#include <mtsIntuitiveResearchKitPSM.h>

Inheritance diagram for mtsIntuitiveResearchKitPSM:

Public Member Functions
	mtsIntuitiveResearchKitPSM (const std::string &componentName, const double periodInSeconds)

	mtsIntuitiveResearchKitPSM (const mtsTaskPeriodicConstructorArg &arg)

	~mtsIntuitiveResearchKitPSM ()

void	Configure (const std::string &filename)

Public Member Functions inherited from mtsIntuitiveResearchKitArm
	mtsIntuitiveResearchKitArm (const std::string &componentName, const double periodInSeconds)

	mtsIntuitiveResearchKitArm (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsIntuitiveResearchKitArm ()

void	Startup (void)

void	Run (void)

void	Cleanup (void)

Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsTaskPeriodic ()

void	Suspend (void)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)

virtual	~mtsTaskContinuous ()

void	Create (void *data=0)

void	Start (void)

void	Kill (void)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

virtual void	Configure (const std::string &CMN_UNUSED(filename)="")

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

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	SetName (const std::string &componentName)

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

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, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

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, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

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

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

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (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 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 throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Member Functions
size_t	NumberOfAxes (void) const

size_t	NumberOfJoints (void) const

size_t	NumberOfJointsKinematics (void) const

size_t	NumberOfBrakes (void) const

bool	UsePIDTrackingError (void) const

robManipulator::Errno	InverseKinematics (vctDoubleVec &jointSet, const vctFrm4x4 &cartesianGoal)

void	Init (void)

void	SetState (const mtsIntuitiveResearchKitArmTypes::RobotStateType &newState)

void	SetRobotControlState (const std::string &state)

void	RunArmSpecific (void)

void	RunHomingCalibrateArm (void)

void	RunEngagingAdapter (void)

void	RunEngagingTool (void)

virtual void	RunConstraintControllerCartesian (void)

void	EventHandlerAdapter (const prmEventButton &button)

void	EventHandlerTool (const prmEventButton &button)

void	EventHandlerManipClutch (const prmEventButton &button)

void	SetPositionCartesian (const prmPositionCartesianSet &newPosition)

void	SetJawPosition (const double &openAngle)

Protected Member Functions inherited from mtsIntuitiveResearchKitArm
void	GetRobotControlState (std::string &state) const

bool	CurrentStateIs (const mtsIntuitiveResearchKitArmTypes::RobotStateType &state)

virtual void	GetRobotData (void)

virtual void	RunHomingPower (void)

virtual void	RunPositionJoint (void)

virtual void	RunPositionGoalJoint (void)

virtual void	RunPositionCartesian (void)

virtual void	RunPositionGoalCartesian (void)

virtual void	SetPositionJointLocal (const vctDoubleVec &newPosition)

virtual void	SetPositionJoint (const prmPositionJointSet &newPosition)

virtual void	SetPositionGoalJoint (const prmPositionJointSet &newPosition)

virtual void	SetPositionGoalCartesian (const prmPositionCartesianSet &newPosition)

virtual void	SetBaseFrame (const prmPositionCartesianGet &newBaseFrame)

virtual void	JointLimitEventHandler (const vctBoolVec &flags)

void	ErrorEventHandler (const std::string &message)

virtual bool	UsePotsForSafetyCheck (void) const

Protected Member Functions inherited from mtsTaskPeriodic
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

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. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

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)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
mtsIntuitiveResearchKitOptimizer *	Optimizer

struct {
mtsFunctionRead GetButton

bool IsPressed

}	ManipClutch

struct {
mtsFunctionWrite ManipClutch

mtsIntuitiveResearchKitArmTypes::RobotStateType ManipClutchPreviousState

}	ClutchEvents

robManipulator *	ToolOffset

vctFrm4x4	ToolOffsetTransformation

bool	EngagingAdapterStarted

bool	EngagingToolStarted

osaStopwatch	EngagingStopwatch

vctDoubleVec	EngagingJointSet


struct {
mtsFunctionRead GetButton

bool IsPresent

}	Adapter

struct {
mtsFunctionRead GetButton

bool IsPresent

}	Tool

Protected Attributes inherited from mtsIntuitiveResearchKitArm
mtsInterfaceRequired *	PIDInterface

struct {
mtsFunctionWrite Enable

mtsFunctionRead GetPositionJoint

mtsFunctionRead GetPositionJointDesired

mtsFunctionRead GetStateJoint

mtsFunctionRead GetStateJointDesired

mtsFunctionWrite SetPositionJoint

mtsFunctionWrite SetCheckJointLimit

mtsFunctionRead GetVelocityJoint

mtsFunctionWrite EnableTorqueMode

mtsFunctionWrite SetTorqueJoint

mtsFunctionWrite SetTorqueOffset

mtsFunctionWrite EnableTrackingError

mtsFunctionWrite SetTrackingErrorTolerance

}	PID

mtsInterfaceRequired *	IOInterface

struct mtsIntuitiveResearchKitArm::InterfaceRobotTorque	RobotIO

mtsInterfaceRequired *	SUJInterface

mtsInterfaceProvided *	RobotInterface

struct {
mtsFunctionWrite Status

mtsFunctionWrite Warning

mtsFunctionWrite Error

mtsFunctionWrite RobotState

}	MessageEvents

prmPositionCartesianSet	CartesianSetParam

bool	IsGoalSet

prmPositionCartesianGet	CartesianGetLocalParam

vctFrm4x4	CartesianGetLocal

prmPositionCartesianGet	CartesianGetLocalDesiredParam

vctFrm4x4	CartesianGetLocalDesired

prmPositionCartesianGet	CartesianGetParam

vctFrm4x4	CartesianGet

prmPositionCartesianGet	CartesianGetDesiredParam

vctFrm4x4	CartesianGetDesired

prmPositionJointGet	JointGetParam

vctDoubleVec	JointGet

vctDoubleVec	JointGetDesired

prmPositionJointSet	JointSetParam

vctDoubleVec	JointSet

prmVelocityJointGet	JointVelocityGetParam
	robot current joint velocity More...

vctDoubleVec	JointVelocityGet

prmStateJoint	StateJointParam

prmStateJoint	StateJointDesiredParam

vctFrm4x4	CartesianGetPrevious

prmVelocityCartesianGet	CartesianVelocityGetParam

robManipulator	Manipulator

vctFrm4x4	CartesianPositionFrm

vctFrm4x4	BaseFrame

bool	BaseFrameValid

mtsIntuitiveResearchKitArmTypes::RobotStateType	RobotState

struct {
robLSPB LSPB

vctDoubleVec Velocity

vctDoubleVec Acceleration

vctDoubleVec Start

vctDoubleVec Goal

vctDoubleVec GoalError

vctDoubleVec GoalTolerance

double EndTime

mtsFunctionWrite GoalReachedEvent

}	JointTrajectory

vctDoubleVec	PotsToEncodersTolerance

double	HomingTimer

bool	HomingPowerRequested

bool	HomingCalibrateArmStarted

unsigned int	mCounter

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

Protected Attributes inherited from mtsTaskContinuous
bool	NewThread

bool	CaptureThread

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Additional Inherited Members
Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Constructor & Destructor Documentation

mtsIntuitiveResearchKitPSM::mtsIntuitiveResearchKitPSM	(	const std::string &	componentName,
		const double	periodInSeconds
	)

mtsIntuitiveResearchKitPSM::mtsIntuitiveResearchKitPSM ( const mtsTaskPeriodicConstructorArg & arg )

mtsIntuitiveResearchKitPSM::~mtsIntuitiveResearchKitPSM ( )

inline

Member Function Documentation

void mtsIntuitiveResearchKitPSM::Configure ( const std::string & filename )

virtual

The virtual method so that the interface or tasks can configure themselves

Reimplemented from mtsIntuitiveResearchKitArm.

void mtsIntuitiveResearchKitPSM::EventHandlerAdapter ( const prmEventButton & button )

protected

void mtsIntuitiveResearchKitPSM::EventHandlerManipClutch ( const prmEventButton & button )

protected

void mtsIntuitiveResearchKitPSM::EventHandlerTool ( const prmEventButton & button )

protected

void mtsIntuitiveResearchKitPSM::Init ( void )

protectedvirtual

Initialization, including resizing data members and setting up cisst/SAW interfaces

Reimplemented from mtsIntuitiveResearchKitArm.

robManipulator::Errno mtsIntuitiveResearchKitPSM::InverseKinematics	(	vctDoubleVec &	jointSet,
		const vctFrm4x4 &	cartesianGoal
	)

protectedvirtual

Implements mtsIntuitiveResearchKitArm.

size_t mtsIntuitiveResearchKitPSM::NumberOfAxes ( void ) const

inlineprotectedvirtual

Configuration methods

Implements mtsIntuitiveResearchKitArm.

size_t mtsIntuitiveResearchKitPSM::NumberOfBrakes ( void ) const

inlineprotectedvirtual

Implements mtsIntuitiveResearchKitArm.

size_t mtsIntuitiveResearchKitPSM::NumberOfJoints ( void ) const

inlineprotectedvirtual

Implements mtsIntuitiveResearchKitArm.

size_t mtsIntuitiveResearchKitPSM::NumberOfJointsKinematics ( void ) const

inlineprotectedvirtual

Implements mtsIntuitiveResearchKitArm.

void mtsIntuitiveResearchKitPSM::RunArmSpecific ( void )

protectedvirtual

Switch case for user mode.

Reimplemented from mtsIntuitiveResearchKitArm.

virtual void mtsIntuitiveResearchKitPSM::RunConstraintControllerCartesian ( void )

protectedvirtual

Cartesian constraint controller.

void mtsIntuitiveResearchKitPSM::RunEngagingAdapter ( void )

protected

Engaging adapter procedure.

void mtsIntuitiveResearchKitPSM::RunEngagingTool ( void )

protected

Engaging tool procedure.

void mtsIntuitiveResearchKitPSM::RunHomingCalibrateArm ( void )

protectedvirtual

Homing procedure, home all joints except last one using potentiometers as reference.

Implements mtsIntuitiveResearchKitArm.

void mtsIntuitiveResearchKitPSM::SetJawPosition ( const double & openAngle )

protected

void mtsIntuitiveResearchKitPSM::SetPositionCartesian ( const prmPositionCartesianSet & newPosition )

protectedvirtual

Reimplemented from mtsIntuitiveResearchKitArm.

void mtsIntuitiveResearchKitPSM::SetRobotControlState ( const std::string & state )

protectedvirtual

Implements mtsIntuitiveResearchKitArm.

void mtsIntuitiveResearchKitPSM::SetState ( const mtsIntuitiveResearchKitArmTypes::RobotStateType & newState )

protectedvirtual

Verify that the state transition is possible, initialize global variables for the desired state and finally set the state.

Implements mtsIntuitiveResearchKitArm.

bool mtsIntuitiveResearchKitPSM::UsePIDTrackingError ( void ) const

inlineprotectedvirtual

Implements mtsIntuitiveResearchKitArm.

Member Data Documentation

struct { ... } mtsIntuitiveResearchKitPSM::Adapter

Event handlers for tools

struct { ... } mtsIntuitiveResearchKitPSM::ClutchEvents

bool mtsIntuitiveResearchKitPSM::EngagingAdapterStarted

protected

vctDoubleVec mtsIntuitiveResearchKitPSM::EngagingJointSet

protected

osaStopwatch mtsIntuitiveResearchKitPSM::EngagingStopwatch

protected

bool mtsIntuitiveResearchKitPSM::EngagingToolStarted

protected

mtsFunctionRead mtsIntuitiveResearchKitPSM::GetButton

bool mtsIntuitiveResearchKitPSM::IsPresent

bool mtsIntuitiveResearchKitPSM::IsPressed

struct { ... } mtsIntuitiveResearchKitPSM::ManipClutch

mtsFunctionWrite mtsIntuitiveResearchKitPSM::ManipClutch

mtsIntuitiveResearchKitArmTypes::RobotStateType mtsIntuitiveResearchKitPSM::ManipClutchPreviousState

mtsIntuitiveResearchKitOptimizer* mtsIntuitiveResearchKitPSM::Optimizer

protected

struct { ... } mtsIntuitiveResearchKitPSM::Tool

robManipulator* mtsIntuitiveResearchKitPSM::ToolOffset

protected

vctFrm4x4 mtsIntuitiveResearchKitPSM::ToolOffsetTransformation

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKitPSM.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation