ROBOT_CONTROL_INTERFACE Class Reference

Robot control methods to be implemented by plugins. More...

#include <robot_control.h>

Public Member Functions
bool	InitController (const char *configurationString)
	Calls plugin specific robot controller initialization More...
void	EndController (void)
	Calls plugin specific robot controller data deallocation More...
void	RunControlStep (DoFVariables **jointMeasuresList, DoFVariables **axisMeasuresList, DoFVariables **jointSetpointsList, DoFVariables **axisSetpointsList, double timeDelta)
	Calls plugin specific logic to process single control pass and joints/axes coordinate conversions. More...
void	SetControlState (enum ControlState controlState)
	Pass control state to trigger possible plugin specific behaviour. More...
size_t	GetJointsNumber (void)
	Get plugin specific number of joint coordinates/degrees-of-freedom. More...
const char **	GetJointNamesList (void)
	Get plugin specific names of all joints. More...
size_t	GetAxesNumber (void)
	Get plugin specific number of axis coordinates/degrees-of-freedom. More...
const char **	GetAxisNamesList (void)
	Get plugin specific names of all axes. More...
size_t	GetExtraInputsNumber (void)
	Get number of additional inputs needed for the robot control. More...
void	SetExtraInputsList (double *inputsList)
	Set list of additional inputs for the next robot control step. More...
size_t	GetExtraOutputsNumber (void)
	Get number of additional outputs provided by the robot control. More...
void	GetExtraOutputsList (double *outputsList)
	Get list of additional outputs from the last robot control step. More...

Detailed Description

Robot control methods to be implemented by plugins.

Member Function Documentation

EndController()

void EndController

(

void

)

Calls plugin specific robot controller data deallocation

GetAxesNumber()

size_t GetAxesNumber

(

void

)

Get plugin specific number of axis coordinates/degrees-of-freedom.

Returns

number of coordinates/degrees-of-freedom

GetAxisNamesList()

const char ** GetAxisNamesList

(

void

)

Get plugin specific names of all axes.

Returns

list of effector axis name strings

GetExtraInputsNumber()

size_t GetExtraInputsNumber

(

void

)

Get number of additional inputs needed for the robot control.

Returns

number of additional inputs

GetExtraOutputsList()

void GetExtraOutputsList

(

double *

outputsList

)

Get list of additional outputs from the last robot control step.

Parameters

[in,out]

outputsList

reference/pointer to list of addtional output values

GetExtraOutputsNumber()

size_t GetExtraOutputsNumber

(

void

)

Get number of additional outputs provided by the robot control.

Returns

number of additional outputs

GetJointNamesList()

const char ** GetJointNamesList

(

void

)

Get plugin specific names of all joints.

Returns

list of joint name strings

GetJointsNumber()

size_t GetJointsNumber

(

void

)

Get plugin specific number of joint coordinates/degrees-of-freedom.

Returns

number of coordinates/degrees-of-freedom

InitController()

bool InitController

(

const char *

configurationString

)

Calls plugin specific robot controller initialization

Parameters

[in]

configurationString

string containing the robot/plugin specific configuration

Returns

true on successful initialization, false otherwise

RunControlStep()

void RunControlStep	(	DoFVariables **	jointMeasuresList,
		DoFVariables **	axisMeasuresList,
		DoFVariables **	jointSetpointsList,
		DoFVariables **	axisSetpointsList,
		double	timeDelta
	)

Calls plugin specific logic to process single control pass and joints/axes coordinate conversions.

Parameters

[in,out]	jointMeasuresList	list of per degree-of-freedom control variables representing current robot joints measures
[in,out]	axisMeasuresList	list of per degree-of-freedom control variables representing current robot effector measures
[in,out]	jointSetpointsList	list of per degree-of-freedom control variables representing robot joints desired states
[in,out]	axisSetpointsList	list of per degree-of-freedom control variables representing robot effector desired states
[in]	timeDelta	time (in seconds) since the last control pass was called

SetControlState()

void SetControlState

(

enum ControlState

controlState

)

Pass control state to trigger possible plugin specific behaviour.

Parameters

[in]

controlState

member of state enumeration defined in control_definitions.h

SetExtraInputsList()

void SetExtraInputsList

(

double *

inputsList

)

Set list of additional inputs for the next robot control step.

Parameters

[in]

inputsList

reference/pointer to list of addtional input values

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

• robot_control.h