ModelActuator class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelActuator:

Public Types
enum	ActuatorType { TYPE_LINEAR, TYPE_ROTATIONAL }

enum	ControlMode { CONTROL_VELOCITY, CONTROL_POSITION }

Public Types inherited from Stg::Model
enum	callback_type_t { CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT, CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE, CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY, __CB_TYPE_COUNT }

Public Member Functions
point3_t	GetAxis () const

double	GetMaxPosition () const

double	GetMinPosition () const

double	GetPosition () const

double	GetSpeed () const

ActuatorType	GetType () const

void	GoTo (double pose)

virtual void	Load ()

	ModelActuator (World world, Model parent, const std::string &type)

void	SetSpeed (double speed)

virtual void	Shutdown ()

virtual void	Startup ()

virtual void	Update ()

	~ModelActuator ()

Public Member Functions inherited from Stg::Model
Block *	AddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)

void	AddCallback (callback_type_t type, model_callback_t cb, void *user)

void	AddFlag (Flag *flag)

void	AddToPose (const Pose &pose)

void	AddToPose (double dx, double dy, double dz, double da)

void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)

void	BecomeParentOf (Model *child)

int	CallCallbacks (callback_type_t type)

void	ClearBlocks ()

bool	DataIsFresh () const

void	Disable ()

void	Enable ()

PowerPack *	FindPowerPack () const

Model *	GetChild (const std::string &name) const

Color	GetColor () const

usec_t	GetEnergyInterval () const

int	GetFiducialReturn () const

unsigned int	GetFlagCount () const

Geom	GetGeom () const

Pose	GetGlobalPose () const

Velocity	GetGlobalVelocity () const

uint32_t	GetId () const

usec_t	GetInterval ()

kg_t	GetMassOfChildren () const

const std::string &	GetModelType () const

Pose	GetPose () const

std::string	GetSayString ()

unsigned int	GetSubscriptionCount () const

kg_t	GetTotalMass () const

Model *	GetUnsubscribedModelOfType (const std::string &type) const

Model *	GetUnusedModelOfType (const std::string &type)

usec_t	GetUpdateInterval () const

World *	GetWorld () const

Pose	GlobalToLocal (const Pose &pose) const

bool	HasSubscribers () const

void	InitControllers ()

bool	IsAntecedent (const Model *testmod) const

bool	IsDescendent (const Model *testmod) const

bool	IsRelated (const Model *testmod) const

void	Load (Worldfile *wf, int wf_entity)

void	LoadBlock (Worldfile *wf, int entity)

void	LoadControllerModule (const char *lib)

Pose	LocalToGlobal (const Pose &pose) const

point_t	LocalToGlobal (const point_t &pt) const

std::vector< point_int_t >	LocalToPixels (const std::vector< point_t > &local) const

	Model (World world, Model parent=NULL, const std::string &type="model", const std::string &name="")

	Model ()

void	NeedRedraw ()

Model *	Parent () const

void	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax)

virtual void	PopColor ()

Flag *	PopFlag ()

std::string	PoseString ()

virtual void	Print (char *prefix) const

virtual const char *	PrintWithPose () const

virtual void	PushColor (Color col)

virtual void	PushColor (double r, double g, double b, double a)

void	PushFlag (Flag *flag)

void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)

void	Redraw ()

int	RemoveCallback (callback_type_t type, model_callback_t callback)

void	RemoveFlag (Flag *flag)

void	RemoveVisualizer (Visualizer *custom_visual)

Model *	Root ()

virtual void	Save ()

void	Say (const std::string &str)

void	SetBlobReturn (bool val)

void	SetBoundary (bool val)

void	SetColor (Color col)

void	SetFiducialKey (int key)

void	SetFiducialReturn (int fid)

void	SetFriction (double friction)

void	SetGeom (const Geom &src)

void	SetGlobalPose (const Pose &gpose)

void	SetGlobalVelocity (const Velocity &gvel)

void	SetGravityReturn (bool val)

void	SetGripperReturn (bool val)

void	SetGuiGrid (bool val)

void	SetGuiMove (bool val)

void	SetGuiNose (bool val)

void	SetGuiOutline (bool val)

void	SetMapResolution (meters_t res)

void	SetMass (kg_t mass)

void	SetObstacleReturn (bool val)

int	SetParent (Model *newparent)

void	SetPose (const Pose &pose)

void	SetRangerReturn (double val)

void	SetRangerReturn (bool val)

void	SetStall (bool stall)

void	SetStickyReturn (bool val)

virtual void	SetToken (const std::string &str)

void	SetWatts (watts_t watts)

void	SetWorldfile (Worldfile *wf, int wf_entity)

bool	Stalled () const

void	Subscribe ()

void	Unsubscribe ()

virtual	~Model ()

Public Member Functions inherited from Stg::Ancestor
virtual void	AddChild (Model *mod)

	Ancestor ()

void	ForEachDescendant (model_callback_t func, void *arg)

std::vector< Model * > &	GetChildren ()

void *	GetProperty (std::string &key)

virtual void	RemoveChild (Model *mod)

void	SetProperty (std::string &key, void *value)

const char *	Token () const

const std::string &	TokenStr () const

virtual	~Ancestor ()

Private Attributes
ActuatorType	actuator_type

point3_t	axis

ControlMode	control_mode

double	cosa

double	goal

Pose	InitialPose

double	max_position

double	max_speed

double	min_position

double	pos

double	sina

double	start_position

Additional Inherited Members
Static Public Member Functions inherited from Stg::Model
static Model *	LookupId (uint32_t id)

Public Attributes inherited from Stg::Model
class Stg::Model::Visibility	vis

Static Public Attributes inherited from Stg::Model
static std::map< std::string, creator_t >	name_map

Protected Member Functions inherited from Stg::Model
void	AppendTouchingModels (std::set< Model * > &touchers)

void	CallUpdateCallbacks (void)

void	CommitTestedPose ()

virtual void	DataVisualize (Camera *cam)

void	DataVisualizeTree (Camera *cam)

virtual void	DrawBlocks ()

void	DrawBlocksTree ()

void	DrawBoundingBox ()

void	DrawBoundingBoxTree ()

void	DrawFlagList ()

void	DrawGrid ()

void	DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)

void	DrawOrigin ()

void	DrawOriginTree ()

virtual void	DrawPicker ()

void	DrawPose (Pose pose)

virtual void	DrawSelected (void)

virtual void	DrawStatus (Camera *cam)

void	DrawStatusTree (Camera *cam)

void	DrawTrailArrows ()

void	DrawTrailBlocks ()

void	DrawTrailFootprint ()

void	Map (unsigned int layer)

void	Map ()

void	MapFromRoot (unsigned int layer)

void	MapWithChildren (unsigned int layer)

meters_t	ModelHeight () const

void	PopCoords ()

void	PushLocalCoords ()

RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)

void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)

RaytraceResult	Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)

void	Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)

void	RegisterOption (Option *opt)

Model *	TestCollision ()

void	UnMap (unsigned int layer)

void	UnMap ()

void	UnMapFromRoot (unsigned int layer)

void	UnMapWithChildren (unsigned int layer)

virtual void	UpdateCharge ()

void	UpdateTrail ()

Protected Member Functions inherited from Stg::Ancestor
Ancestor &	Load (Worldfile *wf, int section)

void	Save (Worldfile *wf, int section)

Static Protected Member Functions inherited from Stg::Model
static int	UpdateWrapper (Model mod, void arg)

Protected Attributes inherited from Stg::Model
bool	alwayson

BlockGroup	blockgroup

int	blocks_dl

int	boundary

std::vector< std::set< cb_t > >	callbacks

Color	color

std::list< Visualizer * >	cv_list

bool	data_fresh

bool	disabled

unsigned int	event_queue_num

std::list< Flag * >	flag_list

double	friction

Geom	geom

class Stg::Model::GuiState	gui

bool	has_default_block

uint32_t	id

usec_t	interval
	time between updates in usec More...

usec_t	interval_energy
	time between updates of powerpack in usec More...

usec_t	last_update
	time of last update in us More...

bool	log_state
	iff true, model state is logged More...

meters_t	map_resolution

kg_t	mass

Model *	parent

Pose	pose

PowerPack *	power_pack

std::list< PowerPack * >	pps_charging

Stg::Model::RasterVis	rastervis

bool	rebuild_displaylist
	iff true, regenerate block display list before redraw More...

std::string	say_string
	if non-empty, this string is displayed in the GUI More...

bool	stack_children
	whether child models should be stacked on top of this model or not More...

bool	stall
	Set to true iff the model collided with something else. More...

int	subs
	the number of subscriptions to this model More...

bool	thread_safe

std::vector< TrailItem >	trail

unsigned int	trail_index

const std::string	type

bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType() More...

watts_t	watts
	power consumed by this model More...

watts_t	watts_give

watts_t	watts_take

Worldfile *	wf

int	wf_entity

World *	world

WorldGui *	world_gui

Protected Attributes inherited from Stg::Ancestor
std::map< std::string, unsigned int >	child_type_counts

std::vector< Model * >	children

bool	debug

std::map< std::string, void * >	props

std::string	token

Static Protected Attributes inherited from Stg::Model
static uint64_t	trail_interval

static unsigned int	trail_length

Detailed Description

ModelActuator class

Definition at line 3053 of file stage.hh.

Member Enumeration Documentation

enum Stg::ModelActuator::ActuatorType

Define an actuator type

Enumerator
TYPE_LINEAR
TYPE_ROTATIONAL

Definition at line 3063 of file stage.hh.

enum Stg::ModelActuator::ControlMode

Define a actuator control method

Enumerator
CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 3057 of file stage.hh.

Constructor & Destructor Documentation

ModelActuator::ModelActuator	(	World *	world,
		Model *	parent,
		const std::string &	type
	)

Definition at line 62 of file model_actuator.cc.

ModelActuator::~ModelActuator ( void )

Definition at line 87 of file model_actuator.cc.

Member Function Documentation

point3_t Stg::ModelActuator::GetAxis ( ) const

inline

Definition at line 3110 of file stage.hh.

double Stg::ModelActuator::GetMaxPosition ( ) const

inline

Definition at line 3106 of file stage.hh.

double Stg::ModelActuator::GetMinPosition ( ) const

inline

Definition at line 3107 of file stage.hh.

double Stg::ModelActuator::GetPosition ( ) const

inline

Definition at line 3105 of file stage.hh.

double Stg::ModelActuator::GetSpeed ( ) const

inline

Definition at line 3099 of file stage.hh.

ActuatorType Stg::ModelActuator::GetType ( ) const

inline

Definition at line 3109 of file stage.hh.

void ModelActuator::GoTo ( double pose )

Sets the control mode to CONTROL_POSITION and sets the goal pose

Definition at line 319 of file model_actuator.cc.

void ModelActuator::Load ( void )

virtual

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 92 of file model_actuator.cc.

void ModelActuator::SetSpeed ( double speed )

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

Definition at line 312 of file model_actuator.cc.

void ModelActuator::Shutdown ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 300 of file model_actuator.cc.

void ModelActuator::Startup ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 293 of file model_actuator.cc.

void ModelActuator::Update ( void )

virtual

Reimplemented from Stg::Model.

Definition at line 184 of file model_actuator.cc.

Member Data Documentation

ActuatorType Stg::ModelActuator::actuator_type

private

Definition at line 3078 of file stage.hh.

point3_t Stg::ModelActuator::axis

private

Definition at line 3079 of file stage.hh.

ControlMode Stg::ModelActuator::control_mode

private

Definition at line 3077 of file stage.hh.

double Stg::ModelActuator::cosa

private

Definition at line 3075 of file stage.hh.

double Stg::ModelActuator::goal

private

Definition at line 3069 of file stage.hh.

Pose Stg::ModelActuator::InitialPose

private

Definition at line 3081 of file stage.hh.

double Stg::ModelActuator::max_position

private

Definition at line 3073 of file stage.hh.

double Stg::ModelActuator::max_speed

private

Definition at line 3071 of file stage.hh.

double Stg::ModelActuator::min_position

private

Definition at line 3072 of file stage.hh.

double Stg::ModelActuator::pos

private

Definition at line 3070 of file stage.hh.

double Stg::ModelActuator::sina

private

Definition at line 3076 of file stage.hh.

double Stg::ModelActuator::start_position

private

Definition at line 3074 of file stage.hh.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation