constraintControllerLite Class Reference

#include <constraintControllerLite.h>

Inheritance diagram for constraintControllerLite:

Public Types
typedef std::map< std::string, prmKinematicsState * >	kinematics_map
Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Member Functions
	constraintControllerLite (int num_joints, const std::string &config_filename, const kinematics_map kins_map=kinematics_map(), bool create_provided_interface=true)
	~constraintControllerLite ()
void	SetupConstrainedProblem (double TickTime)
void	PrintProblem ()
bool	SolveConstrainedProblem (vctDoubleVec &dq)
Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)
virtual	~mtsComponent ()
const std::string &	GetName (void) const
void	GetName (std::string &placeHolder) const
void	AddTag (const std::string &tag)
const std::set< std::string > &	GetTags (void) const
void	SetName (const std::string &componentName)
virtual void	Configure (const std::string &filename="")
virtual void	Create (void)
bool	CreateAndWait (double timeoutInSeconds)
virtual void	Start (void)
bool	StartAndWait (double timeoutInSeconds)
virtual void	Suspend (void)
virtual void	Kill (void)
bool	KillAndWait (double timeoutInSeconds)
virtual void	Startup (void)
virtual void	Cleanup (void)
mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)
virtual mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)
CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)
virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)
std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const
std::vector< std::string >	GetNamesOfInterfacesProvided (void) const
std::vector< std::string >	GetNamesOfInterfacesOutput (void) const
bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const
mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const
mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const
size_t	GetNumberOfInterfacesProvided (void) const
size_t	GetNumberOfInterfacesOutput (void) const
bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName)
mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)
virtual mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)
CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)
virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)
std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const
std::vector< std::string >	GetNamesOfInterfacesRequired (void) const
std::vector< std::string >	GetNamesOfInterfacesInput (void) const
const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)
mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)
mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const
size_t	GetNumberOfInterfacesRequired (void) const
size_t	GetNumberOfInterfacesInput (void) const
bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName)
mtsStateTable *	GetStateTable (const std::string &stateTableName)
bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)
void	UseSeparateLogFileDefault (bool forwardToLogger=true)
void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)
void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)
cmnLogger::StreamBufType *	GetLogMultiplexer (void) const override
bool	AreAllInterfacesRequiredConnected (const bool log=false)
bool	IsRunning (void) const
bool CISST_DEPRECATED	Running (void) const
bool	IsStarted (void) const
bool	IsTerminated (void) const
bool	IsEndTask (void) const
const mtsComponentState &	GetState (void) const
void	GetState (mtsComponentState &state) const
virtual bool	WaitForState (mtsComponentState desiredState, double timeout)
void	ToStream (std::ostream &outputStream) const override
bool	SetReplayMode (void)
bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)
bool	SetReplayTime (const double time)
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	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 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
std::vector< std::shared_ptr< mtsConstraintBase > >	constraint_list
nmrConstraintOptimizer	Optimizer
int	num_joints
mtsInterfaceProvided *	provided

Additional Inherited Members
Protected Types inherited from mtsComponent
typedef cmnNamedMap< mtsInterfaceProvided >	InterfacesProvidedMapType
typedef cmnNamedMap< mtsInterfaceOutput >	InterfacesOutputMapType
typedef cmnNamedMap< mtsInterfaceRequired >	InterfacesRequiredMapType
typedef cmnNamedMap< mtsInterfaceInput >	InterfacesInputMapType
typedef cmnNamedMap< mtsStateTable >	StateTableMapType
Protected Member Functions inherited from mtsComponent
	mtsComponent (void)
	mtsComponent (const mtsComponent &other)
void	Initialize (void)
mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)
mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)
mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)
mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)
mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)
void	KillSeparateLogFile (void)
size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)
size_t	ProcessQueuedCommands (void)
size_t	ProcessQueuedEvents (void)
mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services.
bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces.
virtual const mtsManagerComponentServices *	GetManagerComponentServices (void) const
void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)
void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)
void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)
void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)
Protected Attributes inherited from mtsComponent
std::string	Name
mtsComponentState	State
std::set< std::string >	mTags
mtsInterfaceProvided *	InterfaceProvidedToManager
bool	UseSeparateLogFileFlag
cmnLogger::StreamBufType *	LoDMultiplexerStreambuf
std::ofstream *	LogFile
InterfacesProvidedMapType	InterfacesProvided
InterfacesOutputMapType	InterfacesOutput
InterfacesRequiredMapType	InterfacesRequired
InterfacesInputMapType	InterfacesInput
StateTableMapType	StateTables
mtsManagerComponentServices *	ManagerComponentServices
mtsFunctionWrite	EventGeneratorChangeState
bool	ReplayMode

Member Typedef Documentation

kinematics_map

typedef std::map<std::string, prmKinematicsState *> constraintControllerLite::kinematics_map

Constructor & Destructor Documentation

constraintControllerLite()

constraintControllerLite::constraintControllerLite	(	int	num_joints,
		const std::string &	config_filename,
		const kinematics_map	kins_map = kinematics_map(),
		bool	create_provided_interface = true )

~constraintControllerLite()

constraintControllerLite::~constraintControllerLite ( )

inline

Member Function Documentation

PrintProblem()

void constraintControllerLite::PrintProblem

(

)

SetupConstrainedProblem()

void constraintControllerLite::SetupConstrainedProblem

(

double

TickTime

)

SolveConstrainedProblem()

bool constraintControllerLite::SolveConstrainedProblem

(

vctDoubleVec &

dq

)

Member Data Documentation

constraint_list

std::vector<std::shared_ptr<mtsConstraintBase> > constraintControllerLite::constraint_list

num_joints

int constraintControllerLite::num_joints

Optimizer

nmrConstraintOptimizer constraintControllerLite::Optimizer

provided

mtsInterfaceProvided* constraintControllerLite::provided

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

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