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

#include <ManipulatorJointPositionDriverInterface.h>

Inherits openjaus::core::ManagementInterface.

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

Public Member Functions
virtual	~ManipulatorJointPositionDriverInterface ()

virtual bool	setJointPosition (SetJointPosition *setJointPosition)=0
	Set the joint positions for the manipulator. More...

virtual bool	setJointMotionProfile (SetJointMotionProfile *setJointMotionProfile)=0
	Set the joint motion profile parameters for the manipulator. More...

virtual ReportCommandedJointPosition	getReportCommandedJointPosition (QueryCommandedJointPosition *queryCommandedJointPosition)=0
	Send a Report Commanded Joint Position message Send a Report Commanded Joint Position message. More...

virtual ReportJointMotionProfile	getReportJointMotionProfile (QueryJointMotionProfile *queryJointMotionProfile)=0
	Send a Report Motion Profile message Send a Report Motion Profile 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 (SetJointPosition *setJointPosition)=0
	motionProfileExists condition. 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 component�s 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 component�s 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	ManipulatorJointPositionDriverService ()
	Builds a default instance of the ManipulatorJointPositionDriver Service and populates the URI and Version numbers. More...

static OPENJAUS_DEPRECATED std::string	ManipulatorJointPositionDriverUri ()
	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 Driver is to perform closed-loop joint position control. A single target is provided via the Set Joint Position message. The target remains unchanged until a new Set Joint Position message is received. 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 "Set Joint Position" message is sent.

URI: urn:jaus:jss:manipulator:ManipulatorJointPositionDriver

Version: 1.0

Inherits From:

urn:jaus:jss:core:Management

Constructor & Destructor Documentation

§ ~ManipulatorJointPositionDriverInterface()

virtual openjaus::manipulator::ManipulatorJointPositionDriverInterface::~ManipulatorJointPositionDriverInterface ( )

inlinevirtual

Member Function Documentation

§ getReportCommandedJointPosition()

virtual ReportCommandedJointPosition openjaus::manipulator::ManipulatorJointPositionDriverInterface::getReportCommandedJointPosition ( QueryCommandedJointPosition * queryCommandedJointPosition )

pure virtual

Parameters

[in] queryCommandedJointPosition - Input Trigger.

Returns: ReportCommandedJointPosition Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ getReportJointMotionProfile()

virtual ReportJointMotionProfile openjaus::manipulator::ManipulatorJointPositionDriverInterface::getReportJointMotionProfile ( QueryJointMotionProfile * queryJointMotionProfile )

pure virtual

Parameters

[in] queryJointMotionProfile - Input Trigger.

Returns: ReportJointMotionProfile Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ getReportManipulatorSpecifications()

virtual ReportManipulatorSpecifications openjaus::manipulator::ManipulatorJointPositionDriverInterface::getReportManipulatorSpecifications ( QueryManipulatorSpecifications * queryManipulatorSpecifications )

pure virtual

Parameters

[in] queryManipulatorSpecifications - Input Trigger.

Returns: ReportManipulatorSpecifications Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ ManipulatorJointPositionDriverService()

static OPENJAUS_DEPRECATED model::Service openjaus::manipulator::ManipulatorJointPositionDriverInterface::ManipulatorJointPositionDriverService ( )

inlinestatic

Returns: model::Service - The populated service.

§ ManipulatorJointPositionDriverUri()

static OPENJAUS_DEPRECATED std::string openjaus::manipulator::ManipulatorJointPositionDriverInterface::ManipulatorJointPositionDriverUri ( )

inlinestatic

Returns: std::string - Service URI

§ motionProfileExists() [1/2]

virtual bool openjaus::manipulator::ManipulatorJointPositionDriverInterface::motionProfileExists ( QueryJointMotionProfile * queryJointMotionProfile )

pure virtual

motionProfileExists condition.

Parameters

[in] queryJointMotionProfile - Input Trigger.

Returns: Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ motionProfileExists() [2/2]

virtual bool openjaus::manipulator::ManipulatorJointPositionDriverInterface::motionProfileExists ( SetJointPosition * setJointPosition )

pure virtual

motionProfileExists condition.

Parameters

[in] setJointPosition - Input Trigger.

Returns: Whether the condition is true.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ setJointMotionProfile()

virtual bool openjaus::manipulator::ManipulatorJointPositionDriverInterface::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::ManipulatorJointPositionDriver.

§ setJointPosition()

virtual bool openjaus::manipulator::ManipulatorJointPositionDriverInterface::setJointPosition ( SetJointPosition * setJointPosition )

pure virtual

The manipulator joints move accordingly Set the joint positions for the manipulator. The manipulator joints move accordingly

Parameters

[in] setJointPosition - Input Trigger.

Returns: Whether the message was properly processed by this action.

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

§ stopMotion()

virtual void openjaus::manipulator::ManipulatorJointPositionDriverInterface::stopMotion ( )

pure virtual

Implemented in openjaus::manipulator::services::ManipulatorJointPositionDriver.

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

include/openjaus/manipulator/ManipulatorJointPositionDriverInterface.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

§ ~ManipulatorJointPositionDriverInterface()

Member Function Documentation

§ getReportCommandedJointPosition()

§ getReportJointMotionProfile()

§ getReportManipulatorSpecifications()

§ ManipulatorJointPositionDriverService()

§ ManipulatorJointPositionDriverUri()

§ motionProfileExists() [1/2]

§ motionProfileExists() [2/2]

§ setJointMotionProfile()

§ setJointPosition()

§ stopMotion()