The declaration of the JointManager class. More...

#include <JointManager.h>

Public Member Functions
	JointManager (interfaces::ControlCenter *c)
	Initialization of a new JointManager. More...

virtual	~JointManager ()

virtual unsigned long	addJoint (interfaces::JointData *jointS, bool reload=false)
	Add a joint to the joint pool of the simulation. More...

virtual int	getJointCount ()
	Returns the number of joints added to the simulation. More...

virtual void	editJoint (interfaces::JointData *jointS)
	Change a Joint. More...

virtual void	getListJoints (std::vector< interfaces::core_objects_exchange > *jointList)
	Fills a list of core_object_exchange objects with joint informations. More...

virtual void	getJointExchange (unsigned long id, interfaces::core_objects_exchange *obj)
	Fills one core_object_exchange object with joint information of the joint with the given id. More...

virtual const interfaces::JointData	getFullJoint (unsigned long index)
	get the full struct of a joint for editing purposes. More...

virtual void	removeJoint (unsigned long index)
	Removes the joint with the given id. More...

virtual void	removeJointByIDs (unsigned long id1, unsigned long id2)
	removes the joint connecting the two nodes with the given ids More...

virtual SimJoint *	getSimJoint (unsigned long id)
	Returns a pointer to the SimJoint Object. More...

virtual std::vector< SimJoint * >	getSimJoints (void)
	Return a copy of the SimJointVector;. More...

virtual void	reattacheJoints (unsigned long node_id)
	Reattaches the joints that are connected to the node with id node_id. More...

virtual void	reloadJoints (void)
	Reloads all joints in the simulation. More...

virtual void	updateJoints (interfaces::sReal calc_ms)
	Update the Joint values from the physics. More...

virtual void	clearAllJoints (bool clear_all=false)
	Removes all joints from the simulation to clear the world. More...

virtual void	setReloadJointOffset (unsigned long id, interfaces::sReal offset)
	Set a new joint offset for reloading a joint. More...

virtual void	setReloadJointAxis (unsigned long id, const utils::Vector &axis)
	Set a new axis for reloading a joint. More...

virtual void	scaleReloadJoints (interfaces::sReal x, interfaces::sReal y, interfaces::sReal z)

virtual void	setJointTorque (unsigned long id, interfaces::sReal torque)

virtual void	changeStepSize (void)

virtual void	setReloadAnchor (unsigned long id, const utils::Vector &anchor)

virtual void	setSDParams (unsigned long id, interfaces::JointData *sJoint)

virtual void	setVelocity (unsigned long id, interfaces::sReal velocity)
	sets the velocity of the first axis of the joint More...

virtual void	setVelocity2 (unsigned long id, interfaces::sReal velocity)
	sets the velocity of the second axis of the joint More...

virtual void	setForceLimit (unsigned long id, interfaces::sReal max_force, bool first_axis=1)

virtual unsigned long	getID (const std::string &joint_name) const
	Retrieve the id of a joint by name. More...

virtual bool	getDataBrokerNames (unsigned long id, std::string groupName, std::string dataName) const
	Retrieves the groupName and dataName under which the joint with the specified id publishes its data in the DataBroker. More...

virtual void	setOfflineValue (unsigned long id, interfaces::sReal value)

virtual interfaces::sReal	getLowStop (unsigned long id) const

virtual interfaces::sReal	getHighStop (unsigned long id) const

virtual interfaces::sReal	getLowStop2 (unsigned long id) const

virtual interfaces::sReal	getHighStop2 (unsigned long id) const

virtual void	setLowStop (unsigned long id, interfaces::sReal lowStop)

virtual void	setHighStop (unsigned long id, interfaces::sReal highStop)

virtual void	setLowStop2 (unsigned long id, interfaces::sReal lowStop2)

virtual void	setHighStop2 (unsigned long id, interfaces::sReal highStop2)

virtual void	edit (interfaces::JointId id, const std::string &key, const std::string &value)

Public Member Functions inherited from mars::interfaces::JointManagerInterface
virtual	~JointManagerInterface ()

Private Member Functions
interfaces::JointManagerInterface *	getJointInterface (unsigned long node_id)

std::list< interfaces::JointData >::iterator	getReloadJoint (unsigned long id)

Private Attributes
unsigned long	next_joint_id

std::map< unsigned long, SimJoint * >	simJoints

std::list< interfaces::JointData >	simJointsReload

interfaces::ControlCenter *	control

utils::Mutex	iMutex

Detailed Description

The declaration of the JointManager class.

Definition at line 48 of file JointManager.h.

Constructor & Destructor Documentation

◆ JointManager()

mars::sim::JointManager::JointManager ( interfaces::ControlCenter * c )

Initialization of a new JointManager.

pre:

a pointer to a ControlCenter is needed post:
next_node_id should be initialized to one

Definition at line 61 of file JointManager.cpp.

◆ ~JointManager()

virtual mars::sim::JointManager::~JointManager ( )

inlinevirtual

Definition at line 51 of file JointManager.h.

Member Function Documentation

◆ addJoint()

unsigned long mars::sim::JointManager::addJoint	(	interfaces::JointData *	jointS,
		bool	reload = `false`
	)

virtual

Add a joint to the joint pool of the simulation.

It is very important to assure the serialization between the threads to have the desired results.

pre:

Implements mars::interfaces::JointManagerInterface.

Definition at line 66 of file JointManager.cpp.

◆ changeStepSize()

void mars::sim::JointManager::changeStepSize ( void )

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 326 of file JointManager.cpp.

◆ clearAllJoints()

void mars::sim::JointManager::clearAllJoints ( bool clear_all = false )

virtual

Removes all joints from the simulation to clear the world.

Implements mars::interfaces::JointManagerInterface.

Definition at line 268 of file JointManager.cpp.

◆ edit()

void mars::sim::JointManager::edit	(	interfaces::JointId	id,
		const std::string &	key,
		const std::string &	value
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 466 of file JointManager.cpp.

◆ editJoint()

void mars::sim::JointManager::editJoint ( interfaces::JointData * jointS )

virtual

Change a Joint.

The simulation must be updated in here.

Implements mars::interfaces::JointManagerInterface.

Definition at line 141 of file JointManager.cpp.

◆ getDataBrokerNames()

bool mars::sim::JointManager::getDataBrokerNames	(	unsigned long	id,
		std::string *	groupName,
		std::string *	dataName
	)		const

virtual

Retrieves the groupName and dataName under which the joint with the specified id publishes its data in the DataBroker.

Returns: true if the names were successfully retrieved. false if no joint with the given id exists.

Implements mars::interfaces::JointManagerInterface.

Definition at line 390 of file JointManager.cpp.

◆ getFullJoint()

const JointData mars::sim::JointManager::getFullJoint ( unsigned long index )

virtual

get the full struct of a joint for editing purposes.

Exceptions

std::runtime_error if the joint cannot be found

Implements mars::interfaces::JointManagerInterface.

Definition at line 177 of file JointManager.cpp.

◆ getHighStop()

sReal mars::sim::JointManager::getHighStop ( unsigned long id ) const

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 415 of file JointManager.cpp.

◆ getHighStop2()

sReal mars::sim::JointManager::getHighStop2 ( unsigned long id ) const

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 429 of file JointManager.cpp.

◆ getID()

unsigned long mars::sim::JointManager::getID ( const std::string & joint_name ) const

virtual

Retrieve the id of a joint by name.

Parameters

joint_name Name of the joint to get the id for

Returns: Id of the joint if it exists, otherwise 0

Implements mars::interfaces::JointManagerInterface.

Definition at line 379 of file JointManager.cpp.

◆ getJointCount()

int mars::sim::JointManager::getJointCount ( )

virtual

Returns the number of joints added to the simulation.

Implements mars::interfaces::JointManagerInterface.

Definition at line 136 of file JointManager.cpp.

◆ getJointExchange()

void mars::sim::JointManager::getJointExchange	(	unsigned long	id,
		interfaces::core_objects_exchange *	obj
	)

virtual

Fills one core_object_exchange object with joint information of the joint with the given id.

Implements mars::interfaces::JointManagerInterface.

Definition at line 166 of file JointManager.cpp.

◆ getJointInterface()

interfaces::JointManagerInterface* mars::sim::JointManager::getJointInterface ( unsigned long node_id )

private

◆ getListJoints()

void mars::sim::JointManager::getListJoints ( std::vector< interfaces::core_objects_exchange > * jointList )

virtual

Fills a list of core_object_exchange objects with joint informations.

Implements mars::interfaces::JointManagerInterface.

Definition at line 155 of file JointManager.cpp.

◆ getLowStop()

sReal mars::sim::JointManager::getLowStop ( unsigned long id ) const

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 408 of file JointManager.cpp.

◆ getLowStop2()

sReal mars::sim::JointManager::getLowStop2 ( unsigned long id ) const

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 422 of file JointManager.cpp.

◆ getReloadJoint()

std::list< JointData >::iterator mars::sim::JointManager::getReloadJoint ( unsigned long id )

private

Definition at line 283 of file JointManager.cpp.

◆ getSimJoint()

SimJoint * mars::sim::JointManager::getSimJoint ( unsigned long id )

virtual

Returns a pointer to the SimJoint Object.

Implements mars::interfaces::JointManagerInterface.

Definition at line 222 of file JointManager.cpp.

◆ getSimJoints()

std::vector< SimJoint * > mars::sim::JointManager::getSimJoints ( void )

virtual

Return a copy of the SimJointVector;.

Implements mars::interfaces::JointManagerInterface.

Definition at line 232 of file JointManager.cpp.

◆ reattacheJoints()

void mars::sim::JointManager::reattacheJoints ( unsigned long node_id )

virtual

Reattaches the joints that are connected to the node with id node_id.

Implements mars::interfaces::JointManagerInterface.

Definition at line 242 of file JointManager.cpp.

◆ reloadJoints()

void mars::sim::JointManager::reloadJoints ( void )

virtual

Reloads all joints in the simulation.

Implements mars::interfaces::JointManagerInterface.

Definition at line 253 of file JointManager.cpp.

◆ removeJoint()

void mars::sim::JointManager::removeJoint ( unsigned long id )

virtual

Removes the joint with the given id.

Implements mars::interfaces::JointManagerInterface.

Definition at line 189 of file JointManager.cpp.

◆ removeJointByIDs()

void mars::sim::JointManager::removeJointByIDs	(	unsigned long	id1,
		unsigned long	id2
	)

virtual

removes the joint connecting the two nodes with the given ids

Parameters

id1	the id of one of the nodes attached to the joint to be removed
id2	the id of the other node attached to the joint to be removed

Implements mars::interfaces::JointManagerInterface.

Definition at line 206 of file JointManager.cpp.

◆ scaleReloadJoints()

void mars::sim::JointManager::scaleReloadJoints	(	interfaces::sReal	x,
		interfaces::sReal	y,
		interfaces::sReal	z
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 306 of file JointManager.cpp.

◆ setForceLimit()

void mars::sim::JointManager::setForceLimit	(	unsigned long	id,
		interfaces::sReal	max_force,
		bool	first_axis = `1`
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 366 of file JointManager.cpp.

◆ setHighStop()

void mars::sim::JointManager::setHighStop	(	unsigned long	id,
		interfaces::sReal	highStop
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 443 of file JointManager.cpp.

◆ setHighStop2()

void mars::sim::JointManager::setHighStop2	(	unsigned long	id,
		interfaces::sReal	highStop2
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 457 of file JointManager.cpp.

◆ setJointTorque()

void mars::sim::JointManager::setJointTorque	(	unsigned long	id,
		interfaces::sReal	torque
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 318 of file JointManager.cpp.

◆ setLowStop()

void mars::sim::JointManager::setLowStop	(	unsigned long	id,
		interfaces::sReal	lowStop
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 436 of file JointManager.cpp.

◆ setLowStop2()

void mars::sim::JointManager::setLowStop2	(	unsigned long	id,
		interfaces::sReal	lowStop2
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 450 of file JointManager.cpp.

◆ setOfflineValue()

void mars::sim::JointManager::setOfflineValue	(	unsigned long	id,
		interfaces::sReal	value
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 400 of file JointManager.cpp.

◆ setReloadAnchor()

void mars::sim::JointManager::setReloadAnchor	(	unsigned long	id,
		const utils::Vector &	anchor
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 334 of file JointManager.cpp.

◆ setReloadJointAxis()

void mars::sim::JointManager::setReloadJointAxis	(	unsigned long	id,
		const utils::Vector &	axis
	)

virtual

Set a new axis for reloading a joint.

Implements mars::interfaces::JointManagerInterface.

Definition at line 298 of file JointManager.cpp.

◆ setReloadJointOffset()

void mars::sim::JointManager::setReloadJointOffset	(	unsigned long	id,
		interfaces::sReal	offset
	)

virtual

Set a new joint offset for reloading a joint.

Implements mars::interfaces::JointManagerInterface.

Definition at line 291 of file JointManager.cpp.

◆ setSDParams()

void mars::sim::JointManager::setSDParams	(	unsigned long	id,
		interfaces::JointData *	sJoint
	)

virtual

Implements mars::interfaces::JointManagerInterface.

Definition at line 342 of file JointManager.cpp.

◆ setVelocity()

void mars::sim::JointManager::setVelocity	(	unsigned long	id,
		interfaces::sReal	velocity
	)

virtual

sets the velocity of the first axis of the joint

Parameters

id	the id of the joint whos velocity should be set
the	new velocity

Implements mars::interfaces::JointManagerInterface.

Definition at line 350 of file JointManager.cpp.

◆ setVelocity2()

void mars::sim::JointManager::setVelocity2	(	unsigned long	id,
		interfaces::sReal	velocity
	)

virtual

sets the velocity of the second axis of the joint

Parameters

id	the id of the joint whos velocity should be set
the	new velocity If the joint has no second axis the behaviour is undefined.

Implements mars::interfaces::JointManagerInterface.

Definition at line 358 of file JointManager.cpp.

◆ updateJoints()

void mars::sim::JointManager::updateJoints ( interfaces::sReal calc_ms )

virtual

Update the Joint values from the physics.

Implements mars::interfaces::JointManagerInterface.

Definition at line 260 of file JointManager.cpp.

Member Data Documentation

◆ control

interfaces::ControlCenter* mars::sim::JointManager::control

private

Definition at line 99 of file JointManager.h.

◆ iMutex

utils::Mutex mars::sim::JointManager::iMutex

mutableprivate

Definition at line 100 of file JointManager.h.

◆ next_joint_id

unsigned long mars::sim::JointManager::next_joint_id

private

Definition at line 96 of file JointManager.h.

◆ simJoints

std::map<unsigned long, SimJoint*> mars::sim::JointManager::simJoints

private

Definition at line 97 of file JointManager.h.

◆ simJointsReload

std::list<interfaces::JointData> mars::sim::JointManager::simJointsReload

private

Definition at line 98 of file JointManager.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/core/JointManager.h
/Developer/bob-learning-dev/simulation/mars/sim/src/core/JointManager.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JointManager()

◆ ~JointManager()

Member Function Documentation

◆ addJoint()

◆ changeStepSize()

◆ clearAllJoints()

◆ edit()

◆ editJoint()

◆ getDataBrokerNames()

◆ getFullJoint()

◆ getHighStop()

◆ getHighStop2()

◆ getID()

◆ getJointCount()

◆ getJointExchange()

◆ getJointInterface()

◆ getListJoints()

◆ getLowStop()

◆ getLowStop2()

◆ getReloadJoint()

◆ getSimJoint()

◆ getSimJoints()

◆ reattacheJoints()

◆ reloadJoints()

◆ removeJoint()

◆ removeJointByIDs()

◆ scaleReloadJoints()

◆ setForceLimit()

◆ setHighStop()

◆ setHighStop2()

◆ setJointTorque()

◆ setLowStop()

◆ setLowStop2()

◆ setOfflineValue()

◆ setReloadAnchor()

◆ setReloadJointAxis()

◆ setReloadJointOffset()

◆ setSDParams()

◆ setVelocity()

◆ setVelocity2()

◆ updateJoints()

Member Data Documentation

◆ control

◆ iMutex

◆ next_joint_id

◆ simJoints

◆ simJointsReload