#include <CommandJacobianInverseKinematicMovement.h>

Inheritance diagram for conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement:

Public Member Functions
	CommandJacobianInverseKinematicMovement (ptr< CscEntityReflexion > entityReflexion, int knowledgeId, CscState currentState, RequestType requestType, CscPoint3d movementToPerform, float maxHorizontalDistance, float maxVerticalDistance, float maxDepthDistance, bool debugWithBox, bool constraintOnDistance, optional< int > memberToMoveId, vector< int > pivotIdToIgnoreForMovement)

	~CommandJacobianInverseKinematicMovement ()

int	getKnowledgeId ()

const CscState *	getCurrentState ()

Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
const CscCommandExecutionResult *	_execute (CscEnvironmentSimulator &environmentSimulator)

template<class TResult = CscCommandExecutionResult>
const TResult *	execute (CscEnvironmentSimulator &environmentSimulator)

const CommandTypeId &	getTypeId () const

virtual	~CscCommand ()

void	setOriginalCommandString (string command)

Static Public Attributes
static const CommandTypeId	COMMAND_ID = "JACOBIAN_INVERSE_KINEMATIC_MOVEMENT"

Protected Member Functions
const CscCommandExecutionResultNone *	doExecute (CscEnvironmentSimulator &environmentSimulator) override

ptr< CscEntityReflexion >	getEntityReflexion () const override

Protected Member Functions inherited from conscience_core::bridging::commands::CscCommand
	CscCommand (const CommandTypeId &typeId)

const CscCommandExecutionResultNone *	resultNone ()

const CscCommandExecutionResultSequence *	resultSequence (CscSequence *sequence, const string &entitySerialNumber, bool doNotPlay=false)

const CscCommandExecutionResultFile *	resultFile (const fs::path &resultingFilePath)

template<class TResult >
const CscCommandExecutionResultObject< TResult > *	resultObject (TResult *result)

const CscWorldElementId	getEntityId () const

Additional Inherited Members
Public Types inherited from conscience_core::bridging::commands::CscCommand
typedef function< void(CscCommand *command)>	CommandExecutedListener

Static Public Member Functions inherited from conscience_core::bridging::commands::CscCommand
static void	addCommandExecutedListener (CommandExecutedListener listener)

Protected Attributes inherited from conscience_core::bridging::commands::CscCommand
const CommandTypeId	typeId

optional< string >	originalCommandString = {}

Constructor & Destructor Documentation

◆ CommandJacobianInverseKinematicMovement()

conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::CommandJacobianInverseKinematicMovement	(	ptr< CscEntityReflexion >	entityReflexion,
		int	knowledgeId,
		CscState *	currentState,
		RequestType	requestType,
		CscPoint3d *	movementToPerform,
		float	maxHorizontalDistance,
		float	maxVerticalDistance,
		float	maxDepthDistance,
		bool	debugWithBox,
		bool	constraintOnDistance,
		optional< int >	memberToMoveId,
		vector< int >	pivotIdToIgnoreForMovement
	)

Parameters

movementToPerform	Delta to add to the end-effector position, in centimeter
RequestType	START algorithm or UPDATE objective position (with "movementToPerform") or STOP algorithm
maxHorizontalDistance	limit of movement for algorithm on Y axe, in centimeter
maxVerticalDistance	limit of movement for algorithm on Z axe, in centimeter
maxDepthDistance	limit of movement for algorithm on X axe, in centimeter
debugWithBox	draw structures of algorithm with boxes in the simulator
constraintOnDistance	use "maxHorizontalDistance", "maxVerticalDistance", "maxDepthDistance" if true, else no limit for movements (not recommended)

◆ ~CommandJacobianInverseKinematicMovement()

conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::~CommandJacobianInverseKinematicMovement ( )

inline

Member Function Documentation

◆ doExecute()

const CscCommandExecutionResultNone * conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::doExecute ( CscEnvironmentSimulator & environmentSimulator )

overrideprotectedvirtual

Implements conscience_core::bridging::commands::CscCommand.

◆ getCurrentState()

const CscState* conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::getCurrentState ( )

◆ getEntityReflexion()

ptr<CscEntityReflexion> conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::getEntityReflexion ( ) const

inlineoverrideprotectedvirtual

return entity reflexion if this command applies on an entityReflexion, otherwise return nullptr

Implements conscience_core::bridging::commands::CscCommand.

◆ getKnowledgeId()

int conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::getKnowledgeId ( )

Member Data Documentation

◆ COMMAND_ID

const CommandTypeId conscience_core::bridging::commands::CommandJacobianInverseKinematicMovement::COMMAND_ID = "JACOBIAN_INVERSE_KINEMATIC_MOVEMENT"

inlinestatic

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

Bridging/EnvironmentInteractionCommands/CommandJacobianInverseKinematicMovement.h
Bridging/EnvironmentInteractionCommands/CommandJacobianInverseKinematicMovement.cpp

Conscience Core

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members