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 ()
bool	ActivateVF (const std::string &s)
void	DeactivateAll ()
void	AddVFJointVelocity (const mtsVFDataBase &vf)
	Adds/Updates a vf data object.
void	AddVFJointPosition (const mtsVFDataBase &vf)
	Adds/Updates a vf data object.
void	AddVFCartesianTranslation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object.
void	AddVFCartesianOrientation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object.
void	AddVFSensorCompliance (mtsVFDataSensorCompliance &vf)
	Adds/Updates a vf data object.
void	AddVFPlane (mtsVFDataPlane &vf)
	Adds/Updates a vf plane object.
void	AddVFFollow (mtsVFDataBase &vf)
void	AddVFCylinder (mtsVFDataCylinder &vf)
void	AddVFRCM (const mtsVFDataRCM &vf)
void	AddVFLimits (mtsVFDataJointLimits &vf)
void	AddVFCartesianLimits (const mtsVFDataJointLimits &vf)
void	SetSensor (const prmSensorState &sen)
	Adds/Updates a sensor to the map.
void	SetSensorOffset (const prmOffsetState &sen)
	Adds/Updates a sensor to the map.
void	RemoveSensorFromMap (const std::string &senName)
	Removes a sensor from the map.
void	LookupBaseData (void)
	Finds the "base" object for kinematics and sensor data that has an offset.
void	SetKinematics (const prmKinematicsState &kin)
	Adds/Updates a kinematics object to the map.
void	RemoveKinematicsFromMap (const std::string &kinName)
	Removes a kinematics object from the map.
void	UpdateOptimizer (double TickTime)
	Updates the robot state data and control optimizer.
nmrConstraintOptimizer::STATUS	Solve (vctDoubleVec &dq)
	Solves the constraint optimization problem and fills the result into the parameter.
bool	SetVFData (const mtsVFDataBase &data)
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 CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

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

Detailed Description

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

Constructor & Destructor Documentation

mtsVFController() [1/2]

mtsVFController::mtsVFController ( )

inline

Constructor

mtsVFController() [2/2]

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

inline

Constructor

~mtsVFController()

mtsVFController::~mtsVFController ( )

inline

Member Function Documentation

ActivateVF()

bool mtsVFController::ActivateVF

(

const std::string &

s

)

AddVFCartesianLimits()

void mtsVFController::AddVFCartesianLimits

(

const mtsVFDataJointLimits &

vf

)

AddVFCartesianOrientation()

void mtsVFController::AddVFCartesianOrientation

(

const mtsVFDataBase &

vf

)

Adds/Updates a vf data object.

AddVFCartesianTranslation()

void mtsVFController::AddVFCartesianTranslation

(

const mtsVFDataBase &

vf

)

Adds/Updates a vf data object.

AddVFCylinder()

void mtsVFController::AddVFCylinder

(

mtsVFDataCylinder &

vf

)

AddVFFollow()

void mtsVFController::AddVFFollow

(

mtsVFDataBase &

vf

)

AddVFJointPosition()

void mtsVFController::AddVFJointPosition

(

const mtsVFDataBase &

vf

)

Adds/Updates a vf data object.

AddVFJointVelocity()

void mtsVFController::AddVFJointVelocity

(

const mtsVFDataBase &

vf

)

Adds/Updates a vf data object.

AddVFLimits()

void mtsVFController::AddVFLimits

(

mtsVFDataJointLimits &

vf

)

AddVFPlane()

void mtsVFController::AddVFPlane

(

mtsVFDataPlane &

vf

)

Adds/Updates a vf plane object.

AddVFRCM()

void mtsVFController::AddVFRCM

(

const mtsVFDataRCM &

vf

)

AddVFSensorCompliance()

void mtsVFController::AddVFSensorCompliance

(

mtsVFDataSensorCompliance &

vf

)

Adds/Updates a vf data object.

DeactivateAll()

void mtsVFController::DeactivateAll

(

)

GetOptimizer()

nmrConstraintOptimizer mtsVFController::GetOptimizer ( )

inline

LookupBaseData()

void mtsVFController::LookupBaseData

(

void

)

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

RemoveKinematicsFromMap()

void mtsVFController::RemoveKinematicsFromMap

(

const std::string &

kinName

)

Removes a kinematics object from the map.

RemoveSensorFromMap()

void mtsVFController::RemoveSensorFromMap

(

const std::string &

senName

)

Removes a sensor from the map.

SetKinematics()

void mtsVFController::SetKinematics

(

const prmKinematicsState &

kin

)

Adds/Updates a kinematics object to the map.

SetSensor()

void mtsVFController::SetSensor

(

const prmSensorState &

sen

)

Adds/Updates a sensor to the map.

SetSensorOffset()

void mtsVFController::SetSensorOffset

(

const prmOffsetState &

sen

)

Adds/Updates a sensor to the map.

SetVFData()

bool mtsVFController::SetVFData

(

const mtsVFDataBase &

data

)

Solve()

nmrConstraintOptimizer::STATUS mtsVFController::Solve

(

vctDoubleVec &

dq

)

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

UpdateOptimizer()

void mtsVFController::UpdateOptimizer

(

double

TickTime

)

Updates the robot state data and control optimizer.

Member Data Documentation

ControllerMode

mtsVFBase::CONTROLLERMODE mtsVFController::ControllerMode

JointState

prmStateJoint mtsVFController::JointState

Kinematics

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

Optimizer

nmrConstraintOptimizer mtsVFController::Optimizer

Sensors

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

VFMap

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

---

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

• tmp/cisst-saw/sawConstraintController/components/include/sawConstraintController/mtsVFController.h