prmMotionBase Class Reference

#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)
mtsGenericObject &	operator= (const mtsGenericObject &other)
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
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 CISST_THROW(std
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

BaseType

typedef mtsGenericObject prmMotionBase::BaseType

Constructor & Destructor Documentation

prmMotionBase() [1/2]

prmMotionBase::prmMotionBase ( )

inline

prmMotionBase() [2/2]

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

~prmMotionBase()

virtual prmMotionBase::~prmMotionBase ( )

virtual

destructor

Member Function Documentation

CMN_DECLARE_MEMBER_AND_ACCESSORS() [1/6]

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)

CMN_DECLARE_MEMBER_AND_ACCESSORS() [2/6]

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.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [3/6]

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.

CMN_DECLARE_MEMBER_AND_ACCESSORS() [4/6]

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	bool	,
		IsPreemptable	)

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

CMN_DECLARE_MEMBER_AND_ACCESSORS() [5/6]

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	double	,
		TimeLimit	)

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

CMN_DECLARE_MEMBER_AND_ACCESSORS() [6/6]

prmMotionBase::CMN_DECLARE_MEMBER_AND_ACCESSORS	(	prmBlocking	,
		BlockingFlag	)

Set and get methods for blocking flag.

DeSerializeRaw()

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

virtual

Binary deserialization

Reimplemented from mtsGenericObject.

Reimplemented in prmVelocityCartesianSet, and prmVelocityJointSet.

SerializeRaw()

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

virtual

Binary serialization

Reimplemented from mtsGenericObject.

Reimplemented in prmVelocityCartesianSet, and prmVelocityJointSet.

SetBaseParameter()

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

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

• tmp/cisst-saw/cisst/cisstParameterTypes/prmMotionBase.h