RobWorkProject
Public Types | Public Member Functions | List of all members
CircularPiHControlStrategy Class Reference

A AssemblyControlStrategy that can be used specifically for cylindric peg in hole operations. More...

#include <CircularPiHControlStrategy.hpp>

Inherits AssemblyControlStrategy.

Public Types

typedef rw::common::Ptr< CircularPiHControlStrategyPtr
 smart pointer type to this class
 
- Public Types inherited from AssemblyControlStrategy
typedef rw::common::Ptr< AssemblyControlStrategyPtr
 smart pointer type to this class
 

Public Member Functions

 CircularPiHControlStrategy ()
 Create new control strategy.
 
virtual ~CircularPiHControlStrategy ()
 Destructor.
 
ControlState::Ptr createState () const
 Create a new ControlState. This is usually done before calling update() the first time. More...
 
rw::common::Ptr< AssemblyControlResponseupdate (rw::common::Ptr< AssemblyParameterization > parameters, rw::common::Ptr< AssemblyState > real, rw::common::Ptr< AssemblyState > assumed, ControlState::Ptr controlState, rw::kinematics::State &state, rw::sensor::FTSensor *ftSensor, double time) const
 The main control loop. More...
 
rw::math::Transform3D getApproach (rw::common::Ptr< AssemblyParameterization > parameters)
 Get the initial relative configuration between female and male objects (uses object TCP frames as given in the AssemblyTask). More...
 
std::string getID ()
 All implementations should provide a unique id, which will be used for serialization and in the factory. More...
 
std::string getDescription ()
 A textual description of the control strategy. More...
 
rw::common::Ptr< AssemblyParameterizationcreateParameterization (const rw::common::Ptr< rw::common::PropertyMap > map)
 Construct a parameterization from a PropertyMap - this is required for deserialization and loading of a Assemblyassembly. More...
 
- Public Member Functions inherited from AssemblyControlStrategy
 AssemblyControlStrategy ()
 Create new control strategy.
 
virtual ~AssemblyControlStrategy ()
 Destructor.
 
virtual rw::common::Ptr< AssemblyControlResponseupdate (rw::common::Ptr< AssemblyParameterization > parameters, rw::common::Ptr< AssemblyState > real, rw::common::Ptr< AssemblyState > assumed, ControlState::Ptr controlState, rw::kinematics::State &state, rw::sensor::FTSensor *ftSensor, double time) const =0
 The main control loop. More...
 

Detailed Description

A AssemblyControlStrategy that can be used specifically for cylindric peg in hole operations.

This strategy mainly serves as a demonstration of how a strategy can be implemented.

Member Function Documentation

◆ createParameterization()

rw::common::Ptr<AssemblyParameterization> createParameterization ( const rw::common::Ptr< rw::common::PropertyMap map)
virtual

Construct a parameterization from a PropertyMap - this is required for deserialization and loading of a Assemblyassembly.

Parameters
map[in] the PropertyMap to construct a parameterization from.
Returns
a new AssemblyParameterization.

Implements AssemblyControlStrategy.

◆ createState()

ControlState::Ptr createState ( ) const
virtual

Create a new ControlState. This is usually done before calling update() the first time.

Returns
a new ControlState.

Reimplemented from AssemblyControlStrategy.

◆ getApproach()

rw::math::Transform3D getApproach ( rw::common::Ptr< AssemblyParameterization parameters)
virtual

Get the initial relative configuration between female and male objects (uses object TCP frames as given in the AssemblyTask).

First when approach is reached, the update() control loop will start running.

Parameters
parameters[in] the parameters used for the current task.
Returns
relative configuration between female and male objects.

Implements AssemblyControlStrategy.

◆ getDescription()

std::string getDescription ( )
virtual

A textual description of the control strategy.

Returns
a string with a description of the control strategy.

Implements AssemblyControlStrategy.

◆ getID()

std::string getID ( )
virtual

All implementations should provide a unique id, which will be used for serialization and in the factory.

Returns
a string with the unique id of the control strategy.

Implements AssemblyControlStrategy.

◆ update()

rw::common::Ptr<AssemblyControlResponse> update ( rw::common::Ptr< AssemblyParameterization parameters,
rw::common::Ptr< AssemblyState real,
rw::common::Ptr< AssemblyState assumed,
ControlState::Ptr  controlState,
rw::kinematics::State state,
rw::sensor::FTSensor ftSensor,
double  time 
) const

The main control loop.

Parameters
parameters[in] the parameters used for the current task.
real[in] the real AssemblyState (can be NULL if not known).
assumed[in] the assumed AssemblyState (should be set by the AssemblyControlStrategy).
controlState[in] a ControlState previously created by the createState() function.
state[in] the real state of the system.
ftSensor[in] a pointer to the male force/torque sensor.
time[in] the current time.
Returns
a AssemblyControlResponse with a new target for the male controller (or NULL if nothing should be done).

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