DynamicDevice Class Reference

base class for dynamic devices that has dynamic state values such as velocity and acceleration. More...

#include <DynamicDevice.hpp>

Inherits Stateless.

Inherited by KinematicDevice, RigidDevice, and SuctionCup.

Public Types
typedef rw::core::Ptr< DynamicDevice >	Ptr
	Smart pointer type for a DynamicDevice.
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
virtual	~DynamicDevice ()
	Destructor.
virtual rw::math::Q	getQ (const rw::kinematics::State &state)
	gets the position
virtual void	setQ (const rw::math::Q &q, rw::kinematics::State &state)
	Set the position of the joints. More...
rw::models::Device &	getModel ()
	gets the kinematic model of the DynamicDevice.
rw::models::Device::Ptr	getKinematicModel ()
	Get the kinematic model of the device. More...
dynamics::Body::Ptr	getBase ()
	Get the base of the device. More...
virtual rw::math::Q	getJointVelocities (const rw::kinematics::State &state)=0
	get the current velocities of all joints More...
virtual void	setJointVelocities (const rw::math::Q &vel, rw::kinematics::State &state)=0
	Set the velocities of the joints. More...
virtual rw::math::Q	getVelocity (const rw::kinematics::State &state)
	deprecated More...
virtual void	setVelocity (const rw::math::Q &vel, rw::kinematics::State &state)
	Set the velocities of the joints. More...
virtual void	setMotorVelocityTargets (const rw::math::Q &vel, rw::kinematics::State &state)
	Set motor targets for the joints. More...
virtual const std::vector< Body::Ptr > &	getLinks ()=0
	Get all links in the dynamic device. More...
const std::string &	getName () const
	Get the name of the dynamic device. More...
Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor
virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...
virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.
virtual void	unregister ()
	unregisters all state data of this stateless object
StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...
const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...
bool	isRegistered ()
	Check if object has registered its state. More...

Protected Member Functions
	DynamicDevice (dynamics::Body::Ptr base, rw::models::Device::Ptr dev)
	Construct new dynamic device. More...
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor
template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization
void	add (StateData *data)
	Add data. More...
void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes
rw::models::Device::Ptr	_dev
	The kinematic model.
dynamics::Body::Ptr	_base
	The base of the device.
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.
std::vector< rw::core::Ptr< StateData > >	_datas
	Data.
StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

base class for dynamic devices that has dynamic state values such as velocity and acceleration.

Constructor & Destructor Documentation

DynamicDevice()

DynamicDevice ( dynamics::Body::Ptr  base, rw::models::Device::Ptr  dev  )

inlineprotected

Construct new dynamic device.

Parameters

base	[in] base of the device.
dev	[in] the kinematic model.

Member Function Documentation

getBase()

dynamics::Body::Ptr getBase ( )

inline

Get the base of the device.

Returns

the base.

getJointVelocities()

virtual rw::math::Q getJointVelocities ( const rw::kinematics::State &  state )

pure virtual

get the current velocities of all joints

Parameters

state

[in] the state

Returns

velocites of all joints

Implemented in SuctionCup, RigidDevice, and KinematicDevice.

getKinematicModel()

rw::models::Device::Ptr getKinematicModel ( )

inline

Get the kinematic model of the device.

Returns

the kinematic device.

getLinks()

virtual const std::vector<Body::Ptr>& getLinks ( )

pure virtual

Get all links in the dynamic device.

Returns

a vector with the links.

Implemented in SuctionCup, RigidDevice, and KinematicDevice.

getName()

const std::string& getName ( ) const

inline

Get the name of the dynamic device.

Returns

the name.

getVelocity()

virtual rw::math::Q getVelocity ( const rw::kinematics::State &  state )

inlinevirtual

deprecated

get the current velocities of all joints

Parameters

state

[in] the state

Returns

velocites of all joints

Deprecated:

Use getJointVelocities() instead!

setJointVelocities()

virtual void setJointVelocities ( const rw::math::Q &  vel, rw::kinematics::State &  state  )

pure virtual

Set the velocities of the joints.

Parameters

vel	[in] the joint velocities.
state	[out] the state with updated velocities.

Implemented in SuctionCup, KinematicDevice, and RigidDevice.

setMotorVelocityTargets()

virtual void setMotorVelocityTargets ( const rw::math::Q &  vel, rw::kinematics::State &  state  )

inlinevirtual

Set motor targets for the joints.

Parameters

vel	[in] velocity targets.
state	[out] the state with new velocity targets.

Reimplemented in RigidDevice.

setQ()

virtual void setQ ( const rw::math::Q &  q, rw::kinematics::State &  state  )

inlinevirtual

Set the position of the joints.

Parameters

q	[in] the positions.
state	[out] the state with new positions.

setVelocity()

virtual void setVelocity ( const rw::math::Q &  vel, rw::kinematics::State &  state  )

inlinevirtual

Set the velocities of the joints.

Parameters

vel	[in] the joint velocities.
state	[out] the state with updated velocities.

Deprecated:

Use setJointVelocities() instead!

---

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

• DynamicDevice.hpp