VART::DofMover Class Reference
Controller for DOF movement. More...
#include <dofmover.h>
Public Member Functions | |
| const Dof * | GetTarget () |
| Returns a pointer to the target DOF. | |
Protected Member Functions | |
| DofMover () | |
| Creates an unitialized DOF mover. | |
| DofMover (const VART::DofMover &dofMover) | |
| Creates a copy of an DofMover. All data are copied, except the 'active' atribute, that is set to false. | |
| virtual | ~DofMover () |
| virtual void | Initialize (float iniTime, float finTime, float finPos) |
| void | SetDof (Dof *dofPtr) |
| Sets the target DOF. | |
| virtual void | Move () |
| Changes target DOF. | |
| void | GetFinalTime (std::list< float > *resultPtr) |
| Adds the final time to the list. | |
Protected Attributes | |
| float | targetPosition |
| Target position. | |
| float | initialPosition |
| Position of target DOF upon activation. | |
| float | initialTime |
| Time of predicted activation (normalized). | |
| float | activationTime |
| Time of actual activation (normalized). | |
| float | finalTime |
| Normalized deactivation time. | |
| float | positionRange |
| How far from target at activation time. | |
| float | timeRange |
| How much time to reach target position. | |
| Dof * | targetDofPtr |
| Target DOF. | |
| bool | active |
| Tells whether a DOF mover is active. | |
Static Protected Attributes | |
| static float | goalTime |
| Time of next snapshot, normalized to joint movement's duration. | |
| static bool | cycle |
| Indicates whether the current action is cyclic. | |
| static const Interpolator * | interpolatorPtr = NULL |
| Position interpolator. | |
| static unsigned int | priority = 1 |
| Priority of active action. | |
| static float | minimumDuration |
| Minimum duration when computing motion paths. | |
Friends | |
| class | JointMover |
| class | Action |
| class | JointAction |
| std::ostream & | operator<< (std::ostream &output, const DofMover &mover) |
Detailed Description
Controller for DOF movement.DOF movers are entities that control movement of a DOF (see Dof). They should "live" inside a joint mover (see JointMover) which takes care of their memory management. DofMover is not meant to be used by the application programmer. Use the interface methods in Action and JointMover.
Definition at line 24 of file dofmover.h.
Constructor & Destructor Documentation
| VART::DofMover::DofMover | ( | ) | [protected] |
| VART::DofMover::DofMover | ( | const VART::DofMover & | dofMover | ) | [protected] |
Creates a copy of an DofMover. All data are copied, except the 'active' atribute, that is set to false.
Definition at line 23 of file dofmover.cpp.
| virtual VART::DofMover::~DofMover | ( | ) | [inline, protected, virtual] |
Definition at line 39 of file dofmover.h.
Member Function Documentation
| const Dof* VART::DofMover::GetTarget | ( | ) | [inline] |
Returns a pointer to the target DOF.
Definition at line 31 of file dofmover.h.
References targetDofPtr.
Referenced by VART::OffsetModifier::Modify().
| void VART::DofMover::Initialize | ( | float | iniTime, | |
| float | finTime, | |||
| float | finPos | |||
| ) | [protected, virtual] |
Reimplemented in VART::NoisyDofMover.
Definition at line 37 of file dofmover.cpp.
References finalTime, initialTime, and targetPosition.
Referenced by VART::JointMover::AddDofMover().
| void VART::DofMover::SetDof | ( | Dof * | dofPtr | ) | [inline, protected] |
Sets the target DOF.
Definition at line 42 of file dofmover.h.
References targetDofPtr.
Referenced by VART::JointMover::AddDofMover(), and VART::JointMover::AddNoisyDofMover().
| void VART::DofMover::Move | ( | ) | [protected, virtual] |
Changes target DOF.
Reimplemented in VART::NoisyDofMover.
Definition at line 45 of file dofmover.cpp.
References activationTime, active, finalTime, VART::Dof::GetCurrent(), VART::Interpolator::GetValue(), goalTime, initialPosition, initialTime, interpolatorPtr, minimumDuration, VART::Dof::MoveTo(), positionRange, priority, targetDofPtr, targetPosition, and timeRange.
| void VART::DofMover::GetFinalTime | ( | std::list< float > * | resultPtr | ) | [protected] |
Adds the final time to the list.
Final time is added to the list, in order, if not already there.
Friends And Related Function Documentation
friend class JointMover [friend] |
friend class Action [friend] |
friend class JointAction [friend] |
Definition at line 27 of file dofmover.h.
| std::ostream& operator<< | ( | std::ostream & | output, | |
| const DofMover & | mover | |||
| ) | [friend] |
Member Data Documentation
float VART::DofMover::targetPosition [protected] |
Target position.
Definition at line 51 of file dofmover.h.
Referenced by VART::JointMover::CopyFrom(), VART::NoisyDofMover::Initialize(), Initialize(), VART::NoisyDofMover::Move(), Move(), and VART::operator<<().
float VART::DofMover::initialPosition [protected] |
Position of target DOF upon activation.
Definition at line 53 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), and Move().
float VART::DofMover::initialTime [protected] |
Time of predicted activation (normalized).
Definition at line 55 of file dofmover.h.
Referenced by VART::JointMover::CopyFrom(), VART::NoisyDofMover::Initialize(), Initialize(), VART::NoisyDofMover::Move(), Move(), VART::operator<<(), and VART::NoisyDofMover::SetNoise().
float VART::DofMover::activationTime [protected] |
Time of actual activation (normalized).
Definition at line 57 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), and Move().
float VART::DofMover::finalTime [protected] |
Normalized deactivation time.
Definition at line 59 of file dofmover.h.
Referenced by VART::JointMover::CopyFrom(), VART::NoisyDofMover::Initialize(), Initialize(), VART::NoisyDofMover::Move(), Move(), VART::NoisyDofMover::Noise(), and VART::operator<<().
float VART::DofMover::positionRange [protected] |
How far from target at activation time.
Definition at line 61 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), and Move().
float VART::DofMover::timeRange [protected] |
How much time to reach target position.
Definition at line 63 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), and Move().
Dof* VART::DofMover::targetDofPtr [protected] |
Target DOF.
Definition at line 65 of file dofmover.h.
Referenced by VART::JointMover::AddDofMover(), VART::JointMover::AddNoisyDofMover(), GetTarget(), VART::NoisyDofMover::Move(), Move(), and SetDof().
bool VART::DofMover::active [protected] |
Tells whether a DOF mover is active.
An active DOF mover has already checked its initial position and therefore knows the speed needed to get to target position. An inactive DOF mover must do these computations before moving its target DOF.
Definition at line 71 of file dofmover.h.
Referenced by DofMover(), VART::NoisyDofMover::Move(), and Move().
float VART::DofMover::goalTime [static, protected] |
Time of next snapshot, normalized to joint movement's duration.
Definition at line 74 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), VART::JointMover::Move(), Move(), and VART::NoisyDofMover::Noise().
bool VART::DofMover::cycle [static, protected] |
Indicates whether the current action is cyclic.
Definition at line 76 of file dofmover.h.
Referenced by VART::JointAction::Move(), and VART::Action::Move().
const VART::Interpolator * VART::DofMover::interpolatorPtr = NULL [static, protected] |
Position interpolator.
Definition at line 78 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), VART::JointMover::Move(), and Move().
unsigned int VART::DofMover::priority = 1 [static, protected] |
Priority of active action.
Definition at line 80 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), VART::JointAction::Move(), Move(), and VART::Action::Move().
float VART::DofMover::minimumDuration [static, protected] |
Minimum duration when computing motion paths.
Definition at line 82 of file dofmover.h.
Referenced by VART::NoisyDofMover::Move(), VART::JointMover::Move(), and Move().
The documentation for this class was generated from the following files:
