Interface class for the node organization. More...

#include <JointManagerInterface.h>

Public Member Functions
virtual	~JointManagerInterface ()

virtual unsigned long	addJoint (JointData *jointS, bool reload=false)=0
	Add a joint to the joint pool of the simulation. More...

virtual int	getJointCount ()=0
	Returns the number of joints added to the simulation. More...

virtual void	editJoint (JointData *jointS)=0
	Change a Joint. More...

virtual void	getListJoints (std::vector< core_objects_exchange > *jointList)=0
	Fills a list of core_object_exchange objects with joint informations. More...

virtual void	getJointExchange (unsigned long id, core_objects_exchange *obj)=0
	Fills one core_object_exchange object with joint information of the joint with the given id. More...

virtual const JointData	getFullJoint (unsigned long index)=0
	get the full struct of a joint for editing purposes. More...

virtual void	removeJoint (unsigned long id)=0
	Removes the joint with the given id. More...

virtual void	removeJointByIDs (unsigned long id1, unsigned long id2)=0
	removes the joint connecting the two nodes with the given ids More...

virtual sim::SimJoint *	getSimJoint (unsigned long id)=0
	Returns a pointer to the SimJoint Object. More...

virtual std::vector< sim::SimJoint * >	getSimJoints (void)=0
	Return a copy of the SimJointVector;. More...

virtual void	reattacheJoints (unsigned long node_id)=0
	Reattaches the joints that are connected to the node with id node_id. More...

virtual void	reloadJoints (void)=0
	Reloads all joints in the simulation. More...

virtual void	updateJoints (sReal calc_ms)=0
	Update the Joint values from the physics. More...

virtual void	clearAllJoints (bool clear_all=false)=0
	Removes all joints from the simulation to clear the world. More...

virtual void	setReloadJointOffset (unsigned long id, sReal offset)=0
	Set a new joint offset for reloading a joint. More...

virtual void	setReloadJointAxis (unsigned long id, const utils::Vector &axis)=0
	Set a new axis for reloading a joint. More...

virtual void	scaleReloadJoints (sReal x, sReal y, sReal z)=0

virtual void	setJointTorque (unsigned long id, sReal torque)=0

virtual void	changeStepSize (void)=0

virtual void	setReloadAnchor (unsigned long id, const utils::Vector &anchor)=0

virtual void	setSDParams (unsigned long id, JointData *sJoint)=0

virtual void	setVelocity (unsigned long id, sReal velocity)=0
	sets the velocity of the first axis of the joint More...

virtual void	setVelocity2 (unsigned long id, sReal velocity)=0
	sets the velocity of the second axis of the joint More...

virtual void	setForceLimit (unsigned long id, sReal max_force, bool first_axis=1)=0

virtual unsigned long	getID (const std::string &joint_name) const =0
	Retrieve the id of a joint by name. More...

virtual bool	getDataBrokerNames (unsigned long id, std::string groupName, std::string dataName) const =0
	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, sReal value)=0

virtual interfaces::sReal	getLowStop (unsigned long id) const =0

virtual interfaces::sReal	getHighStop (unsigned long id) const =0

virtual interfaces::sReal	getLowStop2 (unsigned long id) const =0

virtual interfaces::sReal	getHighStop2 (unsigned long id) const =0

virtual void	setLowStop (unsigned long id, interfaces::sReal lowStop)=0

virtual void	setHighStop (unsigned long id, interfaces::sReal highStop)=0

virtual void	setLowStop2 (unsigned long id, interfaces::sReal lowStop2)=0

virtual void	setHighStop2 (unsigned long id, interfaces::sReal highStop2)=0

virtual void	edit (interfaces::JointId id, const std::string &key, const std::string &value)=0

Detailed Description

Interface class for the node organization.

Definition at line 52 of file JointManagerInterface.h.

Constructor & Destructor Documentation

◆ ~JointManagerInterface()

virtual mars::interfaces::JointManagerInterface::~JointManagerInterface ( )

inlinevirtual

Definition at line 54 of file JointManagerInterface.h.

Member Function Documentation

◆ addJoint()

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

pure 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:

Implemented in mars::sim::JointManager.

◆ changeStepSize()

virtual void mars::interfaces::JointManagerInterface::changeStepSize ( void )

pure virtual

Implemented in mars::sim::JointManager.

◆ clearAllJoints()

virtual void mars::interfaces::JointManagerInterface::clearAllJoints ( bool clear_all = false )

pure virtual

Removes all joints from the simulation to clear the world.

Implemented in mars::sim::JointManager.

◆ edit()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ editJoint()

virtual void mars::interfaces::JointManagerInterface::editJoint ( JointData * jointS )

pure virtual

Change a Joint.

The simulation must be updated in here.

Implemented in mars::sim::JointManager.

◆ getDataBrokerNames()

virtual bool mars::interfaces::JointManagerInterface::getDataBrokerNames	(	unsigned long	id,
		std::string *	groupName,
		std::string *	dataName
	)		const

pure 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.

Implemented in mars::sim::JointManager.

◆ getFullJoint()

virtual const JointData mars::interfaces::JointManagerInterface::getFullJoint ( unsigned long index )

pure virtual

get the full struct of a joint for editing purposes.

Exceptions

std::runtime_error if the joint cannot be found

Implemented in mars::sim::JointManager.

◆ getHighStop()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ getHighStop2()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ getID()

virtual unsigned long mars::interfaces::JointManagerInterface::getID ( const std::string & joint_name ) const

pure 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

Implemented in mars::sim::JointManager.

◆ getJointCount()

virtual int mars::interfaces::JointManagerInterface::getJointCount ( )

pure virtual

Returns the number of joints added to the simulation.

Implemented in mars::sim::JointManager.

◆ getJointExchange()

virtual void mars::interfaces::JointManagerInterface::getJointExchange	(	unsigned long	id,
		core_objects_exchange *	obj
	)

pure virtual

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

Implemented in mars::sim::JointManager.

◆ getListJoints()

virtual void mars::interfaces::JointManagerInterface::getListJoints ( std::vector< core_objects_exchange > * jointList )

pure virtual

Fills a list of core_object_exchange objects with joint informations.

Implemented in mars::sim::JointManager.

◆ getLowStop()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ getLowStop2()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ getSimJoint()

virtual sim::SimJoint* mars::interfaces::JointManagerInterface::getSimJoint ( unsigned long id )

pure virtual

Returns a pointer to the SimJoint Object.

Implemented in mars::sim::JointManager.

◆ getSimJoints()

virtual std::vector<sim::SimJoint*> mars::interfaces::JointManagerInterface::getSimJoints ( void )

pure virtual

Return a copy of the SimJointVector;.

Implemented in mars::sim::JointManager.

◆ reattacheJoints()

virtual void mars::interfaces::JointManagerInterface::reattacheJoints ( unsigned long node_id )

pure virtual

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

Implemented in mars::sim::JointManager.

◆ reloadJoints()

virtual void mars::interfaces::JointManagerInterface::reloadJoints ( void )

pure virtual

Reloads all joints in the simulation.

Implemented in mars::sim::JointManager.

◆ removeJoint()

virtual void mars::interfaces::JointManagerInterface::removeJoint ( unsigned long id )

pure virtual

Removes the joint with the given id.

Implemented in mars::sim::JointManager.

◆ removeJointByIDs()

virtual void mars::interfaces::JointManagerInterface::removeJointByIDs	(	unsigned long	id1,
		unsigned long	id2
	)

pure 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

Implemented in mars::sim::JointManager.

◆ scaleReloadJoints()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setForceLimit()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setHighStop()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setHighStop2()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setJointTorque()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setLowStop()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setLowStop2()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setOfflineValue()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setReloadAnchor()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setReloadJointAxis()

virtual void mars::interfaces::JointManagerInterface::setReloadJointAxis	(	unsigned long	id,
		const utils::Vector &	axis
	)

pure virtual

Set a new axis for reloading a joint.

Implemented in mars::sim::JointManager.

◆ setReloadJointOffset()

virtual void mars::interfaces::JointManagerInterface::setReloadJointOffset	(	unsigned long	id,
		sReal	offset
	)

pure virtual

Set a new joint offset for reloading a joint.

Implemented in mars::sim::JointManager.

◆ setSDParams()

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

pure virtual

Implemented in mars::sim::JointManager.

◆ setVelocity()

virtual void mars::interfaces::JointManagerInterface::setVelocity	(	unsigned long	id,
		sReal	velocity
	)

pure 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

Implemented in mars::sim::JointManager.

◆ setVelocity2()

virtual void mars::interfaces::JointManagerInterface::setVelocity2	(	unsigned long	id,
		sReal	velocity
	)

pure 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.

Implemented in mars::sim::JointManager.

◆ updateJoints()

virtual void mars::interfaces::JointManagerInterface::updateJoints ( sReal calc_ms )

pure virtual

Update the Joint values from the physics.

Implemented in mars::sim::JointManager.

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

/Developer/bob-learning-dev/simulation/mars/interfaces/src/sim/JointManagerInterface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~JointManagerInterface()

Member Function Documentation

◆ addJoint()

◆ changeStepSize()

◆ clearAllJoints()

◆ edit()

◆ editJoint()

◆ getDataBrokerNames()

◆ getFullJoint()

◆ getHighStop()

◆ getHighStop2()

◆ getID()

◆ getJointCount()

◆ getJointExchange()

◆ getListJoints()

◆ getLowStop()

◆ getLowStop2()

◆ getSimJoint()

◆ getSimJoints()

◆ reattacheJoints()

◆ reloadJoints()

◆ removeJoint()

◆ removeJointByIDs()

◆ scaleReloadJoints()

◆ setForceLimit()

◆ setHighStop()

◆ setHighStop2()

◆ setJointTorque()

◆ setLowStop()

◆ setLowStop2()

◆ setOfflineValue()

◆ setReloadAnchor()

◆ setReloadJointAxis()

◆ setReloadJointOffset()

◆ setSDParams()

◆ setVelocity()

◆ setVelocity2()

◆ updateJoints()