Robot::Waypoint Class Reference

The representation of a waypoint in a trajectory. More...

#include <Waypoint.h>

Public Types

enum  WaypointType {
  UNDEF , PTP , LINE , CIRC ,
  WAIT
}
 

Public Member Functions

virtual unsigned int getMemSize (void) const
 This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB? More...
 
virtual void Restore (Base::XMLReader &)
 This method is used to restore properties from an XML document. More...
 
virtual void Save (Base::Writer &) const
 This method is used to save properties to an XML document. More...
 
 Waypoint ()
 
 Waypoint (const char *name, const Base::Placement &endPos, WaypointType type=Waypoint::LINE, float velocity=2000.0, float acceleration=100.0, bool cont=false, unsigned int tool=0, unsigned int base=0)
 full constructor More...
 
 ~Waypoint ()
 
- Public Member Functions inherited from Base::Persistence
void dumpToStream (std::ostream &stream, int compression)
 
virtual unsigned int getMemSize () const =0
 This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB? More...
 
virtual Base::Type getTypeId (void) const
 
virtual void Restore (XMLReader &)=0
 This method is used to restore properties from an XML document. More...
 
virtual void RestoreDocFile (Reader &)
 This method is used to restore large amounts of data from a file In this method you simply stream in your SaveDocFile() saved data. More...
 
void restoreFromStream (std::istream &stream)
 
virtual void Save (Writer &) const =0
 This method is used to save properties to an XML document. More...
 
virtual void SaveDocFile (Writer &) const
 This method is used to save large amounts of data to a binary file. More...
 
- Public Member Functions inherited from Base::BaseClass
 BaseClass ()
 Construction. More...
 
 BaseClass (const BaseClass &)=default
 
virtual PyObjectgetPyObject ()
 This method returns the Python wrapper for a C++ object. More...
 
virtual Type getTypeId () const
 
bool isDerivedFrom (const Type type) const
 
BaseClassoperator= (const BaseClass &)=default
 
virtual void setPyObject (PyObject *)
 
virtual ~BaseClass ()
 Destruction. More...
 

Public Attributes

float Acceleration
 
unsigned int Base
 
bool Cont
 
Base::Placement EndPos
 
std::string Name
 
unsigned int Tool
 
WaypointType Type
 
float Velocity
 

Additional Inherited Members

- Static Public Member Functions inherited from Base::Persistence
static void * create (void)
 
static std::string encodeAttribute (const std::string &)
 Encodes an attribute upon saving. More...
 
static Base::Type getClassTypeId (void)
 
static void init (void)
 
- Static Public Member Functions inherited from Base::BaseClass
static void * create ()
 
static Type getClassTypeId ()
 
static void init ()
 
- Static Protected Member Functions inherited from Base::BaseClass
static void initSubclass (Base::Type &toInit, const char *ClassName, const char *ParentName, Type::instantiationMethod method=nullptr)
 

Detailed Description

The representation of a waypoint in a trajectory.

Member Enumeration Documentation

◆ WaypointType

Enumerator
UNDEF 
PTP 
LINE 
CIRC 
WAIT 

Constructor & Destructor Documentation

◆ Waypoint() [1/2]

Waypoint::Waypoint ( )

◆ Waypoint() [2/2]

Waypoint::Waypoint ( const char *  name,
const Base::Placement endPos,
WaypointType  type = Waypoint::LINE,
float  velocity = 2000.0,
float  acceleration = 100.0,
bool  cont = false,
unsigned int  tool = 0,
unsigned int  base = 0 
)

full constructor

◆ ~Waypoint()

Waypoint::~Waypoint ( )

Member Function Documentation

◆ getMemSize()

unsigned int Waypoint::getMemSize ( void  ) const
virtual

This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB?

Implements Base::Persistence.

◆ Restore()

void Waypoint::Restore ( Base::XMLReader )
virtual

This method is used to restore properties from an XML document.

It uses the XMLReader class, which bases on SAX, to read the in Save() written information. Again the Vector as an example:

void PropertyVector::Restore(Base::XMLReader &reader)
{
// read my Element
reader.readElement("PropertyVector");
// get the value of my Attribute
_cVec.x = reader.getAttributeAsFloat("valueX");
_cVec.y = reader.getAttributeAsFloat("valueY");
_cVec.z = reader.getAttributeAsFloat("valueZ");
}

Implements Base::Persistence.

References Acceleration, CIRC, Cont, EndPos, Base::XMLReader::getAttribute(), Base::XMLReader::getAttributeAsFloat(), Base::XMLReader::getAttributeAsInteger(), LINE, Name, PTP, Base::XMLReader::readElement(), Tool, UNDEF, Velocity, and WAIT.

Referenced by Robot::Trajectory::Restore().

◆ Save()

void Waypoint::Save ( Base::Writer ) const
virtual

This method is used to save properties to an XML document.

A good example you'll find in PropertyStandard.cpp, e.g. the vector:

void PropertyVector::Save (Writer &writer) const
{
writer << writer.ind() << "<PropertyVector valueX=\"" << _cVec.x <<
"\" valueY=\"" << _cVec.y <<
"\" valueZ=\"" << _cVec.z <<"\"/>" << endl;
}

The writer.ind() expression writes the indentation, just for pretty printing of the XML. As you see, the writing of the XML document is not done with a DOM implementation because of performance reasons. Therefore the programmer has to take care that a valid XML document is written. This means closing tags and writing UTF-8.

See also
Base::Writer

Implements Base::Persistence.

References Acceleration, CIRC, Cont, EndPos, Base::Placement::getPosition(), Base::Placement::getRotation(), Base::Writer::ind(), LINE, Name, PTP, Base::Writer::Stream(), Tool, UNDEF, Velocity, WAIT, Base::Vector3< _Precision >::x, Base::Vector3< _Precision >::y, and Base::Vector3< _Precision >::z.

Member Data Documentation

◆ Acceleration

◆ Base

unsigned int Robot::Waypoint::Base

◆ Cont

◆ EndPos

◆ Name

◆ Tool

◆ Type

◆ Velocity


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