#include <prmMotionBase.h>

Inheritance diagram for prmMotionBase:

Public Types
typedef mtsGenericObject	BaseType

Public Member Functions
	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)

void	SerializeRaw (std::ostream &outputStream) const

void	DeSerializeRaw (std::istream &inputStream)


	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

Detailed Description

base class for motion arguments

Member Typedef Documentation

typedef mtsGenericObject prmMotionBase::BaseType

Constructor & Destructor Documentation

prmMotionBase::prmMotionBase ( )

inline

prmMotionBase::prmMotionBase	(	const prmBlocking &	blockingFlag,
		const bool &	blendingFactor,
		const double &	timeLimit,
		const bool &	isPreemptable,
		const bool &	isCoordinated,
		const bool &	isGoalOnly
	)

inline

Set all parameters

Parameters

virtual prmMotionBase::~prmMotionBase ( )

virtual

destructor

Member Function Documentation

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	prmBlocking	,
		BlockingFlag
	)

Set and get methods for blocking flag.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		BlendingFactor
	)

Set and Get method for the blending parameter. Whether or not to blend motions, and the tolerance (to be implemented later)

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	double	,
		TimeLimit
	)

Set and Get methods for TimeLimit. Describes time allowed or requested for a motion.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsPreemptable
	)

Set and Get methods for Preemptable parameter. Default is true.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsCoordinated
	)

Set and Get methods for Coordinated parameter. Force to sync motions between joints or rotation/translation to start and end at the same time by lowering speed on some joints.

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsGoalOnly
	)

Set and Get methods for IsGoalOnly. if True Use current device settings for all except for goal . Eg. Accelerations,Velcities are chosen by the robot, goal and motion base should be set by the user. False by default.

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

virtual

Binary deserialization

Reimplemented from mtsGenericObject.

Reimplemented in prmPositionCartesianSet, prmVelocityCartesianSet, prmVelocityJointSet, and prmPositionJointSet.

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

virtual

Binary serialization

Reimplemented from mtsGenericObject.

Reimplemented in prmPositionCartesianSet, prmVelocityCartesianSet, prmVelocityJointSet, and prmPositionJointSet.

void prmMotionBase::SetBaseParameter	(	const prmBlocking &	blockingFlag,
		const bool &	blendingFactor,
		const double &	timeLimit,
		const bool &	isPreemptable,
		const bool &	isCoordinated,
		const bool &	isGoalOnly
	)

inline

Set all parameters from the base class

Parameters

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmMotionBase.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation