クラス mujinclient::ITLPlanningTaskParameters

holds information about the itlplanning task parameters [詳細]

#include <mujincontrollerclient.h>

mujinclient::ITLPlanningTaskParametersに対する継承グラフ

mujinclient::ITLPlanningTaskParametersのコラボレーション図

Public メソッド
	ITLPlanningTaskParameters ()
virtual void	SetDefaults ()

Public 変数
int	startfromcurrent
	Will start planning from the current robot joint values, otherwise will start at the first waypoint in the program.
std::string	returnmode
int	vrcruns
	Use the Robot Virtual Controller for retiming and extra validation. Makes planning slow, but robot timing because very accurate.
int	ignorefigure
	if 1, ignores the figure/structure flags for every goal parameter. These flags fix the configuration of the robot from the multitute of possibilities. If 0, will attempt to use the flags and error if task is not possible with them.
std::string	unit
	the unit that information is used in. m, mm, nm, inch, etc
Real	optimizationvalue
	value in [0,1]. 0 is no optimization (fast), 1 is full optimization (slow)
std::string	program
	itl program
EnvironmentState	initial_envstate
	initial environment state to set the ITL task to.
EnvironmentState	final_envstate
	final environment state that describes where the robot should end at. If returnmode is set to final, then use this state.

説明

holds information about the itlplanning task parameters

例:

mujinexecutetask.cpp, mujinexecutetask_fast.cpp, mujinexecutetask_robodia.cpp, と mujinideal_densowave.cpp.

mujincontrollerclient.h の 225 行で定義されています。

コンストラクタとデストラクタ

mujinclient::ITLPlanningTaskParameters::ITLPlanningTaskParameters ( )

inline

mujincontrollerclient.h の 228 行で定義されています。

関数

virtual void mujinclient::ITLPlanningTaskParameters::SetDefaults ( )

inlinevirtual

mujinclient::DensoWaveWincapsTaskParametersで再定義されています。

mujincontrollerclient.h の 231 行で定義されています。

変数

EnvironmentState mujinclient::ITLPlanningTaskParameters::final_envstate

final environment state that describes where the robot should end at. If returnmode is set to final, then use this state.

mujincontrollerclient.h の 256 行で定義されています。

int mujinclient::ITLPlanningTaskParameters::ignorefigure

if 1, ignores the figure/structure flags for every goal parameter. These flags fix the configuration of the robot from the multitute of possibilities. If 0, will attempt to use the flags and error if task is not possible with them.

mujincontrollerclient.h の 250 行で定義されています。

EnvironmentState mujinclient::ITLPlanningTaskParameters::initial_envstate

initial environment state to set the ITL task to.

mujincontrollerclient.h の 255 行で定義されています。

Real mujinclient::ITLPlanningTaskParameters::optimizationvalue

value in [0,1]. 0 is no optimization (fast), 1 is full optimization (slow)

例:

mujinexecutetask.cpp, mujinexecutetask_fast.cpp, mujinexecutetask_robodia.cpp, と mujinideal_densowave.cpp.

mujincontrollerclient.h の 252 行で定義されています。

std::string mujinclient::ITLPlanningTaskParameters::program

itl program

例:

mujinexecutetask.cpp, mujinexecutetask_fast.cpp, と mujinexecutetask_robodia.cpp.

mujincontrollerclient.h の 253 行で定義されています。

std::string mujinclient::ITLPlanningTaskParameters::returnmode

specifies the final movement of the robot. There's 3 different modes:

• "" - (empty string) meaning robot doesn't return to anything
• "start" - robot returns to wherever it started
• "final" - robot returns to the final_envstate

mujincontrollerclient.h の 247 行で定義されています。

int mujinclient::ITLPlanningTaskParameters::startfromcurrent

Will start planning from the current robot joint values, otherwise will start at the first waypoint in the program.

mujincontrollerclient.h の 241 行で定義されています。

std::string mujinclient::ITLPlanningTaskParameters::unit

the unit that information is used in. m, mm, nm, inch, etc

mujincontrollerclient.h の 251 行で定義されています。

int mujinclient::ITLPlanningTaskParameters::vrcruns

Use the Robot Virtual Controller for retiming and extra validation. Makes planning slow, but robot timing because very accurate.

例:

mujinexecutetask_robodia.cpp.

mujincontrollerclient.h の 249 行で定義されています。

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このクラスの説明は次のファイルから生成されました:

• /home/mujin/mujin/checkoutroot/controllerclientcpp/include/mujincontrollerclient/mujincontrollerclient.h (2016-07-21 19:43:21 +0900, commit:f216abb)