Controller for DOF movement. More...

#include <dofmover.h>

Inheritance diagram for VART::DofMover:

Public Member Functions
const Dof *	GetTarget ()
	Returns a pointer to the target DOF. More...

Protected Member Functions
	DofMover ()
	Creates an unitialized DOF mover. More...

	DofMover (const VART::DofMover &dofMover)
	Creates a copy of an DofMover. All data are copied, except the 'active' atribute, that is set to false. More...

virtual	~DofMover ()

virtual void	Initialize (float iniTime, float finTime, float finPos)

void	SetDof (Dof *dofPtr)
	Sets the target DOF. More...

virtual void	Move ()
	Changes target DOF. More...

void	GetFinalTime (std::list< float > *resultPtr)
	Adds the final time to the list. More...

Protected Attributes
float	targetPosition
	Target position. More...

float	initialPosition
	Position of target DOF upon activation. More...

float	initialTime
	Time of predicted activation (normalized). More...

float	activationTime
	Time of actual activation (normalized). More...

float	finalTime
	Normalized deactivation time. More...

float	positionRange
	How far from target at activation time. More...

float	timeRange
	How much time to reach target position. More...

Dof *	targetDofPtr
	Target DOF. More...

bool	active
	Tells whether a DOF mover is active. More...

Static Protected Attributes
static float	goalTime
	Time of next snapshot, normalized to joint movement's duration. More...

static bool	cycle
	Indicates whether the current action is cyclic. More...

static const Interpolator *	interpolatorPtr = NULL
	Position interpolator. More...

static unsigned int	priority = 1
	Priority of active action. More...

static float	minimumDuration
	Minimum duration when computing motion paths. More...

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

Creates an unitialized DOF mover.

Definition at line 18 of file dofmover.cpp.

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 22 of file dofmover.cpp.

virtual VART::DofMover::~DofMover ( )

inlineprotectedvirtual

Definition at line 39 of file dofmover.h.

Member Function Documentation

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.

Definition at line 77 of file dofmover.cpp.

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
	)

protectedvirtual

Reimplemented in VART::NoisyDofMover.

Definition at line 36 of file dofmover.cpp.

Referenced by VART::JointMover::AddDofMover().

void VART::DofMover::Move ( )

protectedvirtual

Changes target DOF.

Reimplemented in VART::NoisyDofMover.

Definition at line 44 of file dofmover.cpp.

void VART::DofMover::SetDof ( Dof * dofPtr )

inlineprotected

Sets the target DOF.

Definition at line 42 of file dofmover.h.

References targetDofPtr.

Referenced by VART::JointMover::AddDofMover(), and VART::JointMover::AddNoisyDofMover().

Friends And Related Function Documentation

friend class Action

friend

Definition at line 26 of file dofmover.h.

friend class JointAction

friend

Definition at line 27 of file dofmover.h.

friend class JointMover

friend

Definition at line 25 of file dofmover.h.

std::ostream& operator<<	(	std::ostream &	output,
		const DofMover &	mover
	)

friend

Member Data Documentation

float VART::DofMover::activationTime

protected

Time of actual activation (normalized).

Definition at line 57 of file dofmover.h.

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.

bool VART::DofMover::cycle

staticprotected

Indicates whether the current action is cyclic.

Definition at line 76 of file dofmover.h.

Referenced by VART::JointAction::Move(), and VART::Action::Move().

float VART::DofMover::finalTime

protected

Normalized deactivation time.

Definition at line 59 of file dofmover.h.

Referenced by VART::JointMover::CopyFrom().

float VART::DofMover::goalTime

staticprotected

Time of next snapshot, normalized to joint movement's duration.

Definition at line 74 of file dofmover.h.

Referenced by VART::JointMover::Move().

float VART::DofMover::initialPosition

protected

Position of target DOF upon activation.

Definition at line 53 of file dofmover.h.

float VART::DofMover::initialTime

protected

Time of predicted activation (normalized).

Definition at line 55 of file dofmover.h.

Referenced by VART::JointMover::CopyFrom().

const VART::Interpolator * VART::DofMover::interpolatorPtr = NULL

staticprotected

Position interpolator.

Definition at line 78 of file dofmover.h.

Referenced by VART::JointMover::Move().

float VART::DofMover::minimumDuration

staticprotected

Minimum duration when computing motion paths.

Definition at line 82 of file dofmover.h.

Referenced by VART::JointMover::Move().

float VART::DofMover::positionRange

protected

How far from target at activation time.

Definition at line 61 of file dofmover.h.

unsigned int VART::DofMover::priority = 1

staticprotected

Priority of active action.

Definition at line 80 of file dofmover.h.

Referenced by VART::JointAction::Move(), and VART::Action::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(), and SetDof().

float VART::DofMover::targetPosition

protected

Target position.

Definition at line 51 of file dofmover.h.

Referenced by VART::JointMover::CopyFrom().

float VART::DofMover::timeRange

protected

How much time to reach target position.

Definition at line 63 of file dofmover.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation