#include <prmVelocityCartesianSet.h>

Inheritance diagram for prmVelocityCartesianSet:

Public Member Functions
	prmVelocityCartesianSet ()
	prmVelocityCartesianSet (const vctDouble3 &velocity, const vctDouble3 &velocityAngular, const vctDouble3 &acceleration, const vctDouble3 &accelerationAngular, const vctBool6 &mask)
virtual	~prmVelocityCartesianSet ()
void	SetGoal (const vctDouble6 &velocities)
void	SetTranslationGoal (const vctDouble3 &velocity)
void	SetRotationGoal (const vctDouble3 &velocityAngular)
vctDouble3	GetGoal (void) const
void	SetVelocity (const vctDouble3 &velocity)
vctDouble3	GetVelocity (void) const
void	SetAngularVelocity (const vctDouble3 &velocityAngular)
vctDouble3	GetAngularVelocity (void) const
void	SetAcceleration (const vctDouble3 &acceleration)
vctDouble3	GetAcceleration (void) const
void	SetAngularAcceleration (const vctDouble3 &accelerationAngular)
vctDouble3	GetAngularAcceleration (void) const
void	SetMask (const vctBool6 &mask)
vctBool6	GetMask (void) const
void	SerializeRaw (std::ostream &outputStream) const override
void	DeSerializeRaw (std::istream &inputStream) override
Public Member Functions inherited from prmMotionBase
	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)
Public Member Functions inherited from mtsGenericObject
	mtsGenericObject (void)
	mtsGenericObject (double timestamp, bool automaticTimestamp, bool valid)
	mtsGenericObject (const mtsGenericObject &other)
virtual	~mtsGenericObject (void)
mtsGenericObject &	operator= (const mtsGenericObject &other)
bool	SetTimestampIfAutomatic (double timestamp)
virtual void	ToStream (std::ostream &outputStream) const
virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter=' ', bool headerOnly=false, const std::string &headerPrefix="") const
virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
size_t	ScalarNumber (void) const
bool	ScalarNumberIsFixed (void) const
Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)
virtual const cmnClassServicesBase *	Services (void) const =0
bool	ReconstructFrom (const cmnGenericObject &other)
std::string	ToString (void) const
virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const
virtual double	Scalar (const size_t CMN_UNUSED(index)) const CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Types
typedef prmMotionBase	BaseType

Protected Attributes
vctDouble3	Velocity
vctDouble3	VelocityAngular
vctDouble3	Acceleration
vctDouble3	AccelerationAngular
vctBool6	Mask

Additional Inherited Members
Public Types inherited from prmMotionBase
typedef mtsGenericObject	BaseType

Detailed Description

Cartesian velocity motion command arguments - default motion is a line between the current position and the goal

Todo: Review SerializeRaw and DeserializeRaw, they don't seriliaze the frame pointers.

Member Typedef Documentation

◆ BaseType

typedef prmMotionBase prmVelocityCartesianSet::BaseType

protected

Constructor & Destructor Documentation

◆ prmVelocityCartesianSet() [1/2]

prmVelocityCartesianSet::prmVelocityCartesianSet ( )

inline

default constructor

◆ prmVelocityCartesianSet() [2/2]

prmVelocityCartesianSet::prmVelocityCartesianSet	(	const vctDouble3 &	velocity,
		const vctDouble3 &	velocityAngular,
		const vctDouble3 &	acceleration,
		const vctDouble3 &	accelerationAngular,
		const vctBool6 &	mask )

inline

constructor with all parameters.

◆ ~prmVelocityCartesianSet()

virtual prmVelocityCartesianSet::~prmVelocityCartesianSet ( )

virtual

destructor

Member Function Documentation

◆ DeSerializeRaw()

void prmVelocityCartesianSet::DeSerializeRaw ( std::istream & inputStream )

overridevirtual

Binary deserialization

Reimplemented from prmMotionBase.

◆ GetAcceleration()

vctDouble3 prmVelocityCartesianSet::GetAcceleration ( void ) const

inline

Get the current acceleration parameters

Returns: vctDouble3 acceleration vector

◆ GetAngularAcceleration()

vctDouble3 prmVelocityCartesianSet::GetAngularAcceleration ( void ) const

inline

Get the current angular acceleration parameters

Returns: vctDouble3 angular acceleration vector

◆ GetAngularVelocity()

vctDouble3 prmVelocityCartesianSet::GetAngularVelocity ( void ) const

inline

Get the angular velocity parameter

Returns: vctDouble3 current planned angular velocity

◆ GetGoal()

vctDouble3 prmVelocityCartesianSet::GetGoal ( void ) const

inline

Get current goal

Returns: vctDouble3 current goal velocity

◆ GetMask()

vctBool6 prmVelocityCartesianSet::GetMask ( void ) const

inline

Get the current mask parameter

Returns: prmBoolVec current mask

◆ GetVelocity()

vctDouble3 prmVelocityCartesianSet::GetVelocity ( void ) const

inline

Get the velocity parameter

Returns: vctDouble3 current planned velocity

◆ SerializeRaw()

void prmVelocityCartesianSet::SerializeRaw ( std::ostream & outputStream ) const

overridevirtual

Binary serialization

Reimplemented from prmMotionBase.

◆ SetAcceleration()

void prmVelocityCartesianSet::SetAcceleration ( const vctDouble3 & acceleration )

inline

Set the acceleration parameters only

Parameters

acceleration target acceleration vector

Returns: void

◆ SetAngularAcceleration()

void prmVelocityCartesianSet::SetAngularAcceleration ( const vctDouble3 & accelerationAngular )

inline

Set the deceleration parameters only

Parameters

acceleration target angular acceleration vector

Returns: void

◆ SetAngularVelocity()

void prmVelocityCartesianSet::SetAngularVelocity ( const vctDouble3 & velocityAngular )

inline

Set the angular velocity parameter

Parameters

velocityAngular planned angular velocity

Returns: void

◆ SetGoal()

void prmVelocityCartesianSet::SetGoal ( const vctDouble6 & velocities )

inline

Set translation and angular velocities only

Parameters

velocities (3 translational and 3 angular velocities)

Returns: void

◆ SetMask()

void prmVelocityCartesianSet::SetMask ( const vctBool6 & mask )

inline

Set the mask only

Parameters

mask	mask for moves

Returns: void

◆ SetRotationGoal()

void prmVelocityCartesianSet::SetRotationGoal ( const vctDouble3 & velocityAngular )

inline

Set angular velocity only

Parameters

velocityAngular angular velocity

Returns: void

◆ SetTranslationGoal()

void prmVelocityCartesianSet::SetTranslationGoal ( const vctDouble3 & velocity )

inline

◆ SetVelocity()

void prmVelocityCartesianSet::SetVelocity ( const vctDouble3 & velocity )

inline

Set the velocity parameter

Parameters

velocity planned velocity

Returns: void

Member Data Documentation

◆ Acceleration

vctDouble3 prmVelocityCartesianSet::Acceleration

protected

desired time derivative of linear velocity

◆ AccelerationAngular

vctDouble3 prmVelocityCartesianSet::AccelerationAngular

protected

desired time derivative of angular velocity

◆ Mask

vctBool6 prmVelocityCartesianSet::Mask

protected

masks indicating whether velocity is valid (probably not necessary, since 0 velocity can be specified)

◆ Velocity

vctDouble3 prmVelocityCartesianSet::Velocity

protected

Linear goal (time derivative of magnitude of the vector to goal).

◆ VelocityAngular

vctDouble3 prmVelocityCartesianSet::VelocityAngular

protected

Vector of rate of orientation change

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

tmp/cisst-saw/cisst/cisstParameterTypes/prmVelocityCartesianSet.h

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

Constructor & Destructor Documentation

◆ prmVelocityCartesianSet() [1/2]

◆ prmVelocityCartesianSet() [2/2]

◆ ~prmVelocityCartesianSet()

Member Function Documentation

◆ DeSerializeRaw()

◆ GetAcceleration()

◆ GetAngularAcceleration()

◆ GetAngularVelocity()

◆ GetGoal()

◆ GetMask()

◆ GetVelocity()

◆ SerializeRaw()

◆ SetAcceleration()

◆ SetAngularAcceleration()

◆ SetAngularVelocity()

◆ SetGoal()

◆ SetMask()

◆ SetRotationGoal()

◆ SetTranslationGoal()

◆ SetVelocity()

Member Data Documentation

◆ Acceleration

◆ AccelerationAngular

◆ Mask

◆ Velocity

◆ VelocityAngular