MoveJointPlatformTrajectory Class Reference

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

Inheritance diagram for MoveJointPlatformTrajectory:

Public Types
using	DataFieldIdentifierBaseLists
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

Member Typedef Documentation

DataFieldIdentifierBaseLists

using DataFieldIdentifierBaseLists

Initial value:

 
            std::pair<DataFieldIdentifierBaseList, DataFieldIdentifierBaseList>

TimedVariantBaseLists

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

Constructor & Destructor Documentation

MoveJointPlatformTrajectory()

MoveJointPlatformTrajectory ( const XMLStateConstructorParams & stateData )

inline

Member Function Documentation

cacheValues()

void cacheValues ( )

inline

cacheVelocities()

void cacheVelocities ( )

inline

CreateInstance()

XMLStateFactoryBasePtr CreateInstance ( XMLStateConstructorParams stateData )

static

ctrlInterpol()

void ctrlInterpol

(

)

ctrlNative()

void ctrlNative

(

)

doingLastConfig()

bool doingLastConfig ( ) const

inline

doneAllConfigs()

bool doneAllConfigs ( ) const

inline

getConfigChangeTolerance()

float getConfigChangeTolerance ( std::size_t i ) const

inline

getDataFieldIdentifiers()

DataFieldIdentifierBaseLists getDataFieldIdentifiers ( const std::string & channelName )

inline

getFromList()

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

inlinestatic

getMaxAcc()

float getMaxAcc ( std::size_t joint ) const

inline

getMaxVel()

float getMaxVel ( std::size_t joint ) const

inline

getTargetTolerance()

float getTargetTolerance ( std::size_t i ) const

inline

getValue()

float getValue

(

std::size_t

i

)

const

getVelocity()

float getVelocity

(

std::size_t

i

)

const

onBreak()

void onBreak ( )

override

onEnter()

void onEnter ( )

override

onExit()

void onExit ( )

override

run()

void run ( )

override

setControlMode()

void setControlMode ( ControlMode mode )

inline

setMaxVelocity()

void setMaxVelocity ( NameValueMap & vels )

inline

setValues()

void setValues ( NameValueMap & values )

inline

setVelocity()

void setVelocity ( NameValueMap & vels )

inline

sign()

int sign ( double val )

static

validJointNames()

bool validJointNames ( ) const

inline

waitForDone()

void waitForDone

(

bool

stopAtCurrentPos

)

Member Data Documentation

cachedValues

TimedVariantBaseLists cachedValues

cachedVelocities

TimedVariantBaseLists cachedVelocities

context

MotionAndPlatformControlGroupStatechartContext* context

currentCfgIt

Trajectory::ordered_view::const_iterator currentCfgIt

datafieldsValues

DataFieldIdentifierBaseLists datafieldsValues

datafieldsVelocities

DataFieldIdentifierBaseLists datafieldsVelocities

jointMaxSpeeds

std::vector<float> jointMaxSpeeds

jointNames

std::vector<std::string> jointNames

jointTargetTolerance

float jointTargetTolerance

lastCfgIt

Trajectory::ordered_view::const_iterator lastCfgIt

maxAccs

std::vector<float> maxAccs

period

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

Registry

MoveJointPlatformTrajectory::SubClassRegistry Registry

static

secondsPerPeriod

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

t

TrajectoryPtr t

targetReachedCondition

ConditionIdentifier targetReachedCondition

timeoutEvent

ActionEventIdentifier timeoutEvent

translationTargetTolerance

float translationTargetTolerance

---

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

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