ERC CISST - cisst software

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prmRobotState Class Reference

#include <prmRobotState.h>

Inheritance diagram for prmRobotState:

[legend]Collaboration diagram for prmRobotState:

[legend]List of all members.

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Detailed Description

motion command arguments for Actuator state , Position, Velocity, etc. TODO: seperate cartesian state and the joint state to 2 different classes.

Definition at line 43 of file prmRobotState.h.

Public Types

• typedef prmRobotState ThisType
• typedef unsigned int size_type

Public Member Functions

• prmRobotState ()
• prmRobotState (size_type size)
• void SetSize (size_type size)
• void ToStream (std::ostream &outputStream) const
• virtual ~prmRobotState ()
• bool Allocate (const cmnGenericObject *model)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPosition)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocity)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPositionGoal)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocityGoal)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPositionError)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocityError)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPosition)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocity)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPositionGoal)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocityGoal)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPositionError)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocityError)

• MTS_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleFrm4x4, EndEffectorFrame)

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Constructor & Destructor Documentation

prmRobotState::prmRobotState

(

)

default constructor - does nothing for now

virtual prmRobotState::~prmRobotState

(

)

[inline, virtual]

destructor

Definition at line 69 of file prmRobotState.h.

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Member Function Documentation

void prmRobotState::ToStream

(

std::ostream &

outputStream

)

const [virtual]

Human readable output to stream.

Reimplemented from mtsGenericObject.

bool prmRobotState::Allocate

(

const cmnGenericObject *

model

)

[inline]

Allocate memory based on an existing object of the same type. The object is provided via a cmnGenericObject pointer. If a dynamic cast to this type is not possible, this method returns false.

Definition at line 74 of file prmRobotState.h.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPosition
	)

Set and Get methods for the Joint position.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocity
	)

Set and Get methods for the Joint Velocity.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionGoal
	)

Set and Get methods for goal joint position.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityGoal
	)

Set and Get methods for goal joint velocity.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionError
	)

Set and Get methods for error for joint position.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityError
	)

Set and Get methods for error for joint velocity.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPosition
	)

Set and Get methods for cartesian position.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocity
	)

Set and Get methods for cartesian velocity.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionGoal
	)

Set and Get methods for gaol cartesian position.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityGoal
	)

Set and Get methods for goal cartesian velocity.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionError
	)

Set and Get methods for cartesian position error.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityError
	)

Set and Get methods for cartesian velocity error.

prmRobotState::MTS_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleFrm4x4	,
		EndEffectorFrame
	)

Set and Get methods for EndEffector Frame wrt base robot frame. Slightly redundant.

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

• prmRobotState.h

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