#include <RMLCartesianPositionTask.hpp>

Inheritance diagram for trajectory_generation::RMLCartesianPositionTask:

Public Member Functions
	RMLCartesianPositionTask (std::string const &name="trajectory_generation::RMLCartesianPositionTask")

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

	~RMLCartesianPositionTask ()

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	RMLCartesianPositionTaskBase

Constructor & Destructor Documentation

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

inline

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

inline

trajectory_generation::RMLCartesianPositionTask::~RMLCartesianPositionTask ( )

inline

Member Function Documentation

void trajectory_generation::RMLCartesianPositionTask::cleanupHook ( )

inline

bool RMLCartesianPositionTask::configureHook ( )

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

protectedvirtual

Convert from RMLInputParameters to orogen type

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

protectedvirtual

Convert from RMLOutputParameters to orogen type

void trajectory_generation::RMLCartesianPositionTask::errorHook ( )

inline

ReflexxesResultValue RMLCartesianPositionTask::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

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

protectedvirtual

Call echo() method for rml input and output parameters

bool trajectory_generation::RMLCartesianPositionTask::startHook ( )

inline

void trajectory_generation::RMLCartesianPositionTask::stopHook ( )

inline

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

protectedvirtual

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

void trajectory_generation::RMLCartesianPositionTask::updateHook ( )

inline

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

protectedvirtual

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

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

protectedvirtual

Update the RML input parameters with the new target

void RMLCartesianPositionTask::writeCommand ( const RMLOutputParameters & new_output_parameters )

protectedvirtual

Write the generated trajectory to port

Friends And Related Function Documentation

friend class RMLCartesianPositionTaskBase

friend

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

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

Public Member Functions

Protected Member Functions

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation