prmPositionCartesianSet Class Reference

#include <prmPositionCartesianSet.h>

Inheritance diagram for prmPositionCartesianSet:

Public Member Functions
	prmPositionCartesianSet ()
	prmPositionCartesianSet (const vctDoubleFrm3 &goal, const vctDouble3 &velocity, const vctDouble3 &velocityAngular, const vctDouble3 &acceleration, const vctDouble3 &accelerationAngular, const vctBool2 &mask)
virtual	~prmPositionCartesianSet ()
void	SetGoal (const vctDoubleFrm3 &goal, const vctBool2 &mask)
vctFrm3 &	Goal (void)
const vctFrm3 &	Goal (void) const
void	SetGoal (const vctDoubleFrm3 &goal)
void	SetGoal (const vctDouble3 &position)
void	SetGoal (const vctDoubleRot3 &orientation)
vctDoubleFrm3	GetGoal (void) const
void	SetVelocity (const vctDouble3 &velocity)
vctDouble3	GetVelocity (void) const
void	SetAngularVelocity (const vctDouble3 &velocityAngular)
vctDouble3	GetAngularVelocity (void) const
void	SetAcceleration (const vctDouble3 &acceleration)
vctDouble3	GetAcceleration (void) const
void	SetAngularAcceleration (const vctDouble3 &accelerationAngular)
vctDouble3	GetAngularAcceleration (void) const
void	SetMask (const vctBool2 &mask)
vctBool2	GetMask (void) const
void	SerializeRaw (std::ostream &outputStream) const
void	DeSerializeRaw (std::istream &inputStream)
Public Member Functions inherited from prmMotionBase
	prmMotionBase ()
	prmMotionBase (const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)
virtual	~prmMotionBase ()
void	SetBaseParameter (const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (prmBlocking, BlockingFlag)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, BlendingFactor)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (double, TimeLimit)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsPreemptable)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsCoordinated)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, IsGoalOnly)
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= ' ')
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

Protected Types
typedef prmMotionBase	BaseType

Protected Attributes
vctDoubleFrm3	GoalMember
vctDouble3	Velocity
vctDouble3	VelocityAngular
vctDouble3	Acceleration
vctDouble3	AccelerationAngular
vctBool2	Mask

Additional Inherited Members
Public Types inherited from prmMotionBase
typedef mtsGenericObject	BaseType

Detailed Description

Cartesian position motion command arguments - default motion is a line between the current position and the goal

Member Typedef Documentation

typedef prmMotionBase prmPositionCartesianSet::BaseType

protected

Constructor & Destructor Documentation

prmPositionCartesianSet::prmPositionCartesianSet ( )

inline

default constructor

prmPositionCartesianSet::prmPositionCartesianSet ( const vctDoubleFrm3 &  goal, const vctDouble3 &  velocity, const vctDouble3 &  velocityAngular, const vctDouble3 &  acceleration, const vctDouble3 &  accelerationAngular, const vctBool2 &  mask  )

inline

constructor with all parameters

virtual prmPositionCartesianSet::~prmPositionCartesianSet ( )

virtual

destructor

Member Function Documentation

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

virtual

Binary deserialization

Reimplemented from prmMotionBase.

vctDouble3 prmPositionCartesianSet::GetAcceleration ( void  ) const

inline

Get the current acceleration parameters

Returns

prmCartesianAcceleration acceleration vector

vctDouble3 prmPositionCartesianSet::GetAngularAcceleration ( void  ) const

inline

Get the current angular acceleration parameters

Returns

prmCartesianAcceleration angular acceleration vector

vctDouble3 prmPositionCartesianSet::GetAngularVelocity ( void  ) const

inline

Get the angular velocity parameter

Returns

prmCartesianVelocity current planned angular velocity

vctDoubleFrm3 prmPositionCartesianSet::GetGoal ( void  ) const

inline

Get current goal parameter

Returns

prmCartesianPosition current goal parameter

vctBool2 prmPositionCartesianSet::GetMask ( void  ) const

inline

Get the current mask parameter

Returns

prmBoolVec current mask

vctDouble3 prmPositionCartesianSet::GetVelocity ( void  ) const

inline

Get the velocity parameter

Returns

prmCartesianVelocity current planned velocity

vctFrm3& prmPositionCartesianSet::Goal ( void  )

inline

Reference to the goal frame

Parameters

goal	cartesian position

Returns

&vctFrm3

const vctFrm3& prmPositionCartesianSet::Goal ( void  ) const

inline

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

virtual

Binary serialization

Reimplemented from prmMotionBase.

void prmPositionCartesianSet::SetAcceleration ( const vctDouble3 &  acceleration )

inline

Set the acceleration parameters only

Parameters

acceleration

acceleration vector

Returns

void

void prmPositionCartesianSet::SetAngularAcceleration ( const vctDouble3 &  accelerationAngular )

inline

Set the deceleration parameters only

Parameters

accelerationAngular

angular acceleration

Returns

void

void prmPositionCartesianSet::SetAngularVelocity ( const vctDouble3 &  velocityAngular )

inline

Set the angular velocity parameter

Parameters

velocityAngular

planned angular velocity

Returns

void

void prmPositionCartesianSet::SetGoal ( const vctDoubleFrm3 &  goal, const vctBool2 &  mask  )

inline

Set Target position and mask

Parameters

goal	cartesian position
mask	mask for position/orientation or both

Returns

void

void prmPositionCartesianSet::SetGoal ( const vctDoubleFrm3 &  goal )

inline

Set Target frame

Parameters

goal	cartesian position

Returns

void

void prmPositionCartesianSet::SetGoal ( const vctDouble3 &  position )

inline

Set Target position only

Parameters

position

target position

Returns

void

void prmPositionCartesianSet::SetGoal ( const vctDoubleRot3 &  orientation )

inline

Set Target orientation only

Parameters

orientation

target orientation

Returns

void

void prmPositionCartesianSet::SetMask ( const vctBool2 &  mask )

inline

Set the mask only

Parameters

mask	mask for moves

Returns

void

void prmPositionCartesianSet::SetVelocity ( const vctDouble3 &  velocity )

inline

Set the velocity parameter

Parameters

velocity

planned velocity

Returns

void

Member Data Documentation

vctDouble3 prmPositionCartesianSet::Acceleration

protected

desired time derivative of linear velocity

vctDouble3 prmPositionCartesianSet::AccelerationAngular

protected

desired time derivative of angualr velocity

vctDoubleFrm3 prmPositionCartesianSet::GoalMember

protected

Motion command goal

vctBool2 prmPositionCartesianSet::Mask

protected

two tuple, masks position/orientation parts of the Cartesian motion

vctDouble3 prmPositionCartesianSet::Velocity

protected

linear velocity to goal (time derivative of magnitude of the vector to goal

vctDouble3 prmPositionCartesianSet::VelocityAngular

protected

vector of rate of orientation change (single value about a screw axis)

---

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmPositionCartesianSet.h