#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

virtual	~prmRobotState ()

void	SerializeRaw (std::ostream &outputStream) const

void	DeSerializeRaw (std::istream &inputStream)


	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 (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)

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

double	Scalar (const size_t index) const throw (std::out_of_range)

std::string	ScalarDescription (const size_t index, const std::string &userDescription="") const throw (std::out_of_range)

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 throw (std::out_of_range)

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

typedef mtsGenericObject prmRobotState::BaseType

typedef unsigned int prmRobotState::size_type

typedef prmRobotState prmRobotState::ThisType

Constructor & Destructor Documentation

prmRobotState::prmRobotState ( )

default constructor - does nothing for now

prmRobotState::prmRobotState ( size_type size )

virtual prmRobotState::~prmRobotState ( )

inlinevirtual

constructor with all possible parameters

destructor

Member Function Documentation

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPosition
	)

Set and Get methods for the Joint position.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocity
	)

Set and Get methods for the Joint Velocity.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionGoal
	)

Set and Get methods for goal joint position.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityGoal
	)

Set and Get methods for goal joint velocity.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointPositionError
	)

Set and Get methods for error for joint position.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		JointVelocityError
	)

Set and Get methods for error for joint velocity.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPosition
	)

Set and Get methods for cartesian position.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocity
	)

Set and Get methods for cartesian velocity.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionGoal
	)

Set and Get methods for gaol cartesian position.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityGoal
	)

Set and Get methods for goal cartesian velocity.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianPositionError
	)

Set and Get methods for cartesian position error.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctDoubleVec	,
		CartesianVelocityError
	)

Set and Get methods for cartesian velocity error.

prmRobotState::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	vctFrm3	,
		EndEffectorFrame
	)

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

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

virtual

Binary deserialization

Reimplemented from mtsGenericObject.

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

virtual

Binary serialization

Reimplemented from mtsGenericObject.

void prmRobotState::SetSize ( size_type size )

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

virtual

Human readable output to stream.

Reimplemented from mtsGenericObject.

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmRobotState.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation