mars::interfaces::MotorManagerInterface Class Reference

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

#include <MotorManagerInterface.h>

Public Member Functions
virtual	~MotorManagerInterface ()
	Destructor. More...
virtual unsigned long	addMotor (MotorData *motorS, bool reload=false)=0
	Add a motor to the simulation. More...
virtual int	getMotorCount () const =0
	Returns the number of motors that are currently present in the simulation. More...
virtual void	editMotor (const MotorData &motorS)=0
	Change motor properties. More...
virtual void	getListMotors (std::vector< core_objects_exchange > *motorList) const =0
	Gives information about core exchange data for motors. More...
virtual const MotorData	getFullMotor (unsigned long index) const =0
	Gives all information of a certain motor. More...
virtual void	removeMotor (unsigned long index)=0
	Removes a motor from the simulation. More...
virtual void	moveMotor (unsigned long index, sReal value)=0
	Sets the value of the motor with the given id to the given value. More...
virtual sim::SimMotor *	getSimMotor (unsigned long index) const =0
	This function returns the SimMotor object for a given id. More...
virtual sim::SimMotor *	getSimMotorByName (const std::string &name) const =0
	This function returns the SimMotor object for a given name. More...
virtual void	setMotorValue (unsigned long id, sReal value)=0
	Sets the value of the motor with the given id to the given value. More...
virtual void	setMaxTorque (unsigned long id, sReal maxTorque)=0
	Sets the maximum torque of the motor with the given id to the given value. More...
virtual void	setMaxSpeed (unsigned long id, sReal maxSpeed)=0
	Sets the maximum speed of the motor with the given id to the given value. More...
virtual void	setMotorValueDesiredVelocity (unsigned long id, sReal velocity)=0
	Sets the desired speed of a motor. More...
virtual void	setMotorP (unsigned long id, sReal value)=0
	Sets the proportional term of the motor with the given id to the given value. More...
virtual void	setMotorI (unsigned long id, sReal value)=0
	Sets the integral term of the motor with the given id to the given value. More...
virtual void	setMotorD (unsigned long id, sReal value)=0
	Sets the derivative term of the motor with the given id to the given value. More...
virtual void	deactivateMotor (unsigned long id)=0
	Deactivates the motor with the given id. More...
virtual void	clearAllMotors (bool clear_all=false)=0
	Destroys all motors in the simulation. More...
virtual void	reloadMotors (void)=0
	This function reloads all motors from a temporary motor pool. More...
virtual void	updateMotors (sReal calc_ms)=0
	This function updates all motors with timing value calc_ms in miliseconds. More...
virtual sReal	getActualPosition (unsigned long motorId) const =0
virtual sReal	getTorque (unsigned long motorId) const =0
virtual unsigned long	getID (const std::string &motor_name) const =0
	Retrieves the id of a motor by name. More...
virtual void	removeJointFromMotors (unsigned long joint_index)=0
	Detaches the joint with the given index from all motors that act on it, if any. More...
virtual void	getDataBrokerNames (unsigned long jointId, std::string *groupName, std::string *dataName) const =0
	Retrieves the groupName and dataName under which the motor with the specified id publishes its data in the DataBroker. More...
virtual void	connectMimics ()=0
virtual void	edit (MotorId id, const std::string &key, const std::string &value)=0

Detailed Description

"MotorManagerInterface" declares the interfaces for all motor operations that are used for the communication between the simulation modules.

The class defines only pure virtual functions that are implemented within the simulation and can be used everywhere by accessing this interface via the ControlCenter class.

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 64 of file MotorManagerInterface.h.

Constructor & Destructor Documentation

~MotorManagerInterface()

virtual mars::interfaces::MotorManagerInterface::~MotorManagerInterface ( )

inlinevirtual

Destructor.

Definition at line 69 of file MotorManagerInterface.h.

Member Function Documentation

addMotor()

virtual unsigned long mars::interfaces::MotorManagerInterface::addMotor ( MotorData *  motorS, bool  reload = false  )

pure 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.

Implemented in mars::sim::MotorManager.

clearAllMotors()

virtual void mars::interfaces::MotorManagerInterface::clearAllMotors ( bool  clear_all = false )

pure 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.

Implemented in mars::sim::MotorManager.

connectMimics()

virtual void mars::interfaces::MotorManagerInterface::connectMimics ( )

pure virtual

Implemented in mars::sim::MotorManager.

deactivateMotor()

virtual void mars::interfaces::MotorManagerInterface::deactivateMotor ( unsigned long  id )

pure virtual

Deactivates the motor with the given id.

Parameters

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

Implemented in mars::sim::MotorManager.

edit()

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

pure virtual

Implemented in mars::sim::MotorManager.

editMotor()

virtual void mars::interfaces::MotorManagerInterface::editMotor ( const MotorData &  motorS )

pure 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.

Implemented in mars::sim::MotorManager.

getActualPosition()

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

pure virtual

Returns

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

Implemented in mars::sim::MotorManager.

getDataBrokerNames()

virtual void mars::interfaces::MotorManagerInterface::getDataBrokerNames ( unsigned long  jointId, std::string *  groupName, std::string *  dataName  ) const

pure 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.

Implemented in mars::sim::MotorManager.

getFullMotor()

virtual const MotorData mars::interfaces::MotorManagerInterface::getFullMotor ( unsigned long  index ) const

pure 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.

Implemented in mars::sim::MotorManager.

getID()

virtual unsigned long mars::interfaces::MotorManagerInterface::getID ( const std::string &  motor_name ) const

pure 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

Implemented in mars::sim::MotorManager.

getListMotors()

virtual void mars::interfaces::MotorManagerInterface::getListMotors ( std::vector< core_objects_exchange > *  motorList ) const

pure 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.

Implemented in mars::sim::MotorManager.

getMotorCount()

virtual int mars::interfaces::MotorManagerInterface::getMotorCount ( ) const

pure virtual

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

Returns

The number of all motors.

Implemented in mars::sim::MotorManager.

getSimMotor()

virtual sim::SimMotor* mars::interfaces::MotorManagerInterface::getSimMotor ( unsigned long  index ) const

pure virtual

This function returns the SimMotor object for a given id.

Warning

This method is only internally 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 motor object.

Returns

Returns a pointer to the corresponding motor object.

Implemented in mars::sim::MotorManager.

getSimMotorByName()

virtual sim::SimMotor* mars::interfaces::MotorManagerInterface::getSimMotorByName ( const std::string &  name ) const

pure 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 motor object.

Returns

Returns a pointer to the corresponding motor object.

Implemented in mars::sim::MotorManager.

getTorque()

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

pure virtual

Returns

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

Implemented in mars::sim::MotorManager.

moveMotor()

virtual void mars::interfaces::MotorManagerInterface::moveMotor ( unsigned long  index, sReal  value  )

pure 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.

Implemented in mars::sim::MotorManager.

reloadMotors()

virtual void mars::interfaces::MotorManagerInterface::reloadMotors ( void  )

pure 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.

Implemented in mars::sim::MotorManager.

removeJointFromMotors()

virtual void mars::interfaces::MotorManagerInterface::removeJointFromMotors ( unsigned long  joint_index )

pure 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.

Implemented in mars::sim::MotorManager.

removeMotor()

virtual void mars::interfaces::MotorManagerInterface::removeMotor ( unsigned long  index )

pure virtual

Removes a motor from the simulation.

Parameters

index

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

Implemented in mars::sim::MotorManager.

setMaxSpeed()

virtual void mars::interfaces::MotorManagerInterface::setMaxSpeed ( unsigned long  id, sReal  maxSpeed  )

pure 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.

Implemented in mars::sim::MotorManager.

setMaxTorque()

virtual void mars::interfaces::MotorManagerInterface::setMaxTorque ( unsigned long  id, sReal  maxTorque  )

pure 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.

Implemented in mars::sim::MotorManager.

setMotorD()

virtual void mars::interfaces::MotorManagerInterface::setMotorD ( unsigned long  id, sReal  value  )

pure 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.

Implemented in mars::sim::MotorManager.

setMotorI()

virtual void mars::interfaces::MotorManagerInterface::setMotorI ( unsigned long  id, sReal  value  )

pure 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.

Implemented in mars::sim::MotorManager.

setMotorP()

virtual void mars::interfaces::MotorManagerInterface::setMotorP ( unsigned long  id, sReal  value  )

pure 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.

Implemented in mars::sim::MotorManager.

setMotorValue()

virtual void mars::interfaces::MotorManagerInterface::setMotorValue ( unsigned long  id, sReal  value  )

pure 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.

Implemented in mars::sim::MotorManager.

setMotorValueDesiredVelocity()

virtual void mars::interfaces::MotorManagerInterface::setMotorValueDesiredVelocity ( unsigned long  id, sReal  velocity  )

pure 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.

Implemented in mars::sim::MotorManager.

updateMotors()

virtual void mars::interfaces::MotorManagerInterface::updateMotors ( sReal  calc_ms )

pure 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.

Implemented in mars::sim::MotorManager.

---

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

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