#include <RobotSkillTemplates/statecharts/MotionAndPlatformControlGroup/MoveJointPlatformTrajectory.h>

Inheritance diagram for MoveJointPlatformTrajectory:

Public Types
using	DataFieldIdentifierBaseLists = std::pair< DataFieldIdentifierBaseList, DataFieldIdentifierBaseList >

using	TimedVariantBaseLists = std::pair< TimedVariantBaseList, TimedVariantBaseList >

Public Member Functions
void	cacheValues ()

void	cacheVelocities ()

void	ctrlInterpol ()

void	ctrlNative ()

bool	doingLastConfig () const

bool	doneAllConfigs () const

float	getConfigChangeTolerance (std::size_t i) const

DataFieldIdentifierBaseLists	getDataFieldIdentifiers (const std::string &channelName)

float	getMaxAcc (std::size_t joint) const

float	getMaxVel (std::size_t joint) const

float	getTargetTolerance (std::size_t i) const

float	getValue (std::size_t i) const

float	getVelocity (std::size_t i) const

	MoveJointPlatformTrajectory (const XMLStateConstructorParams &stateData)

void	onBreak () override

void	onEnter () override

void	onExit () override

void	run () override

void	setControlMode (ControlMode mode)

void	setMaxVelocity (NameValueMap &vels)

void	setValues (NameValueMap &values)

void	setVelocity (NameValueMap &vels)

bool	validJointNames () const

void	waitForDone (bool stopAtCurrentPos)

Static Public Member Functions
static XMLStateFactoryBasePtr	CreateInstance (XMLStateConstructorParams stateData)

static float	getFromList (const TimedVariantBaseLists &lists, std::size_t i)

static int	sign (double val)

Public Attributes
TimedVariantBaseLists	cachedValues

TimedVariantBaseLists	cachedVelocities

MotionAndPlatformControlGroupStatechartContext *	context

Trajectory::ordered_view::const_iterator	currentCfgIt

DataFieldIdentifierBaseLists	datafieldsValues

DataFieldIdentifierBaseLists	datafieldsVelocities

std::vector< float >	jointMaxSpeeds

std::vector< std::string >	jointNames

float	jointTargetTolerance

Trajectory::ordered_view::const_iterator	lastCfgIt

std::vector< float >	maxAccs

const std::chrono::milliseconds	period {10}

const float	secondsPerPeriod = static_cast<float>(period.count()) / 1000.f

TrajectoryPtr	t

ConditionIdentifier	targetReachedCondition

ActionEventIdentifier	timeoutEvent

float	translationTargetTolerance

Static Public Attributes
static SubClassRegistry	Registry

Detailed Description

Definition at line 38 of file MoveJointPlatformTrajectory.h.

Member Typedef Documentation

◆ DataFieldIdentifierBaseLists

using DataFieldIdentifierBaseLists = std::pair<DataFieldIdentifierBaseList, DataFieldIdentifierBaseList>

Definition at line 43 of file MoveJointPlatformTrajectory.h.

◆ TimedVariantBaseLists

using TimedVariantBaseLists = std::pair<TimedVariantBaseList, TimedVariantBaseList>

Definition at line 44 of file MoveJointPlatformTrajectory.h.

Constructor & Destructor Documentation

◆ MoveJointPlatformTrajectory()

MoveJointPlatformTrajectory ( const XMLStateConstructorParams & stateData )

inline

Definition at line 46 of file MoveJointPlatformTrajectory.h.

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Member Function Documentation

◆ cacheValues()

void cacheValues ( )

inline

Definition at line 118 of file MoveJointPlatformTrajectory.h.

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◆ cacheVelocities()

void cacheVelocities ( )

inline

Definition at line 127 of file MoveJointPlatformTrajectory.h.

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◆ CreateInstance()

XMLStateFactoryBasePtr CreateInstance ( XMLStateConstructorParams stateData )

static

Definition at line 166 of file MoveJointPlatformTrajectory.cpp.

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◆ ctrlInterpol()

void ctrlInterpol ( )

Definition at line 172 of file MoveJointPlatformTrajectory.cpp.

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◆ ctrlNative()

void ctrlNative ( )

Definition at line 464 of file MoveJointPlatformTrajectory.cpp.

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◆ doingLastConfig()

bool doingLastConfig ( ) const

inline

Definition at line 106 of file MoveJointPlatformTrajectory.h.

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◆ doneAllConfigs()

bool doneAllConfigs ( ) const

inline

Definition at line 112 of file MoveJointPlatformTrajectory.h.

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◆ getConfigChangeTolerance()

float getConfigChangeTolerance ( std::size_t i ) const

inline

Definition at line 245 of file MoveJointPlatformTrajectory.h.

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◆ getDataFieldIdentifiers()

DataFieldIdentifierBaseLists getDataFieldIdentifiers ( const std::string & channelName )

inline

Definition at line 64 of file MoveJointPlatformTrajectory.h.

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◆ getFromList()

static float getFromList	(	const TimedVariantBaseLists &	lists,
		std::size_t	i
	)

inlinestatic

Definition at line 136 of file MoveJointPlatformTrajectory.h.

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◆ getMaxAcc()

float getMaxAcc ( std::size_t joint ) const

inline

Definition at line 233 of file MoveJointPlatformTrajectory.h.

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◆ getMaxVel()

float getMaxVel ( std::size_t joint ) const

inline

Definition at line 226 of file MoveJointPlatformTrajectory.h.

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◆ getTargetTolerance()

float getTargetTolerance ( std::size_t i ) const

inline

Definition at line 239 of file MoveJointPlatformTrajectory.h.

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◆ getValue()

float getValue ( std::size_t i ) const

Definition at line 518 of file MoveJointPlatformTrajectory.cpp.

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◆ getVelocity()

float getVelocity ( std::size_t i ) const

Definition at line 524 of file MoveJointPlatformTrajectory.cpp.

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◆ onBreak()

void onBreak ( )

override

Definition at line 116 of file MoveJointPlatformTrajectory.cpp.

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◆ onEnter()

void onEnter ( )

override

Definition at line 44 of file MoveJointPlatformTrajectory.cpp.

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◆ onExit()

void onExit ( )

override

Definition at line 109 of file MoveJointPlatformTrajectory.cpp.

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◆ run()

void run ( )

override

Definition at line 81 of file MoveJointPlatformTrajectory.cpp.

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◆ setControlMode()

void setControlMode ( ControlMode mode )

inline

Definition at line 208 of file MoveJointPlatformTrajectory.h.

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◆ setMaxVelocity()

void setMaxVelocity ( NameValueMap & vels )

inline

Definition at line 189 of file MoveJointPlatformTrajectory.h.

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◆ setValues()

void setValues ( NameValueMap & values )

inline

Definition at line 169 of file MoveJointPlatformTrajectory.h.

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◆ setVelocity()

void setVelocity ( NameValueMap & vels )

inline

Definition at line 149 of file MoveJointPlatformTrajectory.h.

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◆ sign()

int sign ( double val )

static

Definition at line 530 of file MoveJointPlatformTrajectory.cpp.

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◆ validJointNames()

bool validJointNames ( ) const

inline

Definition at line 219 of file MoveJointPlatformTrajectory.h.

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◆ waitForDone()

void waitForDone ( bool stopAtCurrentPos )

Definition at line 123 of file MoveJointPlatformTrajectory.cpp.

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Member Data Documentation

◆ cachedValues

TimedVariantBaseLists cachedValues

Definition at line 266 of file MoveJointPlatformTrajectory.h.

◆ cachedVelocities

TimedVariantBaseLists cachedVelocities

Definition at line 269 of file MoveJointPlatformTrajectory.h.

◆ context

MotionAndPlatformControlGroupStatechartContext* context

Definition at line 263 of file MoveJointPlatformTrajectory.h.

◆ currentCfgIt

Trajectory::ordered_view::const_iterator currentCfgIt

Definition at line 276 of file MoveJointPlatformTrajectory.h.

◆ datafieldsValues

DataFieldIdentifierBaseLists datafieldsValues

Definition at line 265 of file MoveJointPlatformTrajectory.h.

◆ datafieldsVelocities

DataFieldIdentifierBaseLists datafieldsVelocities

Definition at line 268 of file MoveJointPlatformTrajectory.h.

◆ jointMaxSpeeds

std::vector<float> jointMaxSpeeds

Definition at line 262 of file MoveJointPlatformTrajectory.h.

◆ jointNames

std::vector<std::string> jointNames

Definition at line 260 of file MoveJointPlatformTrajectory.h.

◆ jointTargetTolerance

float jointTargetTolerance

Definition at line 273 of file MoveJointPlatformTrajectory.h.

◆ lastCfgIt

Trajectory::ordered_view::const_iterator lastCfgIt

Definition at line 275 of file MoveJointPlatformTrajectory.h.

◆ maxAccs

std::vector<float> maxAccs

Definition at line 261 of file MoveJointPlatformTrajectory.h.

◆ period

const std::chrono::milliseconds period {10}

Definition at line 271 of file MoveJointPlatformTrajectory.h.

◆ Registry

MoveJointPlatformTrajectory::SubClassRegistry Registry

static

Definition at line 61 of file MoveJointPlatformTrajectory.h.

◆ secondsPerPeriod

const float secondsPerPeriod = static_cast<float>(period.count()) / 1000.f

Definition at line 272 of file MoveJointPlatformTrajectory.h.

◆ t

TrajectoryPtr t

Definition at line 259 of file MoveJointPlatformTrajectory.h.

◆ targetReachedCondition

ConditionIdentifier targetReachedCondition

Definition at line 278 of file MoveJointPlatformTrajectory.h.

◆ timeoutEvent

ActionEventIdentifier timeoutEvent

Definition at line 279 of file MoveJointPlatformTrajectory.h.

◆ translationTargetTolerance

float translationTargetTolerance

Definition at line 274 of file MoveJointPlatformTrajectory.h.

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

RobotSkillTemplates/statecharts/MotionAndPlatformControlGroup/MoveJointPlatformTrajectory.h
RobotSkillTemplates/statecharts/MotionAndPlatformControlGroup/MoveJointPlatformTrajectory.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ DataFieldIdentifierBaseLists

◆ TimedVariantBaseLists

Constructor & Destructor Documentation

◆ MoveJointPlatformTrajectory()

Member Function Documentation

◆ cacheValues()

◆ cacheVelocities()

◆ CreateInstance()

◆ ctrlInterpol()

◆ ctrlNative()

◆ doingLastConfig()

◆ doneAllConfigs()

◆ getConfigChangeTolerance()

◆ getDataFieldIdentifiers()

◆ getFromList()

◆ getMaxAcc()

◆ getMaxVel()

◆ getTargetTolerance()

◆ getValue()

◆ getVelocity()

◆ onBreak()

◆ onEnter()

◆ onExit()

◆ run()

◆ setControlMode()

◆ setMaxVelocity()

◆ setValues()

◆ setVelocity()

◆ sign()

◆ validJointNames()

◆ waitForDone()

Member Data Documentation

◆ cachedValues

◆ cachedVelocities

◆ context

◆ currentCfgIt

◆ datafieldsValues

◆ datafieldsVelocities

◆ jointMaxSpeeds

◆ jointNames

◆ jointTargetTolerance

◆ lastCfgIt

◆ maxAccs

◆ period

◆ Registry

◆ secondsPerPeriod

◆ t

◆ targetReachedCondition

◆ timeoutEvent

◆ translationTargetTolerance