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クラス OpenRAVE::ControllerBaseabstract

[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. [詳細]

#include <controller.h>

OpenRAVE::ControllerBaseに対する継承グラフ
Inheritance graph
[凡例]
OpenRAVE::ControllerBaseのコラボレーション図
Collaboration graph
[凡例]

Public メソッド

 ControllerBase (EnvironmentBasePtr penv)
 
virtual ~ControllerBase ()
 
virtual bool Init (RobotBasePtr robot, const std::vector< int > &dofindices, int nControlTransformation)=0
 initializes the controller and specifies the controlled dof
 
virtual const std::vector< int > & GetControlDOFIndices () const =0
 returns the dof indices controlled
 
virtual int IsControlTransformation () const =0
 returns non-zero value if base affine transformation is controlled.
 
virtual RobotBasePtr GetRobot () const =0
 
virtual void Reset (int options=0)=0
 Resets the current controller trajectories and any other state associated with the robot.
 
virtual bool SetDesired (const std::vector< dReal > &values, TransformConstPtr trans=TransformConstPtr())=0
 go to a specific position in configuration space. [multi-thread safe]
 
virtual bool SetPath (TrajectoryBaseConstPtr ptraj)=0
 Follow a path in configuration space, adds to the queue of trajectories already in execution. [multi-thread safe]
 
virtual void SimulationStep (dReal fTimeElapsed)=0
 Simulate one step forward for controllers running in the simulation environment.
 
virtual bool IsDone ()=0
 Return true when goal reached.
 
virtual dReal GetTime () const OPENRAVE_DUMMY_IMPLEMENTATION
 return the time along the current command
 
virtual void GetVelocity (std::vector< dReal > &vel) const OPENRAVE_DUMMY_IMPLEMENTATION
 get velocity of the controlled DOFs
 
virtual void GetTorque (std::vector< dReal > &torque) const OPENRAVE_DUMMY_IMPLEMENTATION
 
- Public メソッド inherited from OpenRAVE::InterfaceBase
 InterfaceBase (InterfaceType type, EnvironmentBasePtr penv)
 
virtual ~InterfaceBase ()
 
InterfaceType GetInterfaceType () const
 
const std::string & GetXMLId () const
 
const std::string & GetPluginName () const
 
EnvironmentBasePtr GetEnv () const
 
const READERSMAPGetReadableInterfaces () const
 Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
 
virtual XMLReadablePtr GetReadableInterface (const std::string &xmltag) const
 Returns the readable interface. [multi-thread safe]
 
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]
 
virtual const std::string & GetDescription () const
 Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
 
virtual void SetDescription (const std::string &description)
 sets a description [multi-thread safe]
 
virtual void SetUserData (const std::string &key, UserDataPtr data) const
 set user data for a specific key. [multi-thread safe]
 
virtual UserDataPtr GetUserData (const std::string &key=std::string()) const
 return the user custom data [multi-thread safe]
 
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]
 
virtual void SetUserData (UserDataPtr data) RAVE_DEPRECATED
 
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]
 
virtual const std::string & GetXMLFilename () const
 
virtual void Clone (InterfaceBaseConstPtr preference, int cloningoptions)
 Clone the contents of an interface to the current interface.
 
virtual bool SendCommand (std::ostream &os, std::istream &is)
 Used to send special commands to the interface and receive output.
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 

Static Public メソッド

static InterfaceType GetInterfaceTypeStatic ()
 return the static interface type this class points to (used for safe casting)
 

Additional Inherited Members

- Public 型 inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string,
XMLReadablePtr,
CaseInsensitiveCompare
READERSMAP
 
- Protected 型 inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream
&, std::istream &)> 
InterfaceCommandFn
 The function to be executed for every command.
 
- Protected メソッド inherited from OpenRAVE::InterfaceBase
virtual void RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp)
 Registers a command and its help string. [multi-thread safe]
 
virtual void UnregisterCommand (const std::string &cmdname)
 Unregisters the command. [multi-thread safe]
 
virtual boost::shared_mutex & GetInterfaceMutex () const
 
- Protected 変数 inherited from OpenRAVE::InterfaceBase
std::string __description
 

説明

[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts.

例:
customreader.cpp.

controller.h30 行で定義されています。

コンストラクタとデストラクタ

OpenRAVE::ControllerBase::ControllerBase ( EnvironmentBasePtr  penv)
inline

controller.h33 行で定義されています。

virtual OpenRAVE::ControllerBase::~ControllerBase ( )
inlinevirtual

controller.h35 行で定義されています。

関数

virtual const std::vector<int>& OpenRAVE::ControllerBase::GetControlDOFIndices ( ) const
pure virtual

returns the dof indices controlled

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

static InterfaceType OpenRAVE::ControllerBase::GetInterfaceTypeStatic ( )
inlinestatic

return the static interface type this class points to (used for safe casting)

controller.h39 行で定義されています。

virtual RobotBasePtr OpenRAVE::ControllerBase::GetRobot ( ) const
pure virtual

cppexamples::CustomController, と OpenRAVE::MultiControllerで実装されています。

virtual dReal OpenRAVE::ControllerBase::GetTime ( ) const
virtual

return the time along the current command

OpenRAVE::MultiController, と cppexamples::CustomControllerで再定義されています。

virtual void OpenRAVE::ControllerBase::GetTorque ( std::vector< dReal > &  torque) const
virtual

get torque/current/strain values

引数
torque[out] - returns the current torque/current/strain exerted by each of the dofs from outside forces. The feedforward and friction terms should be subtracted out already

OpenRAVE::MultiControllerで再定義されています。

virtual void OpenRAVE::ControllerBase::GetVelocity ( std::vector< dReal > &  vel) const
virtual

get velocity of the controlled DOFs

引数
vel[out] - current velocity of robot from the dof

OpenRAVE::MultiControllerで再定義されています。

virtual bool OpenRAVE::ControllerBase::Init ( RobotBasePtr  robot,
const std::vector< int > &  dofindices,
int  nControlTransformation 
)
pure virtual

initializes the controller and specifies the controlled dof

引数
robotthe robot that uses the controller
dofindicesthe indices that controller will have exclusive access to
nControlTransformation
参照
IsControlTransformation
戻り値
true on successful initialization

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual int OpenRAVE::ControllerBase::IsControlTransformation ( ) const
pure virtual

returns non-zero value if base affine transformation is controlled.

Only one controller can modify translation and orientation per robot. For now, the two cannot be divided.

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual bool OpenRAVE::ControllerBase::IsDone ( )
pure virtual

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.

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual void OpenRAVE::ControllerBase::Reset ( int  options = 0)
pure virtual

Resets the current controller trajectories and any other state associated with the robot.

引数
options- specific options that can be used to control what to reset

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual bool OpenRAVE::ControllerBase::SetDesired ( const std::vector< dReal > &  values,
TransformConstPtr  trans = TransformConstPtr() 
)
pure virtual

go to a specific position in configuration space. [multi-thread safe]

引数
valuesthe final configuration in the control dofs
transthe transformation of the base. If not specified will use the current robot transformation. Ignored if controller does not use it
戻り値
true if position operation successful.

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual bool OpenRAVE::ControllerBase::SetPath ( TrajectoryBaseConstPtr  ptraj)
pure virtual

Follow a path in configuration space, adds to the queue of trajectories already in execution. [multi-thread safe]

引数
ptraj- the trajectory
戻り値
true if trajectory operation successful

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。

virtual void OpenRAVE::ControllerBase::SimulationStep ( dReal  fTimeElapsed)
pure virtual

Simulate one step forward for controllers running in the simulation environment.

引数
fTimeElapsed- time elapsed in simulation environment since last frame

OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。


このクラスの説明は次のファイルから生成されました: