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OSCAR::PCRoboworksInterface Class Reference
[Device]

This class multiply inherits from RoboworksInterface and PowerCubeBase classes. This is an interface for PowerCube simulation (when simulation is done in Roboworks.). It has following functionality. -Object construction and initialization -Homing -Resetting -Halting -Getting and setting positions of modules and gripper(if any) Note: for giving position commands call SetServoValue() (See RobotServoInterface.h). The implementation is in SetPosition(). More...

#include <PCRoboWorksInterface.h>

Inheritance diagram for OSCAR::PCRoboworksInterface:

[legend]List of all members.


Public Methods
	PCRoboworksInterface (const String &_roboworksFile, unsigned int _numberofTags, const char **_tagNames, unsigned int _dof, bool _hasGripper, const String &_ipAddress=SELF, OSCARError &_err=DUMMY_ERROR(noError))
	~PCRoboworksInterface ()
virtual bool	Initialize ()
bool	Close ()
bool	GetNumModules (unsigned int &count)
bool	Home (unsigned int modNo)
bool	HomeQuiet (unsigned int modNo)
bool	Halt ()
virtual bool	Reset (unsigned int modNo)
virtual bool	GetCurrent (VectorF &_currentLimits)
bool	OpenGripper (double openPos)
bool	GetStatusFlag (unsigned int iModule, unsigned long flag, bool &isSet)
virtual const OSCARError &	GetError () const
virtual bool	Home (unsigned int modNo)
bool	Home (BoolArray bHomeArray)
bool	Home ()
virtual bool	Reset (unsigned int modNo)
bool	Reset (const BoolArray &bResetArray)
bool	Reset ()
Protected Methods
bool	getPosition (VectorF &jointValues)
bool	setPosition (const VectorF &jointValues)
bool	getVelocity (VectorF &jointVelocities)
bool	setVelocity (const VectorF &jointVelocities)
virtual bool	setVelocityLimits (const VectorF &_minJointVel, const VectorF &_maxJointVel)
Protected Attributes
unsigned int	dof
VectorF	currentTagValues
VectorF	tagValues
BoolArray	isHomed
BoolArray	isHalted

Detailed Description

Author:: Initial Implementation: Dinesh Rabindran, Chetn Kapoor

Constructor & Destructor Documentation

OSCAR::PCRoboworksInterface::PCRoboworksInterface ( const String & _roboworksFile,

unsigned int _numberofTags,

const char ** _tagNames,

unsigned int _dof,

bool _hasGripper,

const String & _ipAddress = SELF,

OSCARError & _err = DUMMY_ERROR(noError)

)

Constructor. intializes thru' the parent class constructors const String& _roboworksFile = Roboworks FileName unsigned int _numberofTags = Number of Tags const char** _tagNames = array of Tagnames unsigned int _dof = degrees of freedom bool _hasGripper = true if system has PowerCube gripper const String& _ipAddress = ipAddress of the controller machine OscarError _err = OSCAR error object used to handle errors generated.

See also:
~PCRoboworksInterface()

OSCAR::PCRoboworksInterface::~PCRoboworksInterface ( )

destructor, does Nothing

See also:
PCRoboworksInterface()

Member Function Documentation

bool OSCAR::PCRoboworksInterface::Close ( ) [virtual]

Disconnects from Roboworks.

Returns:
bool = true if successfully disconnected, false otherwise

Parameters:

void

Reimplemented from OSCAR::RoboworksInterface.

virtual bool OSCAR::PCRoboworksInterface::GetCurrent ( VectorF & _currentLimits ) [virtual]

gets current. Curently this methd is not supported. All it does is sets the error stating method is not supported. This method overrides the base class method.

Returns:
bool: Always returns false

Parameters:

VectorF& _currentLimits = vector to return current

Reimplemented from OSCAR::PowerCubeBase.

virtual const OSCARError& OSCAR::PCRoboworksInterface::GetError ( ) const [virtual]

Returns an error value which is set by certain operation, e.g. object creation or member function call,etc. This method is inherited from Base and is redefined over here because PCRoboWorks interface is multiply inherited. This multiple inheritance leads to ambiguity. As such this method is redifned to call the PowerCubeBase::GetError -Everytime there is a failure to creat an object or call function , This function is used to get the failure reason (error value).

Returns:
error value corresponding to some specific failure. There will be a file to setup the error value and its description.

Parameters:

void

Reimplemented from OSCAR::Base.

bool OSCAR::PCRoboworksInterface::GetNumModules ( unsigned int & count ) [virtual]

pure virtual: Gets the number of modules attached to the robot.

Parameters:

unsigned int& count = number of modules

Returns:
bool = true if the number of modules is successfully read, false if not

Implements OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::getPosition ( VectorF & jointValues ) [protected, virtual]

Implements OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::GetStatusFlag ( unsigned int iModule,

unsigned long flag,

bool & isSet

) [virtual]

Checks whether or not a status flag is set for a joint.

Returns:
bool = true if the command is successful

Parameters:

unsigned int iModule = the joint number of the module unsigned long flag = the status flag to check. These are described in the Amtec documentation. bool& isSet = returns true if the flag is set, false if not.

Reimplemented from OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::getVelocity ( VectorF & jointVelocities ) [protected, virtual]

Implements OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::Halt ( ) [virtual]

pure virtual: Stops all modules immediately.Modules cannot be moved until they are reset.

Returns:
bool = true if no error

Implements OSCAR::PowerCubeBase.

bool OSCAR::PowerCubeBase::Home ( )

-Sends all modules to the home position. -Functionality implemented in derived class.

Returns:
bool = true if no error

bool OSCAR::PowerCubeBase::Home ( BoolArray bHomeArray )

-Sends modules to the home position. -Functionality implemented in derived class. -example: For a 3DOF robot BoolArray bInitArray(3, {true, false, true}); robot.Home(bInitArray); This call would send modules 1 and 3 home.

Parameters:

BoolArray bHomeArray = Boolean array of modules to initialize

Returns:
bool = true if modules are homed successfully

virtual bool OSCAR::PowerCubeBase::Home ( unsigned int modNo )

-Sends a single module to the zero position. -Functionality implemented in derived class. example: For a 3DOF robot, robot.Home(2); This command would home module 3 -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = Module number. Indexing starts at 0, so the first module would be 0, the second module would be 1, etc...

Returns:
bool = true if module homed successfully

bool OSCAR::PCRoboworksInterface::Home ( unsigned int modNo ) [virtual]

-Sends a single module to the zero position. -Functionality implemented in derived class. example: For a 3DOF robot, robot.Home(2); This command would home module 3 -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = Module number. Indexing starts at 0, so the first module would be 0, the second module would be 1, etc...

Returns:
bool = true if module homed successfully

Reimplemented from OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::HomeQuiet ( unsigned int modNo ) [virtual]

-Sends a single module to the zero position, without interactive confirmation -Functionality implemented in derived class. example: For a 3DOF robot, robot.Home(2); This command would home module 3 -This method must be overriden. The method only performs range check on supplied model number. There is no interactive confirmation. So in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = Module number. Indexing starts at 0, so the first module would be 0, the second module would be 1, etc...

Returns:
bool = true if module homed successfully

Reimplemented from OSCAR::PowerCubeBase.

virtual bool OSCAR::PCRoboworksInterface::Initialize ( ) [virtual]

Connects to Roboworks using RoboTalk.

Returns:
bool = true if connection is successful, false otherwise

Parameters:

void

Reimplemented from OSCAR::RoboworksInterface.

bool OSCAR::PCRoboworksInterface::OpenGripper ( double openPos ) [virtual]

Opens gripper to the given position using a linear interpolator Error-Checking implemented by the PowerCubeBase class. Simulation specific code is within this method.

Returns:
bool = true if the command is sent successfully

Parameters:

double openPos = position to send gripper to.

Reimplemented from OSCAR::PowerCubeBase.

bool OSCAR::PowerCubeBase::Reset ( )

Resets all modules to recover from an error or halt condition. -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs.

Returns:
bool = true if the reset command is sent successfully

bool OSCAR::PowerCubeBase::Reset ( const BoolArray & bResetArray )

Resets modules to recover from an error or halt condition. -example: for a 3DOF robot; BoolArray bResetArray(3, {true, false, true}); robot.reset(bResetArray); -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs.

Parameters:

BoolArray& bResetArray = Boolean array of modules to reset

Returns:
bool

virtual bool OSCAR::PowerCubeBase::Reset ( unsigned int modNo )

Resets modules to recover from an error or halt condition. -example: robot.reset(2); This call would reset module 3. -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs. -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = the module number to be reseted handle.

Returns:
bool

virtual bool OSCAR::PCRoboworksInterface::Reset ( unsigned int modNo ) [virtual]

Resets modules to recover from an error or halt condition. -example: robot.reset(2); This call would reset module 3. -After an error or halt command which causes the module to stop running this command must be sent to reset all the modules from the error condition. This command cannot be used to recover from certain error conditions. See Amtec docs. -This method must be overriden. The method only performs input data checking, so in the derived class method, the base class method must be called first.

Parameters:

unsigned int modNo = the module number to be reseted handle.

Returns:
bool

Reimplemented from OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::setPosition ( const VectorF & jointValues ) [protected, virtual]

Implements OSCAR::PowerCubeBase.

bool OSCAR::PCRoboworksInterface::setVelocity ( const VectorF & jointVelocities ) [protected, virtual]

Implements OSCAR::PowerCubeBase.

virtual bool OSCAR::PCRoboworksInterface::setVelocityLimits ( const VectorF & _minJointVel,

const VectorF & _maxJointVel

) [protected, virtual]

Reimplemented from OSCAR::PowerCubeBase.