VirtualRobot::RobotConfig Class Reference

Data Structures
struct	Configuration

Public Member Functions
	RobotConfig (RobotWeakPtr robot, const std::string &name)
	RobotConfig (RobotWeakPtr robot, const std::string &name, const std::map< RobotNodePtr, float > &configs)
	RobotConfig (RobotWeakPtr robot, const std::string &name, const std::vector< Configuration > &configs)
	RobotConfig (RobotWeakPtr robot, const std::string &name, const std::vector< std::string > &robotNodes, const std::vector< float > &values)
	RobotConfig (RobotWeakPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const std::vector< float > &values)
RobotConfigPtr	clone (RobotPtr newRobot=RobotPtr())
std::string	getName () const
void	print () const
RobotPtr	getRobot ()
bool	setConfig (const Configuration &c)
bool	setConfig (RobotNodePtr node, float value)
bool	setConfig (const std::string &node, float value)
bool	setTCP (const std::string &tcpName)
bool	setTCP (RobotNodePtr tcp)
bool	hasTCP () const
RobotNodePtr	getTCP ()
bool	setJointValues ()
bool	setJointValues (RobotPtr r)
bool	hasConfig (const std::string &name) const
float	getConfig (const std::string &name) const
std::vector< RobotNodePtr >	getNodes () const
std::map< std::string, float >	getRobotNodeJointValueMap ()
std::string	toXML (int tabs=0)

Static Public Member Functions
static std::string	createXMLString (const std::map< std::string, float > &config, const std::string &name, const std::string &tcpName=std::string(), int tabs=0)

Protected Attributes
std::string	name
std::map< RobotNodePtr, float >	configs
RobotWeakPtr	robot
RobotNodePtr	tcpNode

Detailed Description

A RobotConfig is a set of joint values, associated with a robot.

Constructor & Destructor Documentation

RobotConfig() [1/5]

VirtualRobot::RobotConfig::RobotConfig	(	RobotWeakPtr	robot,
		const std::string &	name
	)

Constructor

Parameters

robot	The associated robot.
name	A name, which identifies this object.

RobotConfig() [2/5]

VirtualRobot::RobotConfig::RobotConfig	(	RobotWeakPtr	robot,
		const std::string &	name,
		const std::map< RobotNodePtr, float > &	configs
	)

RobotConfig() [3/5]

VirtualRobot::RobotConfig::RobotConfig	(	RobotWeakPtr	robot,
		const std::string &	name,
		const std::vector< Configuration > &	configs
	)

RobotConfig() [4/5]

VirtualRobot::RobotConfig::RobotConfig	(	RobotWeakPtr	robot,
		const std::string &	name,
		const std::vector< std::string > &	robotNodes,
		const std::vector< float > &	values
	)

RobotConfig() [5/5]

VirtualRobot::RobotConfig::RobotConfig	(	RobotWeakPtr	robot,
		const std::string &	name,
		const std::vector< RobotNodePtr > &	robotNodes,
		const std::vector< float > &	values
	)

Member Function Documentation

clone()

RobotConfigPtr VirtualRobot::RobotConfig::clone

(

RobotPtr

newRobot = RobotPtr()

)

Creates a copy of this object with the given robot

Parameters

newRobot

If not given, the current robot is used. otherwise the newRobot is used.

createXMLString()

std::string VirtualRobot::RobotConfig::createXMLString ( const std::map< std::string, float > &  config, const std::string &  name, const std::string &  tcpName = std::string(), int  tabs = 0  )

static

getConfig()

float VirtualRobot::RobotConfig::getConfig

(

const std::string &

name

)

const

Return the corresponding stored value. If no RobotNode with name is stored, 0.0f is returned.

getName()

std::string VirtualRobot::RobotConfig::getName

(

)

const

Returns name of this RobotConfig.

getNodes()

std::vector< RobotNodePtr > VirtualRobot::RobotConfig::getNodes

(

)

const

Return vector of all nodes that are covered by this RobotConfig.

getRobot()

VirtualRobot::RobotPtr VirtualRobot::RobotConfig::getRobot

(

)

The robot.

Returns

A shared_ptr instance of the internally stored weak pointer.

getRobotNodeJointValueMap()

std::map< std::string, float > VirtualRobot::RobotConfig::getRobotNodeJointValueMap

(

)

Returns map of RobotNodeNames with corresponding joint values.

getTCP()

RobotNodePtr VirtualRobot::RobotConfig::getTCP

(

)

hasConfig()

bool VirtualRobot::RobotConfig::hasConfig

(

const std::string &

name

)

const

Check if a configuration for a RobotNode with name is stored.

hasTCP()

bool VirtualRobot::RobotConfig::hasTCP

(

)

const

print()

void VirtualRobot::RobotConfig::print

(

)

const

setConfig() [1/3]

bool VirtualRobot::RobotConfig::setConfig

(

const Configuration &

c

)

Appends a configuration to this instance.

Returns

True on success. False if robot is not present any more (may happen due to the use of weak pointers).

setConfig() [2/3]

bool VirtualRobot::RobotConfig::setConfig	(	RobotNodePtr	node,
		float	value
	)

setConfig() [3/3]

bool VirtualRobot::RobotConfig::setConfig	(	const std::string &	node,
		float	value
	)

setJointValues() [1/2]

bool VirtualRobot::RobotConfig::setJointValues

(

)

Apply the stored configurations to the corresponding robot. RobotNodes that are not stored in this RobotConfig are not affected.

Returns

True on success. False if robot is not present any more (may happen due to the use of weak pointers).

setJointValues() [2/2]

bool VirtualRobot::RobotConfig::setJointValues

(

RobotPtr

r

)

Usually setJointValues() is sufficient for applying the joint values. But in some cases one might want to apply the joint values to a cloned robot. Therefore this method can be used.

setTCP() [1/2]

bool VirtualRobot::RobotConfig::setTCP

(

const std::string &

tcpName

)

setTCP() [2/2]

bool VirtualRobot::RobotConfig::setTCP

(

RobotNodePtr

tcp

)

toXML()

std::string VirtualRobot::RobotConfig::toXML

(

int

tabs = 0

)

Create an XML string that defines this object.

Field Documentation

configs

std::map< RobotNodePtr, float > VirtualRobot::RobotConfig::configs

protected

name

std::string VirtualRobot::RobotConfig::name

protected

robot

RobotWeakPtr VirtualRobot::RobotConfig::robot

protected

tcpNode

RobotNodePtr VirtualRobot::RobotConfig::tcpNode

protected