ERC CISST - cisst software

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prmMotionBase Class Reference

#include <prmMotionBase.h>

Inheritance diagram for prmMotionBase:

[legend]Collaboration diagram for prmMotionBase:

[legend]List of all members.

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Detailed Description

base class for motion arguments

Definition at line 36 of file prmMotionBase.h.

Public Member Functions

• prmMotionBase ()
• prmMotionBase (const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)
• virtual ~prmMotionBase ()
• void SetBaseParameter (const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (prmBlocking, BlockingFlag)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, BlendingFactor)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (double, TimeLimit)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsPreemptable)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsCoordinated)

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsGoalOnly)

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Constructor & Destructor Documentation

prmMotionBase::prmMotionBase	(	const prmBlocking &	blockingFlag,
		const bool &	blendingFactor,
		const double &	timeLimit,
		const bool &	isPreemptable,
		const bool &	isCoordinated,
		const bool &	isGoalOnly
	)			[inline]

Set all parameters

Parameters:

Definition at line 51 of file prmMotionBase.h.

virtual prmMotionBase::~prmMotionBase

(

)

[virtual]

destructor

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Member Function Documentation

void prmMotionBase::SetBaseParameter	(	const prmBlocking &	blockingFlag,
		const bool &	blendingFactor,
		const double &	timeLimit,
		const bool &	isPreemptable,
		const bool &	isCoordinated,
		const bool &	isGoalOnly
	)			[inline]

Set all parameters from the base class

Parameters:

Definition at line 73 of file prmMotionBase.h.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	prmBlocking	,
		BlockingFlag
	)

Set and get methods for blocking flag.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		BlendingFactor
	)

Set and Get method for the blending parameter. Whether or not to blend motions, and the tolerance (to be implemented later)

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	double	,
		TimeLimit
	)

Set and Get methods for TimeLimit. Describes time allowed or requested for a motion.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsPreemptable
	)

Set and Get methods for Preemptable parameter. Default is true.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsCoordinated
	)

Set and Get methods for Coordinated parameter. Force to sync motions between joints or rotation/translation to start and end at the same time by lowering speed on some joints.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsGoalOnly
	)

Set and Get methods for IsGoalOnly. if True Use current device settings for all except for goal . Eg. Accelerations,Velcities are chosen by the robot, goal and motion base should be set by the user. False by default.

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

• prmMotionBase.h

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