"MotorManager" imlements the interfaces for all motor operations that are used for the communication between the simulation modules. More...

#include <MotorManager.h>

Public Member Functions
	MotorManager (interfaces::ControlCenter *c)
	Constructor. More...

virtual	~MotorManager ()
	Destructor. More...

virtual unsigned long	addMotor (interfaces::MotorData *motorS, bool reload=false)
	Add a motor to the simulation. More...

virtual int	getMotorCount () const
	Returns the number of motors that are currently present in the simulation. More...

virtual void	editMotor (const interfaces::MotorData &motorS)
	Change motor properties. More...

virtual void	getListMotors (std::vector< interfaces::core_objects_exchange > *motorList) const
	Gives information about core exchange data for motors. More...

virtual const interfaces::MotorData	getFullMotor (unsigned long index) const
	Gives all information of a certain motor. More...

virtual void	removeMotor (unsigned long index)
	Removes a motor from the simulation. More...

virtual SimMotor *	getSimMotor (unsigned long id) const
	This function returns the SimMotor object for a given id. More...

virtual SimMotor *	getSimMotorByName (const std::string &name) const
	This function returns the SimMotor object for a given name. More...

virtual void	setMotorValue (unsigned long id, interfaces::sReal value)
	Sets the value of the motor with the given id to the given value. More...

virtual void	setMaxTorque (unsigned long id, interfaces::sReal maxTorque)
	Sets the maximum torque of the motor with the given id to the given value. More...

virtual void	setMaxSpeed (unsigned long id, interfaces::sReal maxSpeed)
	Sets the maximum speed of the motor with the given id to the given value. More...

virtual void	setMotorValueDesiredVelocity (unsigned long id, interfaces::sReal velocity)
	Sets the desired speed of a motor. More...

virtual void	setMotorP (unsigned long id, interfaces::sReal value)
	Sets the proportional term of the motor with the given id to the given value. More...

virtual void	setMotorI (unsigned long id, interfaces::sReal value)
	Sets the integral term of the motor with the given id to the given value. More...

virtual void	setMotorD (unsigned long id, interfaces::sReal value)
	Sets the derivative term of the motor with the given id to the given value. More...

virtual void	deactivateMotor (unsigned long id)
	Deactivates the motor with the given id. More...

virtual void	clearAllMotors (bool clear_all=false)
	Destroys all motors in the simulation. More...

virtual void	reloadMotors (void)
	This function reloads all motors from a temporary motor pool. More...

virtual void	updateMotors (interfaces::sReal calc_ms)
	This function updates all motors with timing value `calc_ms` in miliseconds. More...

virtual interfaces::sReal	getActualPosition (unsigned long motorId) const

virtual interfaces::sReal	getTorque (unsigned long motorId) const

virtual void	moveMotor (unsigned long index, interfaces::sReal value)
	Sets the value of the motor with the given id to the given value. More...

virtual void	removeJointFromMotors (unsigned long joint_index)
	Detaches the joint with the given index from all motors that act on it, if any. More...

virtual unsigned long	getID (const std::string &motor_name) const
	Retrieves the id of a motor by name. More...

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

virtual void	connectMimics ()

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

Public Member Functions inherited from mars::interfaces::MotorManagerInterface
virtual	~MotorManagerInterface ()
	Destructor. More...

Private Attributes
unsigned long	next_motor_id
	the id of the next motor that is added to the simulation More...

std::map< unsigned long, SimMotor * >	simMotors
	a container for all motors currently present in the simulation More...

std::list< interfaces::MotorData >	simMotorsReload
	a containter for all motors that are reloaded after a reset of the simulation More...

interfaces::ControlCenter *	control
	a pointer to the control center More...

utils::Mutex	iMutex
	a mutex for the motor containters More...

std::map< unsigned long, std::string >	mimicmotors

Detailed Description

"MotorManager" imlements the interfaces for all motor operations that are used for the communication between the simulation modules.

Inherits from MotorManagerInterface.

Warning: It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of the functions is only guaranteed by calling it within the main thread (update callback from gui_thread).

Definition at line 60 of file MotorManager.h.

Constructor & Destructor Documentation

◆ MotorManager()

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

Constructor.

Parameters

c	The pointer to the ControlCenter of the simulation.

Definition at line 59 of file MotorManager.cpp.

◆ ~MotorManager()

virtual mars::sim::MotorManager::~MotorManager ( )

inlinevirtual

Destructor.

Definition at line 73 of file MotorManager.h.

Member Function Documentation

◆ addMotor()

unsigned long mars::sim::MotorManager::addMotor	(	interfaces::MotorData *	motorS,
		bool	reload = `false`
	)

virtual

Add a motor to the simulation.

Parameters

motorS	A pointer to the MotorData that defines the new motor.
reload	Used internally by the simulation. The default value is `false`. If this param is set to `true` the new motor will not be reloaded after a reset of the simulation.

Returns: The unique id of the newly added motor.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 77 of file MotorManager.cpp.

◆ clearAllMotors()

void mars::sim::MotorManager::clearAllMotors ( bool clear_all = false )

virtual

Destroys all motors in the simulation.

The clear_all flag indicates if the reload motors should be destroyed as well. If set to false they are left intact.

Parameters

clear_all Indicates if the reload motors should be destroyed as well. If set to false they are left intact.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 428 of file MotorManager.cpp.

◆ connectMimics()

void mars::sim::MotorManager::connectMimics ( )

virtual

Implements mars::interfaces::MotorManagerInterface.

Definition at line 536 of file MotorManager.cpp.

◆ deactivateMotor()

void mars::sim::MotorManager::deactivateMotor ( unsigned long id )

virtual

Deactivates the motor with the given id.

Parameters

id	The id of the motor that is to be deactivated.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 373 of file MotorManager.cpp.

◆ edit()

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

virtual

Implements mars::interfaces::MotorManagerInterface.

Definition at line 545 of file MotorManager.cpp.

◆ editMotor()

void mars::sim::MotorManager::editMotor ( const interfaces::MotorData & motorS )

virtual

Change motor properties.

The old struct is replaced by the new one completely, so prior to calling this function, one must ensure that all properties of this parameter are valid and as desired.

Parameters

motorS The id of the MotorData referred by this pointer must be the same as the id of the motor that is to be edited.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 168 of file MotorManager.cpp.

◆ getActualPosition()

sReal mars::sim::MotorManager::getActualPosition ( unsigned long motorId ) const

virtual

Returns: the actual position of the motor with the given Id. returns 0 if a motor with the given Id doesn't exist.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 474 of file MotorManager.cpp.

◆ getDataBrokerNames()

void mars::sim::MotorManager::getDataBrokerNames	(	unsigned long	jointId,
		std::string *	groupName,
		std::string *	dataName
	)		const

virtual

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

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

Implements mars::interfaces::MotorManagerInterface.

Definition at line 527 of file MotorManager.cpp.

◆ getFullMotor()

const MotorData mars::sim::MotorManager::getFullMotor ( unsigned long index ) const

virtual

Gives all information of a certain motor.

Parameters

index The unique id of the motor to get information for.

Returns: A pointer to the MotorData of the motor with the given id.

Parameters

index The unique id of the motor to get information for.

Returns: A pointer to the MotorData of the motor with the given id.

Exceptions

std::runtime_error if a motor with the given index does not exist.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 204 of file MotorManager.cpp.

◆ getID()

unsigned long mars::sim::MotorManager::getID ( const std::string & name ) const

virtual

Retrieves the id of a motor by name.

Parameters

motor_name Name of the motor to get the id for

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

Implements mars::interfaces::MotorManagerInterface.

Definition at line 388 of file MotorManager.cpp.

◆ getListMotors()

void mars::sim::MotorManager::getListMotors ( std::vector< interfaces::core_objects_exchange > * motorList ) const

virtual

Gives information about core exchange data for motors.

Parameters

motorList A pointer to a vector that is filled with a core_objects_exchange struct for every motor and its index. The vector is cleared in the beginning of this function.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 183 of file MotorManager.cpp.

◆ getMotorCount()

int mars::sim::MotorManager::getMotorCount ( ) const

virtual

Returns the number of motors that are currently present in the simulation.

Returns: The number of all motors.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 152 of file MotorManager.cpp.

◆ getSimMotor()

SimMotor * mars::sim::MotorManager::getSimMotor ( unsigned long id ) const

virtual

This function returns the SimMotor object for a given id.

Warning: This method is only internal used by the MotorManager. Generally no other modules know the SimMotor class and shouldn't use this method. All motor operations from outside the core should be done over the MotorManager.

Parameters

index The id of the motor to get the core node object.

Returns: Returns a pointer to the corresponding motor object.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 250 of file MotorManager.cpp.

◆ getSimMotorByName()

SimMotor * mars::sim::MotorManager::getSimMotorByName ( const std::string & name ) const

virtual

This function returns the SimMotor object for a given name.

Warning: This method is only internal used by the MotorManager. Generally no other modules know the SimMotor class and shouldn't use this method. All motor operations from outside the core should be done over the MotorManager.

Parameters

name	The name of the motor to get the core node object.

Returns: Returns a pointer to the corresponding motor object.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 273 of file MotorManager.cpp.

◆ getTorque()

sReal mars::sim::MotorManager::getTorque ( unsigned long motorId ) const

virtual

Returns: the torque excerted by the motor with the given Id. returns 0 if a motor with the given Id doesn't exist.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 483 of file MotorManager.cpp.

◆ moveMotor()

void mars::sim::MotorManager::moveMotor	(	unsigned long	index,
		interfaces::sReal	value
	)

virtual

Sets the value of the motor with the given id to the given value.

Essentially this function triggers the motor and moves the joint that is attached to it. Equivalent to setMotorValue

Parameters

id	The id of the motor whose value is to be changed.
value	The new value.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 411 of file MotorManager.cpp.

◆ reloadMotors()

void mars::sim::MotorManager::reloadMotors ( void )

virtual

This function reloads all motors from a temporary motor pool.

All motors that have been added with reload value as true are added back to the simulation again with a reload value of true.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 446 of file MotorManager.cpp.

◆ removeJointFromMotors()

void mars::sim::MotorManager::removeJointFromMotors ( unsigned long joint_index )

virtual

Detaches the joint with the given index from all motors that act on it, if any.

Used when a joint is destroyed.

Warning: The detached motors are not destroyed and are still present in the simulation, although they do not have any effect on it. A call to removeMotor must be made to remove the motor completely.

Parameters

joint_index The id of the joint that is to be detached.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 519 of file MotorManager.cpp.

◆ removeMotor()

void mars::sim::MotorManager::removeMotor ( unsigned long index )

virtual

Removes a motor from the simulation.

Parameters

index The unique id of the motor to remove form the simulation.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 222 of file MotorManager.cpp.

◆ setMaxSpeed()

void mars::sim::MotorManager::setMaxSpeed	(	unsigned long	id,
		interfaces::sReal	maxSpeed
	)

virtual

Sets the maximum speed of the motor with the given id to the given value.

Parameters

id	The id of the motor whose value is to be changed.
maxSpeed	The new maximum speed for the motor.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 500 of file MotorManager.cpp.

◆ setMaxTorque()

void mars::sim::MotorManager::setMaxTorque	(	unsigned long	id,
		interfaces::sReal	maxTorque
	)

virtual

Sets the maximum torque of the motor with the given id to the given value.

Parameters

id	The id of the motor whose value is to be changed.
maxTorque	The new maximum torque for the motor.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 492 of file MotorManager.cpp.

◆ setMotorD()

void mars::sim::MotorManager::setMotorD	(	unsigned long	id,
		interfaces::sReal	value
	)

virtual

Sets the derivative term of the motor with the given id to the given value.

Only has effect on a PID motor. If the type of the motor with the given id is different from PID, no effect is observed, although the D value of the motor object is still changed.

Parameters

id	The id of the motor whose D value is to be changed.
value	The new D value.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 360 of file MotorManager.cpp.

◆ setMotorI()

void mars::sim::MotorManager::setMotorI	(	unsigned long	id,
		interfaces::sReal	value
	)

virtual

Sets the integral term of the motor with the given id to the given value.

Only has effect on a PID motor. If the type of the motor with the given id is different from PID, no effect is observed, although the I value of the motor object is still changed.

Parameters

id	The id of the motor whose I value is to be changed.
value	The new I value.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 341 of file MotorManager.cpp.

◆ setMotorP()

void mars::sim::MotorManager::setMotorP	(	unsigned long	id,
		interfaces::sReal	value
	)

virtual

Sets the proportional term of the motor with the given id to the given value.

Only has effect on a PID motor. If the type of the motor with the given id is different from PID, no effect is observed, although the P value of the motor object is still changed.

Parameters

id	The id of the motor whose P value is to be changed.
value	The new P value.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 322 of file MotorManager.cpp.

◆ setMotorValue()

void mars::sim::MotorManager::setMotorValue	(	unsigned long	id,
		interfaces::sReal	value
	)

virtual

Sets the value of the motor with the given id to the given value.

Essentially this function triggers the motor and moves the joint that is attached to it. Equivalent to moveMotor

Parameters

id	The id of the motor whose value is to be changed.
value	The new value.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 294 of file MotorManager.cpp.

◆ setMotorValueDesiredVelocity()

void mars::sim::MotorManager::setMotorValueDesiredVelocity	(	unsigned long	id,
		interfaces::sReal	velocity
	)

virtual

Sets the desired speed of a motor.

Parameters

id	The id of the motor whose value is to be changed.
value	The new value in rad/s.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 302 of file MotorManager.cpp.

◆ updateMotors()

void mars::sim::MotorManager::updateMotors ( interfaces::sReal calc_ms )

virtual

This function updates all motors with timing value calc_ms in miliseconds.

Warning: This function is only used internally and should not be called outside the core.

Parameters

calc_ms The timing value in miliseconds.

Implements mars::interfaces::MotorManagerInterface.

Definition at line 466 of file MotorManager.cpp.

Member Data Documentation

◆ control

interfaces::ControlCenter* mars::sim::MotorManager::control

private

a pointer to the control center

Definition at line 331 of file MotorManager.h.

◆ iMutex

utils::Mutex mars::sim::MotorManager::iMutex

mutableprivate

a mutex for the motor containters

Definition at line 334 of file MotorManager.h.

◆ mimicmotors

std::map<unsigned long, std::string> mars::sim::MotorManager::mimicmotors

private

Definition at line 337 of file MotorManager.h.

◆ next_motor_id

unsigned long mars::sim::MotorManager::next_motor_id

private

the id of the next motor that is added to the simulation

Definition at line 322 of file MotorManager.h.

◆ simMotors

std::map<unsigned long, SimMotor*> mars::sim::MotorManager::simMotors

private

a container for all motors currently present in the simulation

Definition at line 325 of file MotorManager.h.

◆ simMotorsReload

std::list<interfaces::MotorData> mars::sim::MotorManager::simMotorsReload

private

a containter for all motors that are reloaded after a reset of the simulation

Definition at line 328 of file MotorManager.h.

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

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotorManager()

◆ ~MotorManager()

Member Function Documentation

◆ addMotor()

◆ clearAllMotors()

◆ connectMimics()

◆ deactivateMotor()

◆ edit()

◆ editMotor()

◆ getActualPosition()

◆ getDataBrokerNames()

◆ getFullMotor()

◆ getID()

◆ getListMotors()

◆ getMotorCount()

◆ getSimMotor()

◆ getSimMotorByName()

◆ getTorque()

◆ moveMotor()

◆ reloadMotors()

◆ removeJointFromMotors()

◆ removeMotor()

◆ setMaxSpeed()

◆ setMaxTorque()

◆ setMotorD()

◆ setMotorI()

◆ setMotorP()

◆ setMotorValue()

◆ setMotorValueDesiredVelocity()

◆ updateMotors()

Member Data Documentation

◆ control

◆ iMutex

◆ mimicmotors

◆ next_motor_id

◆ simMotors

◆ simMotorsReload