#include <stage.hh>

Inheritance diagram for Stg::ModelGripper:

Classes
struct	config_t

Public Types
enum	cmd_t { CMD_NOOP = 0, CMD_OPEN, CMD_CLOSE, CMD_UP, CMD_DOWN }

enum	lift_state_t { LIFT_DOWN = 0, LIFT_UP, LIFT_UPPING, LIFT_DOWNING }

enum	paddle_state_t { PADDLE_OPEN = 0, PADDLE_CLOSED, PADDLE_OPENING, PADDLE_CLOSING }

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
void	CommandClose ()

void	CommandDown ()

void	CommandOpen ()

void	CommandUp ()

config_t	GetConfig ()

virtual void	Load ()

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

virtual void	Save ()

void	SetCommand (cmd_t cmd)

void	SetConfig (config_t &newcfg)

virtual	~ModelGripper ()

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 ()

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 ()

Static Public Attributes
static const Size	size

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

Private Member Functions
virtual void	DataVisualize (Camera *cam)

void	FixBlocks ()

void	PositionPaddles ()

virtual void	Update ()

void	UpdateBreakBeams ()

void	UpdateContacts ()

Private Attributes
config_t	cfg

cmd_t	cmd

Block *	paddle_left

Block *	paddle_right

Static Private Attributes
static Option	showData

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

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

void	CallUpdateCallbacks (void)

void	CommitTestedPose ()

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)

virtual void	Shutdown ()

virtual void	Startup ()

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

Definition at line 2575 of file stage.hh.

Member Enumeration Documentation

enum Stg::ModelGripper::cmd_t

Enumerator
CMD_NOOP
CMD_OPEN
CMD_CLOSE
CMD_UP
CMD_DOWN

Definition at line 2593 of file stage.hh.

enum Stg::ModelGripper::lift_state_t

Enumerator
LIFT_DOWN
LIFT_UP
LIFT_UPPING
LIFT_DOWNING

Definition at line 2586 of file stage.hh.

enum Stg::ModelGripper::paddle_state_t

Enumerator
PADDLE_OPEN
PADDLE_CLOSED
PADDLE_OPENING
PADDLE_CLOSING

Definition at line 2579 of file stage.hh.

Constructor & Destructor Documentation

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

Definition at line 62 of file model_gripper.cc.

ModelGripper::~ModelGripper ( )

virtual

Definition at line 107 of file model_gripper.cc.

Member Function Documentation

void Stg::ModelGripper::CommandClose ( )

inline

Command the gripper paddles to close. Wrapper for SetCommand( CMD_CLOSE ).

Definition at line 2659 of file stage.hh.

void Stg::ModelGripper::CommandDown ( )

inline

Command the gripper lift to go down. Wrapper for SetCommand( CMD_DOWN ).

Definition at line 2665 of file stage.hh.

void Stg::ModelGripper::CommandOpen ( )

inline

Command the gripper paddles to open. Wrapper for SetCommand( CMD_OPEN ).

Definition at line 2661 of file stage.hh.

void Stg::ModelGripper::CommandUp ( )

inline

Command the gripper lift to go up. Wrapper for SetCommand( CMD_UP ).

Definition at line 2663 of file stage.hh.

void ModelGripper::DataVisualize ( Camera * cam )

privatevirtual

Reimplemented from Stg::Model.

Definition at line 493 of file model_gripper.cc.

void ModelGripper::FixBlocks ( )

private

Definition at line 185 of file model_gripper.cc.

config_t Stg::ModelGripper::GetConfig ( )

inline

Returns the state of the gripper .

Definition at line 2654 of file stage.hh.

void ModelGripper::Load ( void )

virtual

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 113 of file model_gripper.cc.

void ModelGripper::PositionPaddles ( )

private

Definition at line 204 of file model_gripper.cc.

void ModelGripper::Save ( void )

virtual

save the state of the model to the current world file

Reimplemented from Stg::Model.

Definition at line 163 of file model_gripper.cc.

void Stg::ModelGripper::SetCommand ( cmd_t cmd )

inline

Set the current activity of the gripper.

Definition at line 2657 of file stage.hh.

void Stg::ModelGripper::SetConfig ( config_t & newcfg )

inline

Configure the gripper

Definition at line 2651 of file stage.hh.

void ModelGripper::Update ( void )

privatevirtual

Reimplemented from Stg::Model.

Definition at line 223 of file model_gripper.cc.

void ModelGripper::UpdateBreakBeams ( )

private

Definition at line 360 of file model_gripper.cc.

void ModelGripper::UpdateContacts ( )

private

Definition at line 403 of file model_gripper.cc.

Member Data Documentation

config_t Stg::ModelGripper::cfg

private

Definition at line 2629 of file stage.hh.

cmd_t Stg::ModelGripper::cmd

private

Definition at line 2630 of file stage.hh.

Block* Stg::ModelGripper::paddle_left

private

Definition at line 2632 of file stage.hh.

Block* Stg::ModelGripper::paddle_right

private

Definition at line 2633 of file stage.hh.

Option ModelGripper::showData

staticprivate

Definition at line 2635 of file stage.hh.

const Size Stg::ModelGripper::size

static

Definition at line 2638 of file stage.hh.

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation