Robot::Waypoint Class Reference

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

#include <Waypoint.h>

Inheritance diagram for Robot::Waypoint:

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?
virtual Base::Type	getTypeId (void) const
virtual void	Restore (Base::XMLReader &)
	This method is used to restore properties from an XML document.
virtual void	Save (Base::Writer &) const
	This method is used to save properties to an XML document.
	Waypoint (const char *name, const Base::Placement &endPos, WaypointType type=Waypoint::LINE, float velocity=2000.0, float accelaration=100.0, bool cont=false, unsigned int tool=0, unsigned int base=0)
	full constructor
	Waypoint ()
	~Waypoint ()
Static Public Member Functions
static void *	create (void)
static Base::Type	getClassTypeId (void)
static void	init (void)
Public Attributes
float	Accelaration
unsigned int	Base
bool	Cont
Base::Placement	EndPos
std::string	Name
unsigned int	Tool
WaypointType	Type
float	Velocity

Detailed Description

The representation of a waypoint in a trajectory.

Definition at line 39 of file Waypoint.h.

Member Enumeration Documentation

enum Robot::Waypoint::WaypointType

Enumerator:

UNDEF
PTP
LINE
CIRC
WAIT

Definition at line 44 of file Waypoint.h.

Constructor & Destructor Documentation

Waypoint::Waypoint ( )

Definition at line 72 of file Waypoint.cpp.

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

full constructor

Definition at line 59 of file Waypoint.cpp.

Waypoint::~Waypoint ( )

Definition at line 77 of file Waypoint.cpp.

Member Function Documentation

void * Robot::Waypoint::create ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 57 of file Waypoint.cpp.

Base::Type Robot::Waypoint::getClassTypeId ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 57 of file Waypoint.cpp.

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.

Definition at line 81 of file Waypoint.cpp.

Base::Type Robot::Waypoint::getTypeId ( void ) const [virtual]

Reimplemented from Base::Persistence.

Definition at line 57 of file Waypoint.cpp.

void Robot::Waypoint::init ( void ) [static]

Reimplemented from Base::Persistence.

Definition at line 57 of file Waypoint.cpp.

Referenced by initRobot().

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 = (float)reader.getAttributeAsFloat("valueX");
   _cVec.y = (float)reader.getAttributeAsFloat("valueY");
   _cVec.z = (float)reader.getAttributeAsFloat("valueZ");
 }

Implements Base::Persistence.

Definition at line 115 of file Waypoint.cpp.

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

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

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 indention, 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.