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| CustomController (EnvironmentBasePtr penv) |
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virtual | ~CustomController () |
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virtual bool | Init (RobotBasePtr robot, const std::vector< int > &dofindices, int nControlTransformation) |
| initializes the controller and specifies the controlled dof
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virtual const std::vector< int > & | GetControlDOFIndices () const |
| returns the dof indices controlled
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virtual int | IsControlTransformation () const |
| returns non-zero value if base affine transformation is controlled.
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virtual void | Reset (int options) |
| Resets the current controller trajectories and any other state associated with the robot.
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virtual bool | SetDesired (const std::vector< dReal > &values, TransformConstPtr trans) |
| go to a specific position in configuration space. [multi-thread safe]
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virtual bool | SetPath (TrajectoryBaseConstPtr ptraj) |
| Follow a path in configuration space, adds to the queue of trajectories already in execution. [multi-thread safe]
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virtual void | SimulationStep (dReal fTimeElapsed) |
| Simulate one step forward for controllers running in the simulation environment.
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virtual bool | IsDone () |
| Return true when goal reached.
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virtual dReal | GetTime () const |
| return the time along the current command
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virtual RobotBasePtr | GetRobot () const |
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| ControllerBase (EnvironmentBasePtr penv) |
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virtual | ~ControllerBase () |
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virtual void | GetVelocity (std::vector< dReal > &vel) const OPENRAVE_DUMMY_IMPLEMENTATION |
| get velocity of the controlled DOFs
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virtual void | GetTorque (std::vector< dReal > &torque) const OPENRAVE_DUMMY_IMPLEMENTATION |
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| InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) |
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virtual | ~InterfaceBase () |
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InterfaceType | GetInterfaceType () const |
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const std::string & | GetXMLId () const |
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const std::string & | GetPluginName () const |
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EnvironmentBasePtr | GetEnv () const |
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const READERSMAP & | GetReadableInterfaces () const |
| Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
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virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
| Returns the readable interface. [multi-thread safe]
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virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
| Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
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virtual const std::string & | GetDescription () const |
| Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
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virtual void | SetDescription (const std::string &description) |
| sets a description [multi-thread safe]
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virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
| set user data for a specific key. [multi-thread safe]
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virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
| return the user custom data [multi-thread safe]
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virtual bool | RemoveUserData (const std::string &key) const |
| removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
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virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
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virtual const std::string & | GetURI () const |
| the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
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virtual const std::string & | GetXMLFilename () const |
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virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
| Clone the contents of an interface to the current interface.
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virtual bool | SendCommand (std::ostream &os, std::istream &is) |
| Used to send special commands to the interface and receive output.
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virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
| serializes the interface
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- Examples:
- customreader.cpp.
Definition at line 16 of file customreader.cpp.
virtual bool cppexamples::CustomController::IsDone |
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inlinevirtual |
Return true when goal reached.
If a trajectory was set, return only when trajectory is done. If SetDesired was called, return only when robot is is at the desired location. If SendCommand sent, returns true when the command was completed by the hand.
Implements OpenRAVE::ControllerBase.
Definition at line 128 of file customreader.cpp.