Motion< T > Class Template Reference

Specified the template based interface of a motion. More...

#include <Motion.hpp>

Inherits MotionBase.

Inherited by CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

Public Types
typedef rw::core::Ptr< Motion< T > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< Target< T > >	TargetPtr
Public Types inherited from MotionBase
typedef rw::core::Ptr< MotionBase >	Ptr
	smart pointer type to this class
Public Types inherited from Entity
typedef rw::core::Ptr< Entity >	Ptr
	smart pointer type to this class

Public Member Functions
virtual const T &	start ()=0
	Returns value of the start target. More...
virtual const T &	end ()=0
	Returns value of the end target. More...
virtual TargetPtr	startTarget ()=0
	Returns the start target. More...
virtual TargetPtr	endTarget ()=0
	Returns the end target. More...
virtual rw::core::Ptr< Motion< T > >	clone (const std::vector< TargetPtr > &newTargets)=0
	Make a copy of the motion. More...
virtual void	reverse ()=0
	Do reverse motion.
Public Member Functions inherited from MotionBase
	MotionBase (MotionType motionType)
	Constructs motion. More...
virtual	~MotionBase ()
	Destructor.
MotionType	motionType ()
	Returns the type of the motion. More...
Public Member Functions inherited from Entity
	Entity (EntityType type, const std::string &id="")
	Constructs an Entity with a given type,. More...
virtual	~Entity ()
	Destructor.
rw::core::PropertyMap &	getPropertyMap ()
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
const rw::core::PropertyMap &	getPropertyMap () const
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
void	setPropertyMap (const rw::core::PropertyMap &propertymap)
	Sets the content of the propertymap. More...
int	getIndex () const
	Returns index specifying the position of the Entity in a Task. More...
void	setIndex (int index)
	Sets the order index of the Entity. More...
virtual EntityType	entityType () const
	Returns the type of Entity. More...
void	setId (const std::string &id)
	Set the id for the entity. More...
const std::string &	getId () const
	Get the id of the entity. More...
template<class T >
T	cast ()
	Method which can be used to explicitly and safely casting an Entity. More...

Protected Member Functions
	Motion (MotionType motion_type)
	Protected constructor.

Additional Inherited Members
Protected Attributes inherited from Entity
rw::core::PropertyMap	_properties
	Properties of entity.
EntityType	_entityType
	The type of entity.
int	_index
	The index of the entity.
std::string	_id
	The id of the entity.

Detailed Description

template<class T>
class rwlibs::task::Motion< T >

Specified the template based interface of a motion.

This class is abstract.

Member Typedef Documentation

TargetPtr

typedef rw::core::Ptr<Target<T> > TargetPtr

Convenient typedef of pointer to target of type T

Member Function Documentation

clone()

virtual rw::core::Ptr<Motion<T> > clone ( const std::vector< TargetPtr > &  newTargets )

pure virtual

Make a copy of the motion.

Parameters

newTargets

[in] a vector of targets.

Returns

new identical motion.

Implemented in CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

end()

virtual const T& end ( )

pure virtual

Returns value of the end target.

Returns

Reference to value of end target

Implemented in CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

endTarget()

virtual TargetPtr endTarget ( )

pure virtual

Returns the end target.

Returns

The start target

Implemented in CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

start()

virtual const T& start ( )

pure virtual

Returns value of the start target.

Returns

Reference to value of start target

Implemented in CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

startTarget()

virtual TargetPtr startTarget ( )

pure virtual

Returns the start target.

Returns

The start target

Implemented in CircularMotion< T >, LinearMotion< T >, and P2PMotion< T >.

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

• Motion.hpp