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 , CARTPOS = 3 , CARTVEL = 4 }

Public Member Functions
	mtsVFBase ()
	mtsVFBase (const std::string &name, mtsVFDataBase *data)
	~mtsVFBase ()
virtual void	ComputeConstraintSize ()
void	ReserveSpace (nmrConstraintOptimizer &co)
	Reserves space in the control optimizer.
void	LookupStateData (const std::map< std::string, prmKinematicsState * > &k, const std::map< std::string, prmSensorState * > &s)
	Updates internal state data.
void	SetTableauRefs (nmrConstraintOptimizer &co)
	Updates internal references with co tableau.
virtual void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE Mode, const double TickTime)=0
	Updates co with virtual fixture data.
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.
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)
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=' ')
virtual void	SerializeRaw (std::ostream &outputStream) const
virtual void	DeSerializeRaw (std::istream &inputStream)
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

Public Attributes
std::string	Name
	Name of the virtual fixture.
mtsVFDataBase *	Data
	Internally stored data.
std::vector< prmKinematicsState * >	Kinematics
	Frame object.
std::vector< prmSensorState * >	Sensors
	Sensor object.
vctDoubleVec	DOFSelections
vctDynamicMatrixRef< double >	ObjectiveMatrixRef
	Objective data reference.
vctDynamicMatrixRef< double >	ObjectiveMatrixSlackRef
	Objective slack reference.
vctDynamicVectorRef< double >	ObjectiveVectorRef
	Objective vector reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixRef
	Inequality constraint data reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixSlackRef
	Inequality constraint slack reference.
vctDynamicVectorRef< double >	IneqConstraintVectorRef
	Inequality constraint vector reference.
vctDynamicVectorRef< double >	IneqConstraintVectorSlackRef
	Inequality constraint slack reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixRef
	Equality constraint data reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixSlackRef
	Equality constraint slack reference.
vctDynamicVectorRef< double >	EqConstraintVectorRef
	Equality constraint vector reference.

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

◆ CONTROLLERMODE

enum mtsVFBase::CONTROLLERMODE

Enumerator
JPOS
JVEL
CARTPOS
CARTVEL

Constructor & Destructor Documentation

◆ mtsVFBase() [1/2]

mtsVFBase::mtsVFBase ( )

inline

Constructor

◆ mtsVFBase() [2/2]

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::~mtsVFBase ( )

inline

Member Function Documentation

◆ AssignRefs()

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

inlinevirtual

Reimplemented in mtsVFCartesianOrientation, and mtsVFCartesianTranslation.

◆ ComputeConstraintSize()

virtual void mtsVFBase::ComputeConstraintSize ( )

inlinevirtual

Computes the necessary size of constraints, modifier the values in Data Overload if constraint size varies (such as mesh constraint)

Reimplemented in mtsVFMesh.

◆ ConvertRefs()

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, mtsVFCylinder, mtsVFJointPosition, mtsVFJointVelocity, mtsVFLimitsConstraint, mtsVFMesh, mtsVFPlane, and mtsVFSensorCompliance.

◆ FillInTableauRefs()

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

pure virtual

Updates co with virtual fixture data.

FillInTableauRefs

Implemented in mtsConstraintAbsoluteJointLimits, mtsConstraintFixOrientation, mtsConstraintFollowPositionTraj, mtsConstraintJointVelLimits, mtsConstraintStayOnAxis, mtsVF_RCM, mtsVFCartesianLimits, mtsVFCartesianOrientation, mtsVFCartesianTranslation, mtsVFCylinder, mtsVFFollow, mtsVFJointLimits, mtsVFJointPosition, mtsVFJointVelocity, mtsVFLimitsConstraint, mtsVFMesh, mtsVFPlane, and mtsVFSensorCompliance.

◆ LookupStateData()

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

◆ ReserveSpace()

void mtsVFBase::ReserveSpace ( nmrConstraintOptimizer & co )

Reserves space in the control optimizer.

reserve_space

Parameters

co	Control optimizer object

◆ SetTableauRefs()

void mtsVFBase::SetTableauRefs ( nmrConstraintOptimizer & co )

Updates internal references with co tableau.

UpdateTableauRefs

Parameters

co	The control optimizer object

◆ Skew()

vctDoubleMat mtsVFBase::Skew ( const vctDoubleVec & in )

Member Data Documentation

◆ Data

mtsVFDataBase* mtsVFBase::Data

Internally stored data.

◆ DefaultKinematicsName

std::string mtsVFBase::DefaultKinematicsName

static

◆ DOFSelections

vctDoubleVec mtsVFBase::DOFSelections

◆ EqConstraintMatrixRef

vctDynamicMatrixRef<double> mtsVFBase::EqConstraintMatrixRef

Equality constraint data reference.

◆ EqConstraintMatrixSlackRef

vctDynamicMatrixRef<double> mtsVFBase::EqConstraintMatrixSlackRef

Equality constraint slack reference.

◆ EqConstraintVectorRef

vctDynamicVectorRef<double> mtsVFBase::EqConstraintVectorRef

Equality constraint vector reference.

◆ IneqConstraintMatrixRef

vctDynamicMatrixRef<double> mtsVFBase::IneqConstraintMatrixRef

Inequality constraint data reference.

◆ IneqConstraintMatrixSlackRef

vctDynamicMatrixRef<double> mtsVFBase::IneqConstraintMatrixSlackRef

Inequality constraint slack reference.

◆ IneqConstraintVectorRef

vctDynamicVectorRef<double> mtsVFBase::IneqConstraintVectorRef

Inequality constraint vector reference.

◆ IneqConstraintVectorSlackRef

vctDynamicVectorRef<double> mtsVFBase::IneqConstraintVectorSlackRef

Inequality constraint slack reference.

◆ Kinematics

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

Frame object.

◆ Name

std::string mtsVFBase::Name

Name of the virtual fixture.

◆ ObjectiveMatrixRef

vctDynamicMatrixRef<double> mtsVFBase::ObjectiveMatrixRef

Objective data reference.

◆ ObjectiveMatrixSlackRef

vctDynamicMatrixRef<double> mtsVFBase::ObjectiveMatrixSlackRef

Objective slack reference.

◆ ObjectiveVectorRef

vctDynamicVectorRef<double> mtsVFBase::ObjectiveVectorRef

Objective vector reference.

◆ Sensors

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

Sensor object.

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

tmp/cisst-saw/sawConstraintController/components/include/sawConstraintController/mtsVFBase.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Enumeration Documentation

◆ CONTROLLERMODE

Constructor & Destructor Documentation

◆ mtsVFBase() [1/2]

◆ mtsVFBase() [2/2]

◆ ~mtsVFBase()

Member Function Documentation

◆ AssignRefs()

◆ ComputeConstraintSize()

◆ ConvertRefs()

◆ FillInTableauRefs()

◆ LookupStateData()

◆ ReserveSpace()

◆ SetTableauRefs()

◆ Skew()

Member Data Documentation

◆ Data

◆ DefaultKinematicsName

◆ DOFSelections

◆ EqConstraintMatrixRef

◆ EqConstraintMatrixSlackRef

◆ EqConstraintVectorRef

◆ IneqConstraintMatrixRef

◆ IneqConstraintMatrixSlackRef

◆ IneqConstraintVectorRef

◆ IneqConstraintVectorSlackRef

◆ Kinematics

◆ Name

◆ ObjectiveMatrixRef

◆ ObjectiveMatrixSlackRef

◆ ObjectiveVectorRef

◆ Sensors