OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Member Functions | List of all members
openjaus::manipulator::ManipulatorJointPositionListDriverInterface Class Referenceabstract

Provides an abstract interface for the ManipulatorJointPositionListDriver service. More...

#include <ManipulatorJointPositionListDriverInterface.h>

Inherits openjaus::mobility::ListManagerInterface.

Inherited by openjaus::manipulator::services::ManipulatorJointPositionListDriver [virtual].

Public Member Functions

virtual ~ManipulatorJointPositionListDriverInterface ()
 
virtual bool executeTargetList (ExecuteList *executeList)=0
 Begin sequential execution of the target list starting at the specified element. More...
 
virtual bool setJointMotionProfile (SetJointMotionProfile *setJointMotionProfile)=0
 Set the joint motion profile parameters for the manipulator. More...
 
virtual bool setElement (model::Trigger *trigger)=0
 Store the given targets(s) in the target list with sequence specified by the previous and next element UIDs. More...
 
virtual ReportJointMotionProfile getReportJointMotionProfile (QueryJointMotionProfile *queryJointMotionProfile)=0
 Send a Report Motion Profile message Send a Report Motion Profile message. More...
 
virtual ReportActiveElement getReportActiveElement (QueryActiveElement *queryActiveElement)=0
 Send a Report Active Element message Send a Report Active Element message. More...
 
virtual ReportCommandedJointPosition getReportCommandedJointPosition (QueryCommandedJointPosition *queryCommandedJointPosition)=0
 Send a Report Commanded Joint Position message Send a Report Commanded Joint Position message. More...
 
virtual ReportManipulatorSpecifications getReportManipulatorSpecifications (QueryManipulatorSpecifications *queryManipulatorSpecifications)=0
 Send a report manipulator specs message Send a report manipulator specs message. More...
 
virtual void stopMotion ()=0
 
virtual bool motionProfileExists (QueryJointMotionProfile *queryJointMotionProfile)=0
 motionProfileExists condition. More...
 
virtual bool motionProfileExists (ExecuteList *executeList)=0
 motionProfileExists condition. More...
 
virtual bool targetExists (QueryCommandedJointPosition *queryCommandedJointPosition)=0
 targetExists condition. More...
 
virtual bool elementExists (ExecuteList *executeList)=0
 elementExists condition. More...
 
- Public Member Functions inherited from openjaus::mobility::ListManagerInterface
virtual ~ListManagerInterface ()
 
virtual ReportElement getReportElement (QueryElement *queryElement)=0
 Send a Report Element message with the requested element. More...
 
virtual ReportElementList getReportElementList (QueryElementList *queryElementList)=0
 Send action for ReportElementList with input message QueryElementList. More...
 
virtual ReportElementCount getReportElementCount (QueryElementCount *queryElementCount)=0
 Send action for ReportElementCount with input message QueryElementCount. More...
 
virtual ConfirmElementRequest getConfirmElementRequest (SetElement *setElement)=0
 Send action for ConfirmElementRequest with input message SetElement. More...
 
virtual ConfirmElementRequest getConfirmElementRequest (DeleteElement *deleteElement)=0
 Send action for ConfirmElementRequest with input message DeleteElement. More...
 
virtual RejectElementRequest getRejectElementRequest (SetElement *setElement)=0
 Send action for RejectElementRequest with input message SetElement. More...
 
virtual RejectElementRequest getRejectElementRequest (DeleteElement *deleteElement)=0
 Send action for RejectElementRequest with input message DeleteElement. More...
 
virtual bool setElement (SetElement *setElement)=0
 Store the element(s) in the list with sequence specified by the previous and next element IDs. More...
 
virtual bool deleteElement (DeleteElement *deleteElement)=0
 Remove the specified element(s) from the list. More...
 
virtual bool elementExists (QueryElement *queryElement)=0
 True if the UID(s) specified in the message that triggered the transition exists in the list. More...
 
virtual bool elementExists (DeleteElement *deleteElement)=0
 True if the UID(s) specified in the message that triggered the transition exists in the list. More...
 
virtual bool isValidElementRequest (SetElement *setElement)=0
 True if the resulting list will not be invalid as defined by the List Manager Service description and the receiving entity has sufficient memory to store the element(s). More...
 
virtual bool isElementSupported (SetElement *setElement)=0
 False. More...
 
- Public Member Functions inherited from openjaus::core::ManagementInterface
virtual ~ManagementInterface ()
 
virtual bool storeID (SetEmergency *setEmergency)=0
 StoreID action with input SetEmergency. More...
 
virtual bool deleteID (ClearEmergency *clearEmergency)=0
 DeleteID action with input ClearEmergency. More...
 
virtual ReportStatus getReportStatus (QueryStatus *queryStatus)=0
 Send action for ReportStatus with input message QueryStatus. More...
 
virtual bool isIDStored (ClearEmergency *clearEmergency)=0
 isIDStored condition. More...
 
- Public Member Functions inherited from openjaus::core::AccessControlInterface
virtual ~AccessControlInterface ()
 
virtual void init ()=0
 
virtual void rejectController ()=0
 
virtual ReportControl getReportControl (QueryControl *queryControl)=0
 Send a Report Control message with the specified control value Send a Report Control message with the specified control value. More...
 
virtual ReportAuthority getReportAuthority (QueryAuthority *queryAuthority)=0
 Send a Report Authority message to querying client reporting the current authority value of this service Send a Report Authority message to querying client reporting the current authority value of this service. More...
 
virtual ReportTimeout getReportTimeout (QueryTimeout *queryTimeout)=0
 Send a Report Timeout message specifying the timeout period of this service Send a Report Timeout message specifying the timeout period of this service. More...
 
virtual bool setAuthority (RequestControl *requestControl)=0
 Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority. More...
 
virtual bool setAuthority (SetAuthority *setAuthority)=0
 Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority. More...
 
virtual bool resetTimer (RequestControl *requestControl)=0
 Reset the timer Reset the timer. More...
 
virtual bool sendConfirmControlNotAvailable (RequestControl *requestControl)=0
 Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client. More...
 
virtual bool sendConfirmControlInsufficientAuthority (RequestControl *requestControl)=0
 Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client. More...
 
virtual bool sendConfirmControlAccepted (RequestControl *requestControl)=0
 Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client. More...
 
virtual bool sendRejectControlToController (RequestControl *requestControl)=0
 SendRejectControlToController action with input RequestControl. More...
 
virtual bool sendRejectControlNotAvailable (ReleaseControl *releaseControl)=0
 SendRejectControlNotAvailable action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (ReleaseControl *releaseControl)=0
 SendRejectControlReleased action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (DismissController *dismissController)=0
 SendRejectControlReleased action with input DismissController. More...
 
virtual bool storeAddress (RequestControl *requestControl)=0
 StoreAddress action with input RequestControl. More...
 
virtual bool updateControlledList (ConfirmControl *confirmControl)=0
 Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages. More...
 
virtual bool updateControlledList (RejectControl *rejectControl)=0
 Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages. More...
 
virtual bool isDefaultAuthorityGreater (RequestControl *requestControl)=0
 True if the default authority code of this service is greater than the authority code of the client service that triggered the corresponding transition True if the default authority code of this service is greater than the authority code of the client service that triggered the corresponding transition. More...
 
virtual bool isCurrentAuthorityLess (RequestControl *requestControl)=0
 True if the current authority value of this service is less than the authority code of the client service that triggered the corresponding transition True if the current authority value of this service is less than the authority code of the client service that triggered the corresponding transition. More...
 
virtual bool isAuthorityValid (SetAuthority *setAuthority)=0
 True if the value of the authority code received from the client is less than or equal to the current authority value of this service, but greater than or equal to the receiving componentís default authority True if the value of the authority code received from the client is less than or equal to the current authority value of this service, but greater than or equal to the receiving componentís default authority. More...
 
virtual bool isControllingClient (model::Message *message)=0
 True if the message that triggered the transition is received from the client that is in control of this service True if the message that triggered the transition is received from the client that is in control of this service. More...
 
- Public Member Functions inherited from openjaus::core::EventsInterface
virtual ~EventsInterface ()
 
virtual bool createEvent (CreateEvent *createEvent)=0
 CreateEvent action with input CreateEvent. More...
 
virtual bool processEvent (ProcessEventRequest *processEventRequest)=0
 ProcessEvent action with input ProcessEventRequest. More...
 
virtual bool resetEventTimer (CreateEvent *createEvent)=0
 ResetEventTimer action with input CreateEvent. More...
 
virtual bool resetEventTimer (UpdateEvent *updateEvent)=0
 ResetEventTimer action with input UpdateEvent. More...
 
virtual bool updateEvent (CreateEvent *createEvent)=0
 UpdateEvent action with input CreateEvent. More...
 
virtual bool updateEvent (UpdateEvent *updateEvent)=0
 UpdateEvent action with input UpdateEvent. More...
 
virtual bool cancelEvent (CancelEvent *cancelEvent)=0
 CancelEvent action with input CancelEvent. More...
 
virtual bool stopEventTimer (CancelEvent *cancelEvent)=0
 StopEventTimer action with input CancelEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CreateEvent *createEvent)=0
 Send action for RejectEventRequest with input message CreateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (UpdateEvent *updateEvent)=0
 Send action for RejectEventRequest with input message UpdateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CancelEvent *cancelEvent)=0
 Send action for RejectEventRequest with input message CancelEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CreateEvent *createEvent)=0
 Send action for ConfirmEventRequest with input message CreateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (UpdateEvent *updateEvent)=0
 Send action for ConfirmEventRequest with input message UpdateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CancelEvent *cancelEvent)=0
 Send action for ConfirmEventRequest with input message CancelEvent. More...
 
virtual ReportEvents getReportEvents (QueryEvents *queryEvents)=0
 Send action for ReportEvents with input message QueryEvents. More...
 
virtual ReportEventTimeout getReportEventTimeout (QueryEventTimeout *queryEventTimeout)=0
 Send action for ReportEventTimeout with input message QueryEventTimeout. More...
 
virtual bool confirmEvent (ConfirmEventRequest *confirmEventRequest)=0
 ConfirmEvent action with input ConfirmEventRequest. More...
 
virtual bool rejectEvent (RejectEventRequest *rejectEventRequest)=0
 RejectEvent action with input RejectEventRequest. More...
 
virtual bool handleIncomingEvent (Event *event)=0
 HandleIncomingEvent action with input Event. More...
 
virtual bool handleReportEvents (ReportEvents *reportEvents)=0
 HandleReportEvents action with input ReportEvents. More...
 
virtual bool isSupported (CreateEvent *createEvent)=0
 isSupported condition. More...
 
virtual bool isSupported (UpdateEvent *updateEvent)=0
 isSupported condition. More...
 
virtual bool eventExists (CreateEvent *createEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (UpdateEvent *updateEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (CancelEvent *cancelEvent)=0
 eventExists condition. More...
 
- Public Member Functions inherited from openjaus::core::TransportInterface
virtual ~TransportInterface ()
 
virtual bool enqueue (model::Trigger *trigger)=0
 Convert the destination address into an unsigned integer such that the ComponentID maps to the least significant byte, NodeID to the next least significant byte and SubsystemID maps onto the remaining two bytes of the integer. More...
 
virtual bool broadcastLocalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints in the local subsystem. More...
 
virtual bool broadcastGlobalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints on all subsystems. More...
 
virtual bool sendMessage (model::Trigger *trigger)=0
 SendMessage action with input SendMessage. More...
 
virtual bool broadcastToNode (model::Trigger *trigger)=0
 Broadcasts message to all components within the local node Broadcasts message to all components within the local node. More...
 
virtual bool broadcastToSubsystem (model::Trigger *trigger)=0
 Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) More...
 
virtual bool broadcastToSystem (model::Trigger *trigger)=0
 Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) More...
 
virtual bool checkTransportPolicy (model::Trigger *trigger)=0
 CheckTransportPolicy action with input CheckTransportPolicy. More...
 
virtual ReportTransportPolicy getReportTransportPolicy (QueryTransportPolicy *queryTransportPolicy)=0
 Send action for ReportTransportPolicy with input message QueryTransportPolicy. More...
 
virtual bool storeTransportPolicy (ReportTransportPolicy *reportTransportPolicy)=0
 StoreTransportPolicy action with input ReportTransportPolicy. More...
 

Static Public Member Functions

static OPENJAUS_DEPRECATED model::Service ManipulatorJointPositionListDriverService ()
 Builds a default instance of the ManipulatorJointPositionListDriver Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string ManipulatorJointPositionListDriverUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::mobility::ListManagerInterface
static OPENJAUS_DEPRECATED model::Service ListManagerService ()
 Builds a default instance of the ListManager Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string ListManagerUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::ManagementInterface
static OPENJAUS_DEPRECATED model::Service ManagementService ()
 Builds a default instance of the Management Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string ManagementUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::AccessControlInterface
static OPENJAUS_DEPRECATED model::Service AccessControlService ()
 Builds a default instance of the AccessControl Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string AccessControlUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::EventsInterface
static OPENJAUS_DEPRECATED model::Service EventsService ()
 Builds a default instance of the Events Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string EventsUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::TransportInterface
static OPENJAUS_DEPRECATED model::Service TransportService ()
 Builds a default instance of the Transport Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string TransportUri ()
 Static accessor for Service URI. More...
 

Detailed Description

The function of the Joint Position List Driver is to perform closed-loop joint position control through a sequence of targets. The sequence of targets is specified by one or more SetElement messages, as defined by the List Manager Service. The "Set Motion Profile" message is used to set maximum velocity and acceleration rates for each of the variable joint parameters. All motions utilize the motion profile data that was most recently sent. Default settings are not assumed so that upon initialization this message must be sent before the first "ExecuteList" message is sent.



URI: urn:jaus:jss:manipulator:ManipulatorJointPositionListDriver

Version: 1.0

Inherits From:

Constructor & Destructor Documentation

§ ~ManipulatorJointPositionListDriverInterface()

virtual openjaus::manipulator::ManipulatorJointPositionListDriverInterface::~ManipulatorJointPositionListDriverInterface ( )
inlinevirtual

Member Function Documentation

§ elementExists()

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::elementExists ( ExecuteList executeList)
pure virtual

elementExists condition.

Parameters
[in]executeList- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ executeTargetList()

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::executeTargetList ( ExecuteList executeList)
pure virtual

Begin sequential execution of the target list starting at the specified element.

Parameters
[in]executeList- Input Trigger.
Returns
Whether the message was properly processed by this action.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ getReportActiveElement()

virtual ReportActiveElement openjaus::manipulator::ManipulatorJointPositionListDriverInterface::getReportActiveElement ( QueryActiveElement queryActiveElement)
pure virtual
Parameters
[in]queryActiveElement- Input Trigger.
Returns
ReportActiveElement Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ getReportCommandedJointPosition()

virtual ReportCommandedJointPosition openjaus::manipulator::ManipulatorJointPositionListDriverInterface::getReportCommandedJointPosition ( QueryCommandedJointPosition queryCommandedJointPosition)
pure virtual
Parameters
[in]queryCommandedJointPosition- Input Trigger.
Returns
ReportCommandedJointPosition Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ getReportJointMotionProfile()

virtual ReportJointMotionProfile openjaus::manipulator::ManipulatorJointPositionListDriverInterface::getReportJointMotionProfile ( QueryJointMotionProfile queryJointMotionProfile)
pure virtual
Parameters
[in]queryJointMotionProfile- Input Trigger.
Returns
ReportJointMotionProfile Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ getReportManipulatorSpecifications()

virtual ReportManipulatorSpecifications openjaus::manipulator::ManipulatorJointPositionListDriverInterface::getReportManipulatorSpecifications ( QueryManipulatorSpecifications queryManipulatorSpecifications)
pure virtual
Parameters
[in]queryManipulatorSpecifications- Input Trigger.
Returns
ReportManipulatorSpecifications Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ ManipulatorJointPositionListDriverService()

static OPENJAUS_DEPRECATED model::Service openjaus::manipulator::ManipulatorJointPositionListDriverInterface::ManipulatorJointPositionListDriverService ( )
inlinestatic
Returns
model::Service - The populated service.

§ ManipulatorJointPositionListDriverUri()

static OPENJAUS_DEPRECATED std::string openjaus::manipulator::ManipulatorJointPositionListDriverInterface::ManipulatorJointPositionListDriverUri ( )
inlinestatic
Returns
std::string - Service URI

§ motionProfileExists() [1/2]

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::motionProfileExists ( QueryJointMotionProfile queryJointMotionProfile)
pure virtual

motionProfileExists condition.

Parameters
[in]queryJointMotionProfile- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ motionProfileExists() [2/2]

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::motionProfileExists ( ExecuteList executeList)
pure virtual

motionProfileExists condition.

Parameters
[in]executeList- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ setElement()

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::setElement ( model::Trigger trigger)
pure virtual

If this action represents an insert or append into an existing list, the service should modify the NextUID of the previous element and/or the PreviousUID of the next element to reflect the updated sequence Store the given targets(s) in the target list with sequence specified by the previous and next element UIDs. If this action represents an insert or append into an existing list, the service should modify the NextUID of the previous element and/or the PreviousUID of the next element to reflect the updated sequence

Parameters
[in]trigger- Input Trigger.
Returns
Whether the message was properly processed by this action.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ setJointMotionProfile()

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::setJointMotionProfile ( SetJointMotionProfile setJointMotionProfile)
pure virtual

Set the joint motion profile parameters for the manipulator.

Parameters
[in]setJointMotionProfile- Input Trigger.
Returns
Whether the message was properly processed by this action.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.

§ stopMotion()

virtual void openjaus::manipulator::ManipulatorJointPositionListDriverInterface::stopMotion ( )
pure virtual

§ targetExists()

virtual bool openjaus::manipulator::ManipulatorJointPositionListDriverInterface::targetExists ( QueryCommandedJointPosition queryCommandedJointPosition)
pure virtual

targetExists condition.

Parameters
[in]queryCommandedJointPosition- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionListDriver.


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