#include <PowerCubeSim.h>

Public Types
enum	PC_CTRL_STATE { PC_CTRL_OK = 0, PC_CTRL_NOT_REFERENCED = -1, PC_CTRL_ERR = -2, PC_CTRL_POW_VOLT_ERR = -3 }
	Looks for connected Modules and returns their Ids in a vector. More...
Public Member Functions
int	Close ()
bool	getConfig (std::vector< double > &result)
	Returns the current Joint Angles.
std::vector< double >	getCurrentAngularMaxAccel ()
std::vector< double >	getCurrentAngularMaxVel ()
std::string	getErrorMessage () const
bool	getJointVelocities (std::vector< double > &result)
	Returns the current Angular velocities (Rad/s)
vector< int >	getModuleMap () const
bool	getStatusMoving (int cubeNo) const
bool	Init (PowerCubeCtrlParams *params)
bool	isInitialized () const
void	millisleep (unsigned int milliseconds) const
bool	MoveJointSpaceSync (const std::vector< double > &Angle)
	same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take
bool	MoveVel (const std::vector< double > &vel)
	Moves all cubes by the given velocities.
	PowerCubeSim ()
void	setCurrentAngles (std::vector< double > Angles)
void	setCurrentJointVelocities (std::vector< double > Angles)
bool	setMaxAcceleration (double radPerSecSquared)
	Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
bool	setMaxAcceleration (const std::vector< double > &radPerSecSquared)
bool	setMaxVelocity (double radpersec)
	Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...
bool	setMaxVelocity (const std::vector< double > &radpersec)
void	setStatusMoving (int cubeNo, bool moving)
bool	statusAcc ()
	Returs true if any of the Joints are accelerating.
bool	statusDec ()
	Returns true if any of the Joints are decelerating.
bool	statusMoving ()
	Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.
bool	statusMoving (int cubeNo)
bool	Stop ()
	Stops the Manipulator immediately.
	~PowerCubeSim ()
Public Attributes
double	maxVel
Protected Member Functions
int	startSimulatedMovement (std::vector< double > target)
double	timeRampMove (double dtheta, double vnow, double v, double a)
	Tells the Modules not to start moving until PCubel_startMotionAll is called.
Protected Attributes
Jointd	m_AngleOffsets
pthread_mutex_t	m_Angles_Mutex
pthread_mutex_t	m_AngularVel_Mutex
std::vector< double >	m_CurrentAngles
std::vector< double >	m_CurrentAngularMaxAccel
std::vector< double >	m_CurrentAngularMaxVel
std::vector< double >	m_CurrentAngularVel
int	m_Dev
int	m_DOF
std::string	m_ErrorMessage
vector< int >	m_IdModules
int	m_Initialized
std::vector< double >	m_maxAcc
std::vector< double >	m_maxVel
pthread_mutex_t	m_Movement_Mutex
std::vector< bool >	m_MovementInProgress
int	m_NumOfModules
SimThreadArgs **	m_SimThreadArgs
pthread_t *	m_SimThreadID
float	maxAcc

Detailed Description

Definition at line 62 of file PowerCubeSim.h.

Member Enumeration Documentation

enum PowerCubeSim::PC_CTRL_STATE

Looks for connected Modules and returns their Ids in a vector.

Waits until all Modules are homed, writes status comments to out.

Enumerator:

PC_CTRL_OK
PC_CTRL_NOT_REFERENCED
PC_CTRL_ERR
PC_CTRL_POW_VOLT_ERR

Definition at line 142 of file PowerCubeSim.h.

Constructor & Destructor Documentation

PowerCubeSim::PowerCubeSim ( )

Definition at line 42 of file PowerCubeSim.cpp.

PowerCubeSim::~PowerCubeSim ( )

The Deconstructor

Definition at line 124 of file PowerCubeSim.cpp.

Member Function Documentation

int PowerCubeSim::Close ( ) [inline]

Definition at line 80 of file PowerCubeSim.h.

bool PowerCubeSim::getConfig ( std::vector< double > & result )

Returns the current Joint Angles.

Definition at line 135 of file PowerCubeSim.cpp.

std::vector<double> PowerCubeSim::getCurrentAngularMaxAccel ( ) [inline]

Definition at line 166 of file PowerCubeSim.h.

std::vector<double> PowerCubeSim::getCurrentAngularMaxVel ( ) [inline]

Definition at line 162 of file PowerCubeSim.h.

std::string PowerCubeSim::getErrorMessage ( ) const [inline]

Definition at line 75 of file PowerCubeSim.h.

bool PowerCubeSim::getJointVelocities ( std::vector< double > & result )

Returns the current Angular velocities (Rad/s)

Definition at line 156 of file PowerCubeSim.cpp.

vector<int> PowerCubeSim::getModuleMap ( ) const [inline]

Definition at line 158 of file PowerCubeSim.h.

bool PowerCubeSim::getStatusMoving ( int cubeNo ) const [inline]

Definition at line 153 of file PowerCubeSim.h.

bool PowerCubeSim::Init ( PowerCubeCtrlParams * params )

The Init function opens the bus and initializes it. Furthermore the Id`s of the Cubes are taken and mapped. These function has to be used before the cubes can be positioned after the power up.

Parameters:

m_DOF gives the number of Degrees of freedom of the manipulator which is connected (the gripper is not counted as DOF)

Definition at line 58 of file PowerCubeSim.cpp.

bool PowerCubeSim::isInitialized ( ) const [inline]

Definition at line 70 of file PowerCubeSim.h.

void PowerCubeSim::millisleep ( unsigned int milliseconds ) const

Definition at line 672 of file PowerCubeSim.cpp.

bool PowerCubeSim::MoveJointSpaceSync ( const std::vector< double > & Angle )

same as MoveJointSpace, but final angles should by reached simultaniously! Returns the time that the movement will take

same as MoveJointSpace, but final angles should by reached simultaniously!

Definition at line 205 of file PowerCubeSim.cpp.

bool PowerCubeSim::MoveVel ( const std::vector< double > & vel )

Moves all cubes by the given velocities.

Starts moving all cubes with the given velocities.

Definition at line 338 of file PowerCubeSim.cpp.

void PowerCubeSim::setCurrentAngles ( std::vector< double > Angles )

Definition at line 174 of file PowerCubeSim.cpp.

void PowerCubeSim::setCurrentJointVelocities ( std::vector< double > Angles )

Definition at line 189 of file PowerCubeSim.cpp.

bool PowerCubeSim::setMaxAcceleration ( double radPerSecSquared )

Sets the maximum angular acceleration (rad/s^2) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Definition at line 385 of file PowerCubeSim.cpp.

bool PowerCubeSim::setMaxAcceleration ( const std::vector< double > & radPerSecSquared )

Definition at line 396 of file PowerCubeSim.cpp.

bool PowerCubeSim::setMaxVelocity ( double radpersec )

Sets the maximum angular velocity (rad/s) for the Joints, use with care! A Value of 0.5 is already pretty fast, you probably don't want anything more than one...

Definition at line 365 of file PowerCubeSim.cpp.

bool PowerCubeSim::setMaxVelocity ( const std::vector< double > & radpersec )

Definition at line 374 of file PowerCubeSim.cpp.

void PowerCubeSim::setStatusMoving	(	int	cubeNo,
		bool	moving
	)

Definition at line 455 of file PowerCubeSim.cpp.

int PowerCubeSim::startSimulatedMovement ( std::vector< double > target ) [protected]

Definition at line 652 of file PowerCubeSim.cpp.

bool PowerCubeSim::statusAcc ( )

Returs true if any of the Joints are accelerating.

Definition at line 485 of file PowerCubeSim.cpp.

bool PowerCubeSim::statusDec ( )

Returns true if any of the Joints are decelerating.

Definition at line 469 of file PowerCubeSim.cpp.

bool PowerCubeSim::statusMoving ( )

Returns true if any of the Joints are still moving Should also return true if Joints are accelerating or decelerating.

Returns true if some cubes are still moving.

Definition at line 409 of file PowerCubeSim.cpp.

bool PowerCubeSim::statusMoving ( int cubeNo )

Definition at line 434 of file PowerCubeSim.cpp.

bool PowerCubeSim::Stop ( )

Stops the Manipulator immediately.

Definition at line 356 of file PowerCubeSim.cpp.

double PowerCubeSim::timeRampMove	(	double	dtheta,
		double	vnow,
		double	v,
		double	a
	)		`[protected]`

Tells the Modules not to start moving until PCubel_startMotionAll is called.

Returns the time for a ramp-move about dtheta with v, a would take, assuming the module is currently moving at vnowClose.

Execute move commands immediately from now on: Returns the time for a ramp-move about dtheta with v, a would take, assuming the module is currently moving at vnowClose

Definition at line 296 of file PowerCubeSim.cpp.