detatch ( )

detatch base Solid

virtual void robot::sim::SimulatedTool::disableCollisions ( const array< ref< physics::Collidable > > & collidables,

const array< ref< physics::Collidable > > & proximityCollidables

) [protected, virtual]

Implements robot::sim::SimulatedKinematicChain.

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.

void robot::sim::SimulatedTool::externalize ( base::Externalizer & e,

const String format = "",

Real version = 1.0

) const [inline, virtual]

write object state to Externalizer (throws if e is in Input)

Reimplemented from base::Externalizable.
Definition at line 142 of file SimulatedTool.

virtual void robot::sim::SimulatedTool::externalize ( base::Externalizer & e,

const String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool robot::sim::SimulatedTool::formatSupported ( const String format,

Real version = 1.0,

ExternalizationType type = IO

) const [virtual]

query if specific format is supported (for input, output or both)

Implements base::Externalizable.

Vector3 robot::sim::SimulatedTool::getClosestObjectDirection ( Int link ) const [virtual]

get the direction vector to the closest object detected by proximity sensors on the link

Implements robot::sim::SimulatedKinematicChain.

Real robot::sim::SimulatedTool::getClosestObjectDistance ( Int link ) const [virtual]

get distance to closest object detected by proximity sensors on the link

Implements robot::sim::SimulatedKinematicChain.

Real robot::sim::SimulatedTool::getClosestObjectSensorPosition ( Int link ) const [virtual]

get the distance along the link x-axis of the proximity sensor that detected the closest object to the link

Implements robot::sim::SimulatedKinematicChain.

virtual base::Transform robot::sim::SimulatedTool::getConfiguration ( ) const [virtual]

Reimplemented from physics::PositionableOrientable.

ref<physics::Collidable> robot::sim::SimulatedTool::getFirstLinkCollidable ( ) const [inline]

< get the Collidable associated with the first link

Definition at line 78 of file SimulatedTool.
References Assert.

ref<physics::Collidable> robot::sim::SimulatedTool::getFirstLinkProximitySensorCollidable ( ) const [inline]

< get the Collidable associated with the first link's proximity sensor

Definition at line 81 of file SimulatedTool.
References Assert.

ref<physics::Solid> robot::sim::SimulatedTool::getFirstLinkSolid ( ) const [inline]

< get the Solid for first link

Definition at line 75 of file SimulatedTool.
References firstSolid.

Real robot::sim::SimulatedTool::getJointPos ( Int j ) const [virtual]

Get the current theta* angle (revolute) or position d (prismatic) of the joint.
*NB: the angle is relative to the theta home position.
Implements robot::sim::SimulatedKinematicChain.

Real robot::sim::SimulatedTool::getJointVel ( Int j ) const [virtual]

Get the current joint velocity (ang. velocity for revolute joints).

Implements robot::sim::SimulatedKinematicChain.

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==().

virtual Orient robot::sim::SimulatedTool::getOrientation ( ) const [virtual]

Implements physics::Orientable.

Real physics::PositionableOrientable::getOrientation2D ( ) const [inherited]

get the 2D angle theta (rot. angle about Z-axis)

virtual Point3 robot::sim::SimulatedTool::getPosition ( ) const [virtual]

Implements physics::Positionable.

virtual base::Point2 physics::PositionableOrientable::getPosition2D ( ) const [inline, virtual, inherited]

get the 2D (x,y) position

Definition at line 72 of file PositionableOrientable.
References physics::Positionable::getPosition(), base::Point2, base::Point3, base::Vector3::x, and base::Vector3::y.

ref<const robot::ToolDescription> robot::sim::SimulatedTool::getToolDescription ( ) const [inline]

Definition at line 73 of file SimulatedTool.
References toolDescr.

virtual void robot::sim::SimulatedTool::handleCollision ( ref< physics::CollisionState > collisionState ) [protected, virtual]

called from ProximityCollisionResponseHandler::handleCollision()

Implements robot::sim::SimulatedKinematicChain.

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.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

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 void robot::sim::SimulatedTool::positionLinks ( const TransformInfo & transformInfo ) [protected, virtual]

position the links

Implements robot::sim::SimulatedKinematicChain.

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]

virtual void robot::sim::SimulatedTool::setConfiguration ( const base::Transform & configuration ) [virtual]

Reimplemented from physics::PositionableOrientable.

virtual void robot::sim::SimulatedTool::setDynamic ( bool enabled ) [inline, virtual]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 68 of file SimulatedTool.

void robot::sim::SimulatedTool::setJointForce ( Int j,

Real f

) [virtual]

Set the force (torque for revolute joints) of joint j (first joint j=1).

Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedTool::setJointPos ( Int j,

Real p

) [virtual]

Set the position (angle for revolute joints) of joint j (first joint j=1).
NB: This will instantaneously move the joint to the specified angle - which obviously is not physically realistic. Consequently, for dynamic simulations, this can cause large forces in the system and possibly numerical instability in the simulation. It is intended for non-dynamic simulations. NB: the angle is relative to the theta home position.
Implements robot::sim::SimulatedKinematicChain.

void robot::sim::SimulatedTool::setJointVel ( Int j,

Real v,

Real maxForce = 10.0

) [virtual]

Set the velocity (ang. velocity for revolute joints) of joint j (first joint j=1).
NB: As the simulation is force controlled, this will set the target velocity
Implements robot::sim::SimulatedKinematicChain.

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::SimulatedTool::setOrientation ( const Orient & orient ) [virtual]

Implements physics::Orientable.

virtual void robot::sim::SimulatedTool::setPosition ( const Point3 & pos ) [virtual]

Implements physics::Positionable.

virtual void physics::PositionableOrientable::setPosition2D ( const base::Point2 & p,

Real theta

) [virtual, inherited]

set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)

virtual void physics::PositionableOrientable::setPositionOrientation ( const Point3 & pos,

const Orient & orient

) [inline, virtual, inherited]

Definition at line 48 of file PositionableOrientable.
References base::Point3, and physics::PositionableOrientable::setConfiguration().

virtual void robot::sim::SimulatedTool::setSolidSystem ( ref< physics::SolidSystem > solidSystem ) [inline, virtual]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 70 of file SimulatedTool.

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.

Friends And Related Function Documentation

friend class base::Serializable::SerializableDerivedInstantiator< SimulatedTool > [friend]

Definition at line 182 of file SimulatedTool.

friend class ProximityCollisionResponseHandler [friend, inherited]

Reimplemented in robot::sim::SimulatedSerialManipulator.
Definition at line 196 of file SimulatedKinematicChain.

friend class SimulatedRobot [friend]

Reimplemented from robot::sim::SimulatedKinematicChain.
Definition at line 181 of file SimulatedTool.

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().

bool robot::sim::SimulatedTool::attached [protected]

is this tool attached to the end-effector of a manipulator?

Definition at line 177 of file SimulatedTool.

KinematicChain robot::sim::SimulatedKinematicChain::chain [protected, inherited]

Definition at line 109 of file SimulatedKinematicChain.

array<ref<physics::Collidable> > robot::sim::SimulatedKinematicChain::collidables [protected, inherited]

collidables for each link Solid

Definition at line 150 of file SimulatedKinematicChain.

bool robot::sim::SimulatedKinematicChain::dynamic [protected, inherited]

true for a dynamic simulation, fasle for static (no force/torque or velocity control, just position control)

Definition at line 113 of file SimulatedKinematicChain.

ref<physics::Solid> robot::sim::SimulatedTool::endSolid [protected]

Solid for the tool end-effector.

Definition at line 173 of file SimulatedTool.

base::Transform robot::sim::SimulatedTool::firstLinkSolidToMount [protected]

transform from origin of first link Solid to mount origin

Definition at line 174 of file SimulatedTool.

ref<physics::Solid> robot::sim::SimulatedTool::firstSolid [protected]

Solid for the first link.

Definition at line 172 of file SimulatedTool.
Referenced by getFirstLinkSolid().

array<ref<physics::Joint> > robot::sim::SimulatedKinematicChain::joints [protected, inherited]

Joint attaching each pair of consecutive links (dynamic simulation only).

Definition at line 148 of file SimulatedKinematicChain.

array<ref<physics::SpatialGroup> > robot::sim::SimulatedKinematicChain::linkGroups [protected, inherited]

a group for each link (which contains the link Solid and the group for the next link)

Reimplemented in robot::sim::SimulatedSerialManipulator.
Definition at line 145 of file SimulatedKinematicChain.

array<Real> robot::sim::SimulatedKinematicChain::linkLengths [protected, inherited]

Length of each link corresponding with links[].

Definition at line 149 of file SimulatedKinematicChain.

array< ProximityData > robot::sim::SimulatedKinematicChain::linkProximity [protected, inherited]

Definition at line 191 of file SimulatedKinematicChain.

array< Real > robot::sim::SimulatedKinematicChain::linkProximitySurfPosition [protected, inherited]

dist from link axis of proximity sensor (i.e. on link sufrace)

Definition at line 193 of file SimulatedKinematicChain.

array<ref<physics::Solid> > robot::sim::SimulatedKinematicChain::links [protected, inherited]

Solids for each link.

Definition at line 147 of file SimulatedKinematicChain.

const Real robot::sim::SimulatedKinematicChain::maxDist [static, inherited]

Definition at line 94 of file SimulatedKinematicChain.

ref<physics::ConstraintGroup> robot::sim::SimulatedTool::mountConstraintGroup [protected]

group that holds the joint attaching the tool to the manipulator end-effector (valid if attached is true)

Definition at line 178 of file SimulatedTool.

ref<physics::SpatialTransform> robot::sim::SimulatedTool::mountSpatial [protected]

Spatial who's configuration is that of the tool's mount point.

Definition at line 175 of file SimulatedTool.

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<physics::CollidableGroup> robot::sim::SimulatedKinematicChain::proximityCollidableGroup [protected, inherited]

Definition at line 179 of file SimulatedKinematicChain.

array<ref<physics::Collidable> > robot::sim::SimulatedKinematicChain::proximityCollidables [protected, inherited]

collidables for each link's proximity sensor

Definition at line 151 of file SimulatedKinematicChain.

base::Vector robot::sim::SimulatedKinematicChain::q [mutable, protected, inherited]

current joint parameters (static simulation only)

Definition at line 153 of file SimulatedKinematicChain.