This is the base class for all virtual fixture objects. More...

#include <mtsVFBase.h>

Inheritance diagram for mtsVFBase:

Public Types
enum	CONTROLLERMODE { JPOS = 1, JVEL = 2 }

Public Member Functions
	mtsVFBase ()

	mtsVFBase (const std::string &name, mtsVFDataBase *data)

	~mtsVFBase ()

void	ReserveSpace (nmrConstraintOptimizer &co)
	Reserves space in the control optimizer. More...

void	LookupStateData (const std::map< std::string, prmKinematicsState * > &k, const std::map< std::string, prmSensorState * > &s)
	Updates internal state data. More...

void	SetTableauRefs (nmrConstraintOptimizer &co)
	Updates internal references with co tableau. More...

virtual void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE Mode, const double TickTime)=0
	Updates co with virtual fixture data. More...

vctDoubleMat	Skew (const vctDoubleVec &in)

virtual void	ConvertRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)=0
	Converts the data in the references if a change in mode is needed. More...

virtual void	AssignRefs (const mtsVFBase::CONTROLLERMODE, const double, const vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &)

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	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= ' ')

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

virtual void	DeSerializeRaw (std::istream &inputStream)

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

Public Attributes
std::string	Name
	Name of the virtual fixture. More...

mtsVFDataBase *	Data
	Internally stored data. More...

std::vector< prmKinematicsState * >	Kinematics
	Frame object. More...

std::vector< prmSensorState * >	Sensors
	Sensor object. More...

vctDoubleVec	DOFSelections

vctDynamicMatrixRef< double >	ObjectiveMatrixRef
	Objective data reference. More...

vctDynamicMatrixRef< double >	ObjectiveMatrixSlackRef
	Objective slack reference. More...

vctDynamicVectorRef< double >	ObjectiveVectorRef
	Objective vector reference. More...

vctDynamicMatrixRef< double >	IneqConstraintMatrixRef
	Inequality constraint data reference. More...

vctDynamicMatrixRef< double >	IneqConstraintMatrixSlackRef
	Inequality constraint slack reference. More...

vctDynamicVectorRef< double >	IneqConstraintVectorRef
	Inequality constraint vector reference. More...

vctDynamicMatrixRef< double >	EqConstraintMatrixRef
	Equality constraint data reference. More...

vctDynamicMatrixRef< double >	EqConstraintMatrixSlackRef
	Equality constraint slack reference. More...

vctDynamicVectorRef< double >	EqConstraintVectorRef
	Equality constraint vector reference. More...

Static Public Attributes
static std::string	DefaultKinematicsName

Detailed Description

This is the base class for all virtual fixture objects.

mtsVFBase: A class that contains logic for the implementation of virtual fixtures

Member Enumeration Documentation

enum mtsVFBase::CONTROLLERMODE

Enumerator
JPOS
JVEL

Constructor & Destructor Documentation

mtsVFBase::mtsVFBase ( )

inline

Constructor

mtsVFBase::mtsVFBase	(	const std::string &	name,
		mtsVFDataBase *	data
	)

Constructor

Parameters

name	String name of object
ObjectiveRows	Size of objective
IneqConstraintRows	Size of inequality constraint
EqConstraintRows	Size of equality constraint

mtsVFBase::~mtsVFBase ( )

inline

Member Function Documentation

virtual void mtsVFBase::AssignRefs	(	const mtsVFBase::CONTROLLERMODE	,
		const double	,
		const vctDoubleVec &	,
		vctDoubleMat &	,
		vctDoubleVec &	,
		vctDoubleMat &	,
		vctDoubleVec &	,
		vctDoubleMat &	,
		vctDoubleVec &
	)

inlinevirtual

Reimplemented in mtsVFCartesianOrientation, and mtsVFCartesianTranslation.

virtual void mtsVFBase::ConvertRefs	(	const mtsVFBase::CONTROLLERMODE	mode,
		const double	TickTime
	)

pure virtual

Converts the data in the references if a change in mode is needed.

Implemented in mtsVFCartesianOrientation, mtsVFCartesianTranslation, mtsVFJointPosition, and mtsVFJointVelocity.

virtual void mtsVFBase::FillInTableauRefs	(	const mtsVFBase::CONTROLLERMODE	Mode,
		const double	TickTime
	)

pure virtual

Updates co with virtual fixture data.

FillInTableauRefs

Implemented in mtsVFSensorCompliance, mtsVFFollow, mtsVFCartesianOrientation, mtsVFCartesianTranslation, mtsVFFollow, mtsVFFollowJacobian, mtsVFPlane, mtsVFJointPosition, mtsVFJointVelocity, mtsVFAbsoluteJointLimits, mtsVFJointLimits, and mtsVF_RCM.

void mtsVFBase::LookupStateData	(	const std::map< std::string, prmKinematicsState * > &	k,
		const std::map< std::string, prmSensorState * > &	s
	)

Updates internal state data.

UpdateStateData

Parameters

k	A map of names to kinematics objects
s	A map of names to sensor objects

void mtsVFBase::ReserveSpace ( nmrConstraintOptimizer & co )

Reserves space in the control optimizer.

reserve_space

Parameters

co	Control optimizer object

void mtsVFBase::SetTableauRefs ( nmrConstraintOptimizer & co )

Updates internal references with co tableau.

UpdateTableauRefs

Parameters

co	The control optimizer object

vctDoubleMat mtsVFBase::Skew ( const vctDoubleVec & in )

Member Data Documentation

mtsVFDataBase* mtsVFBase::Data

Internally stored data.

std::string mtsVFBase::DefaultKinematicsName

static

vctDoubleVec mtsVFBase::DOFSelections

vctDynamicMatrixRef<double> mtsVFBase::EqConstraintMatrixRef

Equality constraint data reference.

vctDynamicMatrixRef<double> mtsVFBase::EqConstraintMatrixSlackRef

Equality constraint slack reference.

vctDynamicVectorRef<double> mtsVFBase::EqConstraintVectorRef

Equality constraint vector reference.

vctDynamicMatrixRef<double> mtsVFBase::IneqConstraintMatrixRef

Inequality constraint data reference.

vctDynamicMatrixRef<double> mtsVFBase::IneqConstraintMatrixSlackRef

Inequality constraint slack reference.

vctDynamicVectorRef<double> mtsVFBase::IneqConstraintVectorRef

Inequality constraint vector reference.

std::vector<prmKinematicsState *> mtsVFBase::Kinematics

Frame object.

std::string mtsVFBase::Name

Name of the virtual fixture.

vctDynamicMatrixRef<double> mtsVFBase::ObjectiveMatrixRef

Objective data reference.

vctDynamicMatrixRef<double> mtsVFBase::ObjectiveMatrixSlackRef

Objective slack reference.

vctDynamicVectorRef<double> mtsVFBase::ObjectiveVectorRef

Objective vector reference.

std::vector<prmSensorState *> mtsVFBase::Sensors

Sensor object.

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawConstraintController/include/sawConstraintController/mtsVFBase.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation