AssemblyResult Class Reference

A specification of the result from an execution of an AssemblyTask. More...

#include <AssemblyResult.hpp>

Public Types
enum	Error { NONE , SIMULATION_ERROR , OTHER }
	Different error codes. More...
typedef rw::core::Ptr< AssemblyResult >	Ptr
	smart pointer type to this class
typedef enum rwlibs::assembly::AssemblyResult::Error	Error
	Different error codes.

Public Member Functions
	AssemblyResult ()
	Constructor for empty result.
	AssemblyResult (rw::core::Ptr< rwlibs::task::CartesianTask > task)
	Construct result from a CartesianTask representation. More...
virtual	~AssemblyResult ()
	Destructor.
AssemblyResult::Ptr	clone () const
	Clone the result. More...
rw::core::Ptr< rwlibs::task::CartesianTask >	toCartesianTask ()
	Convert to the CartesianTask format. More...

Static Public Member Functions
static void	saveRWResult (AssemblyResult::Ptr result, const std::string &name)
	Store a result to a file. More...
static void	saveRWResult (std::vector< AssemblyResult::Ptr > results, const std::string &name)
	Store a list of results to a file. More...
static std::vector< AssemblyResult::Ptr >	load (const std::string &name)
	Load a list of results from a file. More...
static std::vector< AssemblyResult::Ptr >	load (std::istringstream &inputStream)
	Load a list of results from a input stream. More...
static std::string	toString (const Error &error)
	Convert an error to string format. More...
static Error	toError (const std::string &string)
	Convert a string to a specific error. More...

Public Attributes
Mandatory settings
These values should always be set in an assembly result.
bool	success
	True or false depending on if the two objects where assembled as specified in the task.
Error	error
	Indication of an error.
rw::math::Transform3D	femaleTmaleEnd
	The final relative transformation between the objects (with respect to the TCP frames set in the task).
Context & Metadata (optional)
Information about the context of the task, and additional information.
std::string	taskID
	The id of the task.
std::string	resultID
	An id of this result.
Additional data (optional)
Extra detailed data about the trajectory followed.
rw::trajectory::Path< rw::trajectory::Timed< AssemblyState > >	realState
	A TimedPath of AssemblyState objects for the real trajectory.
rw::trajectory::Path< rw::trajectory::Timed< AssemblyState > >	assumedState
	A TimedPath of AssemblyState objects for the assumed trajectory.
rw::math::Transform3D	approach
	The approach pose used.
std::string	errorMessage
	Detailed error message.

Detailed Description

A specification of the result from an execution of an AssemblyTask.

The class provides serialization through the CartesianTask format.

Member Enumeration Documentation

Error

enum Error

Different error codes.

Enumerator
NONE	No error.
SIMULATION_ERROR	Failure of physics engine.
OTHER	Other unspecified error.

Constructor & Destructor Documentation

AssemblyResult()

AssemblyResult

(

rw::core::Ptr< rwlibs::task::CartesianTask >

task

)

Construct result from a CartesianTask representation.

Parameters

task	[in] the CartesianTask to construct result from.

Member Function Documentation

clone()

AssemblyResult::Ptr clone

(

)

const

Clone the result.

Returns

a new cloned result.

load() [1/2]

static std::vector<AssemblyResult::Ptr> load ( const std::string &  name )

static

Load a list of results from a file.

Parameters

name	[in] the file to load from.

Returns

a list of results.

load() [2/2]

static std::vector<AssemblyResult::Ptr> load ( std::istringstream &  inputStream )

static

Load a list of results from a input stream.

Parameters

inputStream

[in] the stream to load from.

Returns

a list of results.

saveRWResult() [1/2]

static void saveRWResult ( AssemblyResult::Ptr  result, const std::string &  name  )

static

Store a result to a file.

Parameters

result	[in] the result to store.
name	[in] the file to save to (normally with the extension .assembly.xml).

saveRWResult() [2/2]

static void saveRWResult ( std::vector< AssemblyResult::Ptr >  results, const std::string &  name  )

static

Store a list of results to a file.

Parameters

results	[in] the list of results to store.
name	[in] the file to save to (normally with the extension .assembly.xml).

toCartesianTask()

rw::core::Ptr<rwlibs::task::CartesianTask> toCartesianTask

(

)

Convert to the CartesianTask format.

Returns

a CartesianTask representing the AssemblyResult.

toError()

static Error toError ( const std::string &  string )

static

Convert a string to a specific error.

Parameters

string

[in] the string to convert.

Returns

an error enum.

toString()

static std::string toString ( const Error &  error )

static

Convert an error to string format.

Parameters

error

[in] the error to convert.

Returns

a string representation.

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

• AssemblyResult.hpp