prmRobotState Class Reference

#include <prmRobotState.h>

Inheritance diagram for prmRobotState:

Public Types
typedef prmRobotState	ThisType
typedef mtsGenericObject	BaseType
typedef unsigned int	size_type

Public Member Functions
	prmRobotState ()
	prmRobotState (size_type size)
void	SetSize (size_type size)
void	ToStream (std::ostream &outputStream) const override
virtual	~prmRobotState ()
void	SerializeRaw (std::ostream &outputStream) const override
void	DeSerializeRaw (std::istream &inputStream) override
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDynamicVector< std::string >, JointName)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPosition)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocity)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPositionGoal)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocityGoal)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointPositionError)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, JointVelocityError)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (std::string, ReferenceFrame)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (std::string, MovingFrame)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPosition)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocity)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPositionGoal)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocityGoal)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianPositionError)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctDoubleVec, CartesianVelocityError)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (vctFrm3, EndEffectorFrame)
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	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

Detailed Description

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

Member Typedef Documentation

BaseType

typedef mtsGenericObject prmRobotState::BaseType

size_type

typedef unsigned int prmRobotState::size_type

ThisType

typedef prmRobotState prmRobotState::ThisType

Constructor & Destructor Documentation

prmRobotState() [1/2]

prmRobotState::prmRobotState

(

)

default constructor - does nothing for now

prmRobotState() [2/2]

prmRobotState::prmRobotState

(

size_type

size

)

~prmRobotState()

virtual prmRobotState::~prmRobotState ( )

inlinevirtual

constructor with all possible parameters *‍/ inline prmRobotState(const prmPosition & position, const mtsStateIndex & stateIndex): PositionMember(position), StateIndexMember(stateIndex) {}

/*! destructor 

Member Function Documentation

CMN_DECLARE_MEMBER_AND_ACCESSORS() [1/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	std::string	,
		MovingFrame	)

Set and Get methods for moving frame.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [2/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	std::string	,
		ReferenceFrame	)

Set and Get methods for reference frame.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [3/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPosition	)

Set and Get methods for cartesian position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [4/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionError	)

Set and Get methods for cartesian position error.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [5/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionGoal	)

Set and Get methods for gaol cartesian position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [6/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocity	)

Set and Get methods for cartesian velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [7/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityError	)

Set and Get methods for cartesian velocity error.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [8/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityGoal	)

Set and Get methods for goal cartesian velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [9/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPosition	)

Set and Get methods for the Joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [10/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionError	)

Set and Get methods for error for joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [11/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionGoal	)

Set and Get methods for goal joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [12/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocity	)

Set and Get methods for the Joint Velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [13/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityError	)

Set and Get methods for error for joint velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [14/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityGoal	)

Set and Get methods for goal joint velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [15/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDynamicVector< std::string >	,
		JointName	)

Set and Get methods for the Joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [16/16]

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctFrm3	,
		EndEffectorFrame	)

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

DeSerializeRaw()

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

overridevirtual

Binary deserialization

Reimplemented from mtsGenericObject.

SerializeRaw()

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

overridevirtual

Binary serialization

Reimplemented from mtsGenericObject.

SetSize()

void prmRobotState::SetSize

(

size_type

size

)

ToStream()

void prmRobotState::ToStream ( std::ostream & outputStream ) const

overridevirtual

Human readable output to stream.

Reimplemented from mtsGenericObject.

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

• tmp/cisst-saw/cisst/cisstParameterTypes/prmRobotState.h