trajectory_generation::RMLPositionTask Class Reference

#include <RMLPositionTask.hpp>

Inheritance diagram for trajectory_generation::RMLPositionTask:

Public Member Functions
	RMLPositionTask (std::string const &name="trajectory_generation::RMLPositionTask")
	RMLPositionTask (std::string const &name, RTT::ExecutionEngine *engine)
	~RMLPositionTask ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual void	updateMotionConstraints (const MotionConstraint &constraint, const size_t idx, RMLInputParameters *new_input_parameters)
virtual RTT::FlowStatus	updateCurrentState (RMLInputParameters *new_input_parameters)
virtual RTT::FlowStatus	updateTarget (RMLInputParameters *new_input_parameters)
virtual ReflexxesResultValue	performOTG (RMLInputParameters *new_input_parameters, RMLOutputParameters *new_output_parameters, RMLFlags *rml_flags)
virtual void	writeCommand (const RMLOutputParameters &new_output_parameters)
virtual void	printParams (const RMLInputParameters &in, const RMLOutputParameters &out)
virtual const ReflexxesInputParameters &	convertRMLInputParams (const RMLInputParameters &in, ReflexxesInputParameters &out)
virtual const ReflexxesOutputParameters &	convertRMLOutputParams (const RMLOutputParameters &in, ReflexxesOutputParameters &out)

Friends
class	RMLPositionTaskBase

Constructor & Destructor Documentation

RMLPositionTask() [1/2]

trajectory_generation::RMLPositionTask::RMLPositionTask ( std::string const &  name = "trajectory_generation::RMLPositionTask" )

inline

RMLPositionTask() [2/2]

trajectory_generation::RMLPositionTask::RMLPositionTask ( std::string const &  name, RTT::ExecutionEngine *  engine  )

inline

~RMLPositionTask()

trajectory_generation::RMLPositionTask::~RMLPositionTask ( )

inline

Member Function Documentation

cleanupHook()

void trajectory_generation::RMLPositionTask::cleanupHook ( )

inline

configureHook()

bool RMLPositionTask::configureHook

(

)

convertRMLInputParams()

const ReflexxesInputParameters & RMLPositionTask::convertRMLInputParams ( const RMLInputParameters &  in, ReflexxesInputParameters &  out  )

protectedvirtual

Convert from RMLInputParameters to orogen type

convertRMLOutputParams()

const ReflexxesOutputParameters & RMLPositionTask::convertRMLOutputParams ( const RMLOutputParameters &  in, ReflexxesOutputParameters &  out  )

protectedvirtual

Convert from RMLOutputParameters to orogen type

errorHook()

void trajectory_generation::RMLPositionTask::errorHook ( )

inline

performOTG()

ReflexxesResultValue RMLPositionTask::performOTG ( RMLInputParameters *  new_input_parameters, RMLOutputParameters *  new_output_parameters, RMLFlags *  rml_flags  )

protectedvirtual

Perform one step of online trajectory generation (call the RML algorithm with the given parameters). Return the RML result value

printParams()

void RMLPositionTask::printParams ( const RMLInputParameters &  in, const RMLOutputParameters &  out  )

protectedvirtual

Call echo() method for rml input and output parameters

startHook()

bool trajectory_generation::RMLPositionTask::startHook ( )

inline

stopHook()

void trajectory_generation::RMLPositionTask::stopHook ( )

inline

updateCurrentState()

RTT::FlowStatus RMLPositionTask::updateCurrentState ( RMLInputParameters *  new_input_parameters )

protectedvirtual

Read the current state from port and return position and flow status

updateHook()

void trajectory_generation::RMLPositionTask::updateHook ( )

inline

updateMotionConstraints()

void RMLPositionTask::updateMotionConstraints ( const MotionConstraint &  constraint, const size_t  idx, RMLInputParameters *  new_input_parameters  )

protectedvirtual

To output port: Commanded joint position or speed. Update the motion constraints of a particular element

updateTarget()

RTT::FlowStatus RMLPositionTask::updateTarget ( RMLInputParameters *  new_input_parameters )

protectedvirtual

Update the RML input parameters with the new target

writeCommand()

void RMLPositionTask::writeCommand ( const RMLOutputParameters &  new_output_parameters )

protectedvirtual

Write the generated trajectory to port

Friends And Related Function Documentation

RMLPositionTaskBase

friend class RMLPositionTaskBase

friend

---

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

• /build/rock-master-18.09-control-orogen-trajectory-generation-0.20180822/tasks/RMLPositionTask.hpp
• /build/rock-master-18.09-control-orogen-trajectory-generation-0.20180822/tasks/RMLPositionTask.cpp