mtsVFController Class Reference

mtsVFController: A class that is responsible for managing the virtual fixtures, relevant state data, and the control optimizer More...

#include <mtsVFController.h>

Inheritance diagram for mtsVFController:

Public Member Functions
	mtsVFController ()
	mtsVFController (size_t num_joints, mtsVFBase::CONTROLLERMODE cm)
	~mtsVFController ()
nmrConstraintOptimizer	GetOptimizer ()
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 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)
virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const
virtual size_t	ScalarNumber (void) const
virtual bool	ScalarNumberIsFixed (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

Protected Member Functions
void	AddVFJointVelocity (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...
void	AddVFJointPosition (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...
void	AddVFCartesianTranslation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...
void	AddVFCartesianOrientation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...
void	AddVFSensorCompliance (const mtsVFDataSensorCompliance &vf)
	Adds/Updates a vf data object. More...
void	AddVFPlane (const mtsVFDataPlane &vf)
	Adds/Updates a vf plane object. More...
void	AddVFFollowPath (const mtsVFDataBase &vf)
void	SetSensor (const prmSensorState &sen)
	Adds/Updates a sensor to the map. More...
void	SetSensorOffset (const prmOffsetState &sen)
	Adds/Updates a sensor to the map. More...
void	RemoveSensorFromMap (const std::string &senName)
	Removes a sensor from the map. More...
void	SetMode (const mtsVFBase::CONTROLLERMODE &m)
	Changes the variable the optimizer is solving for. More...
void	LookupBaseData (void)
	Finds the "base" object for kinematics and sensor data that has an offset. More...
void	SetKinematics (const prmKinematicsState &kin)
	Adds/Updates a kinematics object to the map. More...
void	RemoveKinematicsFromMap (const std::string &kinName)
	Removes a kinematics object from the map. More...
void	UpdateOptimizer (double TickTime)
	Updates the robot state data and control optimizer. More...
nmrConstraintOptimizer::STATUS	Solve (vctDoubleVec &dq)
	Solves the constraint optimization problem and fills the result into the parameter. More...
void	IncrementUsers (const std::vector< std::string > kin_names, const std::vector< std::string > sensor_names)
	Helper function that increments users of new vf. More...
void	DecrementUsers (const std::vector< std::string > kin_names, const std::vector< std::string > sensor_names)
	Helper function that decrements users of new data in an old vf. More...
bool	SetVFData (const mtsVFDataBase &data, const std::type_info &type)
bool	SetVFDataSensorCompliance (const mtsVFDataSensorCompliance &data, const std::type_info &type)
bool	SetVFDataPlane (const mtsVFDataPlane &data, const std::type_info &type)

Protected Attributes
std::map< std::string, mtsVFBase * >	VFMap
std::map< std::string, prmKinematicsState * >	Kinematics
std::map< std::string, prmSensorState * >	Sensors
prmJointState	JointState
nmrConstraintOptimizer	Optimizer
mtsVFBase::CONTROLLERMODE	ControllerMode

Detailed Description

mtsVFController: A class that is responsible for managing the virtual fixtures, relevant state data, and the control optimizer

Constructor & Destructor Documentation

mtsVFController::mtsVFController ( )

inline

Constructor

mtsVFController::mtsVFController ( size_t  num_joints, mtsVFBase::CONTROLLERMODE  cm  )

inline

Constructor

mtsVFController::~mtsVFController ( )

inline

Member Function Documentation

void mtsVFController::AddVFCartesianOrientation ( const mtsVFDataBase &  vf )

protected

Adds/Updates a vf data object.

void mtsVFController::AddVFCartesianTranslation ( const mtsVFDataBase &  vf )

protected

Adds/Updates a vf data object.

void mtsVFController::AddVFFollowPath ( const mtsVFDataBase &  vf )

protected

void mtsVFController::AddVFJointPosition ( const mtsVFDataBase &  vf )

protected

Adds/Updates a vf data object.

void mtsVFController::AddVFJointVelocity ( const mtsVFDataBase &  vf )

protected

Adds/Updates a vf data object.

void mtsVFController::AddVFPlane ( const mtsVFDataPlane &  vf )

protected

Adds/Updates a vf plane object.

void mtsVFController::AddVFSensorCompliance ( const mtsVFDataSensorCompliance &  vf )

protected

Adds/Updates a vf data object.

void mtsVFController::DecrementUsers ( const std::vector< std::string >  kin_names, const std::vector< std::string >  sensor_names  )

protected

Helper function that decrements users of new data in an old vf.

nmrConstraintOptimizer mtsVFController::GetOptimizer ( )

inline

void mtsVFController::IncrementUsers ( const std::vector< std::string >  kin_names, const std::vector< std::string >  sensor_names  )

protected

Helper function that increments users of new vf.

void mtsVFController::LookupBaseData ( void  )

protected

Finds the "base" object for kinematics and sensor data that has an offset.

void mtsVFController::RemoveKinematicsFromMap ( const std::string &  kinName )

protected

Removes a kinematics object from the map.

void mtsVFController::RemoveSensorFromMap ( const std::string &  senName )

protected

Removes a sensor from the map.

void mtsVFController::SetKinematics ( const prmKinematicsState &  kin )

protected

Adds/Updates a kinematics object to the map.

void mtsVFController::SetMode ( const mtsVFBase::CONTROLLERMODE &  m )

protected

Changes the variable the optimizer is solving for.

void mtsVFController::SetSensor ( const prmSensorState &  sen )

protected

Adds/Updates a sensor to the map.

void mtsVFController::SetSensorOffset ( const prmOffsetState &  sen )

protected

Adds/Updates a sensor to the map.

bool mtsVFController::SetVFData ( const mtsVFDataBase &  data, const std::type_info &  type  )

protected

bool mtsVFController::SetVFDataPlane ( const mtsVFDataPlane &  data, const std::type_info &  type  )

protected

bool mtsVFController::SetVFDataSensorCompliance ( const mtsVFDataSensorCompliance &  data, const std::type_info &  type  )

protected

nmrConstraintOptimizer::STATUS mtsVFController::Solve ( vctDoubleVec &  dq )

protected

Solves the constraint optimization problem and fills the result into the parameter.

void mtsVFController::UpdateOptimizer ( double  TickTime )

protected

Updates the robot state data and control optimizer.

Member Data Documentation

mtsVFBase::CONTROLLERMODE mtsVFController::ControllerMode

protected

prmJointState mtsVFController::JointState

protected

std::map<std::string, prmKinematicsState *> mtsVFController::Kinematics

protected

nmrConstraintOptimizer mtsVFController::Optimizer

protected

std::map<std::string, prmSensorState *> mtsVFController::Sensors

protected

std::map<std::string, mtsVFBase *> mtsVFController::VFMap

protected

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

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