SuctionCupController Class Reference

controlls the forces and the internal states of the bodies that makes a suction cup. The controller depends on the contacts of the elastic suctioncup geometry with other bodies and the class gets this feedback from a SuctionCupSensor More...

#include <SuctionCupController.hpp>

Inherits SimulatedController.

Classes
struct	Spring

Public Types
typedef rw::core::Ptr< SuctionCupController >	Ptr
Public Types inherited from SimulatedController
typedef rw::core::Ptr< SimulatedController >	Ptr
	smart pointer type of this class
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	SuctionCupController (const std::string &name, rw::core::Ptr< rwsim::dynamics::SuctionCup > dev)
std::string	getControllerName ()
	get the name of this controller More...
void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	updates/steps the controller with time step dt. It will update the state state accordingly More...
void	reset (const rw::kinematics::State &state)
	reset the controller to the applied state More...
rwlibs::control::Controller *	getController ()
void	setEnabled (bool enabled)
	disable or enable this controller More...
bool	isEnabled () const
	true if this controller is enabled More...
Public Member Functions inherited from SimulatedController
virtual rw::core::Ptr< rwlibs::control::Controller >	getControllerHandle (rw::core::Ptr< rwlibs::simulation::Simulator > sim)=0
	get the controller handle eg. statefull handle, associated with this simulated controller More...
rw::core::Ptr< rw::models::ControllerModel >	getControllerModel ()
	get the controllermodel of this simulated controller 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...

Additional Inherited Members
Protected Member Functions inherited from SimulatedController
	SimulatedController (rw::models::ControllerModel::Ptr model)
	Constructor. 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 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

controlls the forces and the internal states of the bodies that makes a suction cup. The controller depends on the contacts of the elastic suctioncup geometry with other bodies and the class gets this feedback from a SuctionCupSensor

Member Function Documentation

getControllerName()

std::string getControllerName ( )

inlinevirtual

get the name of this controller

Returns

name of this controller

Implements SimulatedController.

isEnabled()

bool isEnabled ( ) const

inlinevirtual

true if this controller is enabled

Returns

Implements SimulatedController.

reset()

void reset ( const rw::kinematics::State &  state )

virtual

reset the controller to the applied state

Parameters

state

[in] the state to reset to

Implements SimulatedController.

setEnabled()

void setEnabled ( bool  enabled )

inlinevirtual

disable or enable this controller

Parameters

enabled

Implements SimulatedController.

update()

void update ( const rwlibs::simulation::Simulator::UpdateInfo &  info, rw::kinematics::State &  state  )

virtual

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

info	[in] update information related to the time step.
state	[in/out] the current state

Implements SimulatedController.

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

• SuctionCupController.hpp