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Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
AssemblyState Class Reference

Information about the trajectory of the objects and sensor information during execution. More...

#include <AssemblyState.hpp>

Public Types

typedef rw::common::Ptr< AssemblyStatePtr
 smart pointer type to this class
 

Public Member Functions

 AssemblyState ()
 Constructor of empty AssemblyState.
 
 AssemblyState (rw::common::Ptr< rwlibs::task::CartesianTarget > target)
 Construct AssemblyState from CartesianTarget. More...
 
virtual ~AssemblyState ()
 Destructor.
 

Static Public Member Functions

static rw::common::Ptr< rwlibs::task::CartesianTargettoCartesianTarget (const AssemblyState &state)
 Convert to CartesianTarget representation. More...
 

Public Attributes

std::string phase
 A string describing the current phase of the assembly operation.
 
rw::math::Transform3D femaleOffset
 The offset of the female object relative to the default pose (should only be set if object moves freely).
 
rw::math::Transform3D maleOffset
 The offset of the male object relative to the default pose (should only be set if object moves freely).
 
rw::math::Transform3D femaleTmale
 The relative transformation from female to male object (in the TCP frames set in the AssemblyTask).
 
rw::math::Wrench6D ftSensorMale
 The reading of the Force/Torque sensor for the male object (in the FTSensor frame).
 
rw::math::Wrench6D ftSensorFemale
 The reading of the Force/Torque sensor for the female object (in the FTSensor frame).
 
bool contact
 True if there is contact between the two objects.
 
rw::trajectory::Path< rw::math::Transform3D<> > maleflexT
 Transformations for specified male frames.
 
rw::trajectory::Path< rw::math::Transform3D<> > femaleflexT
 Transformations for specified female frames.
 
rw::trajectory::Path< rw::math::Transform3D<> > contacts
 Contacts detected.
 
rw::math::Vector3D maxContactForce
 Maximum contact force detected (of the contacts in the contacts list).
 

Detailed Description

Information about the trajectory of the objects and sensor information during execution.

This information is serializable through the CartesianTarget format.

Constructor & Destructor Documentation

◆ AssemblyState()

Construct AssemblyState from CartesianTarget.

Parameters
target[in] the CartesianTarget.

Member Function Documentation

◆ toCartesianTarget()

static rw::common::Ptr<rwlibs::task::CartesianTarget> toCartesianTarget ( const AssemblyState state)
static

Convert to CartesianTarget representation.

Parameters
state[in] the state to convert.
Returns
new CartesianTarget.

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