RobWorkProject: AssemblyState Class Reference

Information about the trajectory of the objects and sensor information during execution. More...

#include <AssemblyState.hpp>

Public Types
typedef rw::core::Ptr< AssemblyState >	Ptr
	smart pointer type to this class

Public Member Functions
	AssemblyState ()
	Constructor of empty AssemblyState.

	AssemblyState (rw::core::Ptr< rwlibs::task::CartesianTarget > target)
	Construct AssemblyState from CartesianTarget. More...

virtual	~AssemblyState ()
	Destructor.

Static Public Member Functions
static rw::core::Ptr< rwlibs::task::CartesianTarget >	toCartesianTarget (const AssemblyState &state)
	Convert to CartesianTarget representation. More...

Public Attributes
std::string	phase
	A string describing the current phase of the assembly operation.

rw::math::Transform3D	femaleOffset
	The offset of the female object relative to the default pose (should only be set if object moves freely).

rw::math::Transform3D	maleOffset
	The offset of the male object relative to the default pose (should only be set if object moves freely).

rw::math::Transform3D	femaleTmale
	The relative transformation from female to male object (in the TCP frames set in the AssemblyTask).

rw::math::Wrench6D	ftSensorMale
	The reading of the Force/Torque sensor for the male object (in the FTSensor frame).

rw::math::Wrench6D	ftSensorFemale
	The reading of the Force/Torque sensor for the female object (in the FTSensor frame).

bool	contact
	True if there is contact between the two objects.

rw::trajectory::Path< rw::math::Transform3D<> >	maleflexT
	Transformations for specified male frames.

rw::trajectory::Path< rw::math::Transform3D<> >	femaleflexT
	Transformations for specified female frames.

rw::trajectory::Path< rw::math::Transform3D<> >	contacts
	Contacts detected.

rw::math::Vector3D	maxContactForce
	Maximum contact force detected (of the contacts in the contacts list).

Detailed Description

Information about the trajectory of the objects and sensor information during execution.

This information is serializable through the CartesianTarget format.

AssemblyState ( rw::core::Ptr< rwlibs::task::CartesianTarget > target )

Construct AssemblyState from CartesianTarget.

Parameters

target [in] the CartesianTarget.

static rw::core::Ptr<rwlibs::task::CartesianTarget> toCartesianTarget ( const AssemblyState & state )

static

Convert to CartesianTarget representation.

Parameters

state [in] the state to convert.

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