Stg::ModelGripper Class Reference

#include <stage.hh>

Inheritance diagram for Stg::ModelGripper:

Classes

struct  config_t

Public Types

enum  cmd_t {
  CMD_NOOP = 0, CMD_OPEN, CMD_CLOSE, CMD_UP,
  CMD_DOWN
}
enum  lift_state_t { LIFT_DOWN = 0, LIFT_UP, LIFT_UPPING, LIFT_DOWNING }
enum  paddle_state_t { PADDLE_OPEN = 0, PADDLE_CLOSED, PADDLE_OPENING, PADDLE_CLOSING }
- Public Types inherited from Stg::Model
enum  callback_type_t {
  CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT,
  CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE,
  CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY,
  __CB_TYPE_COUNT
}

Public Member Functions

void CommandClose ()
void CommandDown ()
void CommandOpen ()
void CommandUp ()
config_t GetConfig ()
virtual void Load ()
 ModelGripper (World *world, Model *parent, const std::string &type)
virtual void Save ()
void SetCommand (cmd_t cmd)
void SetConfig (config_t &newcfg)
virtual ~ModelGripper ()
- Public Member Functions inherited from Stg::Model
BlockAddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)
void AddCallback (callback_type_t type, model_callback_t cb, void *user)
void AddFlag (Flag *flag)
void AddToPose (const Pose &pose)
void AddToPose (double dx, double dy, double dz, double da)
void AddVisualizer (Visualizer *custom_visual, bool on_by_default)
void BecomeParentOf (Model *child)
int CallCallbacks (callback_type_t type)
void ClearBlocks ()
bool DataIsFresh () const
void Disable ()
void Enable ()
PowerPackFindPowerPack () const
ModelGetChild (const std::string &name) const
Color GetColor () const
usec_t GetEnergyInterval () const
int GetFiducialReturn () const
unsigned int GetFlagCount () const
Geom GetGeom () const
Pose GetGlobalPose () const
Velocity GetGlobalVelocity () const
uint32_t GetId () const
usec_t GetInterval ()
kg_t GetMassOfChildren () const
const std::string & GetModelType () const
Pose GetPose () const
std::string GetSayString ()
unsigned int GetSubscriptionCount () const
kg_t GetTotalMass () const
ModelGetUnsubscribedModelOfType (const std::string &type) const
ModelGetUnusedModelOfType (const std::string &type)
usec_t GetUpdateInterval () const
WorldGetWorld () const
Pose GlobalToLocal (const Pose &pose) const
bool HasSubscribers () const
void InitControllers ()
bool IsAntecedent (const Model *testmod) const
bool IsDescendent (const Model *testmod) const
bool IsRelated (const Model *testmod) const
void Load (Worldfile *wf, int wf_entity)
void LoadBlock (Worldfile *wf, int entity)
void LoadControllerModule (const char *lib)
Pose LocalToGlobal (const Pose &pose) const
point_t LocalToGlobal (const point_t &pt) const
std::vector< point_int_tLocalToPixels (const std::vector< point_t > &local) const
 Model (World *world, Model *parent=NULL, const std::string &type="model", const std::string &name="")
 Model ()
void NeedRedraw ()
ModelParent () const
void PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax)
virtual void PopColor ()
FlagPopFlag ()
std::string PoseString ()
virtual void Print (char *prefix) const
virtual const char * PrintWithPose () const
virtual void PushColor (Color col)
virtual void PushColor (double r, double g, double b, double a)
void PushFlag (Flag *flag)
void Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)
void Redraw ()
int RemoveCallback (callback_type_t type, model_callback_t callback)
void RemoveFlag (Flag *flag)
void RemoveVisualizer (Visualizer *custom_visual)
ModelRoot ()
void Say (const std::string &str)
void SetBlobReturn (bool val)
void SetBoundary (bool val)
void SetColor (Color col)
void SetFiducialKey (int key)
void SetFiducialReturn (int fid)
void SetFriction (double friction)
void SetGeom (const Geom &src)
void SetGlobalPose (const Pose &gpose)
void SetGlobalVelocity (const Velocity &gvel)
void SetGravityReturn (bool val)
void SetGripperReturn (bool val)
void SetGuiGrid (bool val)
void SetGuiMove (bool val)
void SetGuiNose (bool val)
void SetGuiOutline (bool val)
void SetMapResolution (meters_t res)
void SetMass (kg_t mass)
void SetObstacleReturn (bool val)
int SetParent (Model *newparent)
void SetPose (const Pose &pose)
void SetRangerReturn (double val)
void SetRangerReturn (bool val)
void SetStall (bool stall)
void SetStickyReturn (bool val)
virtual void SetToken (const std::string &str)
void SetWatts (watts_t watts)
void SetWorldfile (Worldfile *wf, int wf_entity)
bool Stalled () const
void Subscribe ()
void Unsubscribe ()
virtual ~Model ()
- Public Member Functions inherited from Stg::Ancestor
virtual void AddChild (Model *mod)
 Ancestor ()
void ForEachDescendant (model_callback_t func, void *arg)
std::vector< Model * > & GetChildren ()
void * GetProperty (std::string &key)
virtual void RemoveChild (Model *mod)
void SetProperty (std::string &key, void *value)
const char * Token () const
const std::string & TokenStr () const
virtual ~Ancestor ()

Static Public Attributes

static const Size size
- Static Public Attributes inherited from Stg::Model
static std::map< std::string,
creator_t
name_map

Additional Inherited Members

- Static Public Member Functions inherited from Stg::Model
static ModelLookupId (uint32_t id)
- Public Attributes inherited from Stg::Model
class Stg::Model::Visibility vis
- Protected Member Functions inherited from Stg::Model
void AppendTouchingModels (std::set< Model * > &touchers)
void CallUpdateCallbacks (void)
void CommitTestedPose ()
virtual void DataVisualize (Camera *cam)
void DataVisualizeTree (Camera *cam)
virtual void DrawBlocks ()
void DrawBlocksTree ()
void DrawBoundingBox ()
void DrawBoundingBoxTree ()
void DrawFlagList ()
void DrawGrid ()
void DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)
void DrawOrigin ()
void DrawOriginTree ()
virtual void DrawPicker ()
void DrawPose (Pose pose)
virtual void DrawSelected (void)
virtual void DrawStatus (Camera *cam)
void DrawStatusTree (Camera *cam)
void DrawTrailArrows ()
void DrawTrailBlocks ()
void DrawTrailFootprint ()
void Map (unsigned int layer)
void Map ()
void MapFromRoot (unsigned int layer)
void MapWithChildren (unsigned int layer)
meters_t ModelHeight () const
void PopCoords ()
void PushLocalCoords ()
RaytraceResult Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, RaytraceResult *samples, const uint32_t sample_count, const bool ztest=true)
RaytraceResult Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void *arg, RaytraceResult *samples, const uint32_t sample_count, const bool ztest=true)
void RegisterOption (Option *opt)
virtual void Shutdown ()
virtual void Startup ()
ModelTestCollision ()
void UnMap (unsigned int layer)
void UnMap ()
void UnMapFromRoot (unsigned int layer)
void UnMapWithChildren (unsigned int layer)
virtual void Update ()
virtual void UpdateCharge ()
void UpdateTrail ()
- Static Protected Member Functions inherited from Stg::Model
static int UpdateWrapper (Model *mod, void *arg)
- Protected Attributes inherited from Stg::Model
bool alwayson
BlockGroup blockgroup
int blocks_dl
int boundary
std::vector< std::set< cb_t > > callbacks
Color color
std::list< Visualizer * > cv_list
bool data_fresh
bool disabled
unsigned int event_queue_num
std::list< Flag * > flag_list
double friction
Geom geom
class Stg::Model::GuiState gui
bool has_default_block
uint32_t id
usec_t interval
 time between updates in usec
usec_t interval_energy
 time between updates of powerpack in usec
usec_t last_update
 time of last update in us
bool log_state
 iff true, model state is logged
meters_t map_resolution
kg_t mass
Modelparent
Pose pose
PowerPackpower_pack
std::list< PowerPack * > pps_charging
Stg::Model::RasterVis rastervis
bool rebuild_displaylist
 iff true, regenerate block display list before redraw
std::string say_string
 if non-empty, this string is displayed in the GUI
bool stack_children
 whether child models should be stacked on top of this model or not
bool stall
 Set to true iff the model collided with something else.
int subs
 the number of subscriptions to this model
bool thread_safe
std::vector< TrailItemtrail
unsigned int trail_index
const std::string type
bool used
 TRUE iff this model has been returned by GetUnusedModelOfType()
watts_t watts
 power consumed by this model
watts_t watts_give
watts_t watts_take
Worldfilewf
int wf_entity
Worldworld
WorldGuiworld_gui
- Static Protected Attributes inherited from Stg::Model
static uint64_t trail_interval
static unsigned int trail_length

Member Enumeration Documentation

Enumerator:
CMD_NOOP 
CMD_OPEN 
CMD_CLOSE 
CMD_UP 
CMD_DOWN 
Enumerator:
LIFT_DOWN 
LIFT_UP 
LIFT_UPPING 
LIFT_DOWNING 
Enumerator:
PADDLE_OPEN 
PADDLE_CLOSED 
PADDLE_OPENING 
PADDLE_CLOSING 

Constructor & Destructor Documentation

ModelGripper::ModelGripper ( World world,
Model parent,
const std::string &  type 
)
ModelGripper::~ModelGripper ( )
virtual

Member Function Documentation

void Stg::ModelGripper::CommandClose ( )
inline

Command the gripper paddles to close. Wrapper for SetCommand( CMD_CLOSE ).

void Stg::ModelGripper::CommandDown ( )
inline

Command the gripper lift to go down. Wrapper for SetCommand( CMD_DOWN ).

void Stg::ModelGripper::CommandOpen ( )
inline

Command the gripper paddles to open. Wrapper for SetCommand( CMD_OPEN ).

void Stg::ModelGripper::CommandUp ( )
inline

Command the gripper lift to go up. Wrapper for SetCommand( CMD_UP ).

config_t Stg::ModelGripper::GetConfig ( )
inline

Returns the state of the gripper .

void ModelGripper::Load ( void  )
virtual

configure a model by reading from the current world file

Reimplemented from Stg::Model.

void ModelGripper::Save ( void  )
virtual

save the state of the model to the current world file

Reimplemented from Stg::Model.

void Stg::ModelGripper::SetCommand ( cmd_t  cmd)
inline

Set the current activity of the gripper.

void Stg::ModelGripper::SetConfig ( config_t newcfg)
inline

Configure the gripper

Member Data Documentation

const Size Stg::ModelGripper::size
static

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