cisstParameterTypes API

cisstParameterTypes (prm) provides standardized data types for robot state (joint positions, Cartesian poses, forces, etc.) used to enable “plug and play” component interoperability across cisst/SAW components.

Note

Some parameter types (e.g. prmPositionJointGet, prmPositionCartesianGet) are typedef specializations of mtsGenericObjectProxy and do not appear as standalone classes in the Doxygen XML. See the cisstParameterTypes source headers for the full list.

Key classes

class prmMotionBase : public mtsGenericObject

base class for motion arguments

Subclassed by prmForceCartesianSet, prmVelocityCartesianSet, prmVelocityJointSet

Public Types

typedef mtsGenericObject BaseType

Public Functions

inline prmMotionBase()

inline prmMotionBase(const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)

Set all parameters

Param :

virtual ~prmMotionBase(): destructor

inline void SetBaseParameter(const prmBlocking &blockingFlag, const bool &blendingFactor, const double &timeLimit, const bool &isPreemptable, const bool &isCoordinated, const bool &isGoalOnly)

Set all parameters from the base class

Param :

virtual void SerializeRaw(std::ostream &outputStream) const: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream): Binary deserialization

CMN_DECLARE_MEMBER_AND_ACCESSORS(prmBlocking, BlockingFlag): Set and get methods for blocking flag.

CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, BlendingFactor): Set and Get method for the blending parameter. Whether or not to blend motions, and the tolerance (to be implemented later)

CMN_DECLARE_MEMBER_AND_ACCESSORS(double, TimeLimit): Set and Get methods for TimeLimit. Describes time allowed or requested for a motion.

CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsPreemptable): Set and Get methods for Preemptable parameter. Default is true.

CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsCoordinated): Set and Get methods for Coordinated parameter. Force to sync motions between joints or rotation/translation to start and end at the same time by lowering speed on some joints.

CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, IsGoalOnly): Set and Get methods for IsGoalOnly. if True Use current device settings for all except for goal . Eg. Accelerations,Velcities are chosen by the robot, goal and motion base should be set by the user. False by default.

class prmForceCartesianGet : public mtsGenericObject

Cartesian force get command argument

Public Types

typedef mtsGenericObject BaseType

typedef vctFixedSizeConstVectorRef<double, 3, 1> ConstForceType

typedef vctFixedSizeVectorRef<double, 3, 1> ForceType

typedef ConstForceType ConstTorqueType

typedef ForceType TorqueType

Public Functions

inline prmForceCartesianGet(void): default constructor

inline prmForceCartesianGet(const vctDouble6 &force): constructor with all parameters

virtual ~prmForceCartesianGet(): destructor

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDouble6, Force): Set and Get methods for force

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBool6, Mask): Set and Get methods for mask

CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, ReferenceFrame)

CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, MovingFrame)

inline ConstForceType F(void) const: Reference (const) to the first 3 elements (force part) of the “Force” vector.

inline ForceType F(void): Reference to the first 3 elements (force part) of the “Force” vector.

inline ConstTorqueType T(void) const: Reference (const) to the last 3 elements (torque part) of the “Force” vector.

inline TorqueType T(void): Reference to the last 3 elements (torque part) of the “Force” vector.

virtual void ToStream(std::ostream &outputStream) const override: Human readable output to stream.

virtual void ToStreamRaw(std::ostream &outputStream, const char delimiter = ' ', bool headerOnly = false, const std::string &headerPrefix = "") const override: To stream raw data.

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmForceCartesianSet : public prmMotionBase 

Cartesian position motion command arguments - default motion is a line between the current position and the goal

Public Types

typedef prmMotionBase BaseType

typedef vctFixedSizeVector<double, 6> ForceType

typedef vctFixedSizeVector<bool, 6> MaskType

Public Functions

inline prmForceCartesianSet(): default constructor

inline prmForceCartesianSet(const ForceType &force, const MaskType &mask): constructor with all parameters

inline void SetAll(double forceSet, bool mask)

virtual ~prmForceCartesianSet(): destructor

virtual void ToStream(std::ostream &outputStream) const override: Human readable output to stream.

virtual void ToStreamRaw(std::ostream &outputStream, const char delimiter = ' ', bool headerOnly = false, const std::string &headerPrefix = "") const override: To stream raw data.

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmVelocityJointGet : public mtsGenericObject

motion command arguments for joint angle based motion

Public Types

typedef mtsGenericObject BaseType

typedef prmVelocityJointGet ThisType

typedef unsigned int size_type

Public Functions

inline prmVelocityJointGet(void): default constructor - does nothing for now

inline prmVelocityJointGet(size_type size): resizes the vector type members

void SetSize(size_type size)

inline explicit prmVelocityJointGet(const vctDoubleVec &velocity): constructor with all possible parameters

virtual ~prmVelocityJointGet(): destructor

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Velocity): Set and Get methods for the the velocity.

virtual void ToStream(std::ostream &outputStream) const override: Human readable output to stream.

virtual void ToStreamRaw(std::ostream &outputStream, const char delimiter = ' ', bool headerOnly = false, const std::string &headerPrefix = "") const override: To stream raw data.

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmVelocityJointSet : public prmMotionBase 

motion command arguments for joint angle velocity moves

Public Types

typedef prmMotionBase BaseType

typedef unsigned int size_type

Public Functions

inline prmVelocityJointSet(): default constructor

inline prmVelocityJointSet(size_type size): this constructor sets the size of the vector type members

void SetSize(size_type size)

inline prmVelocityJointSet(const vctBoolVec &mask, const vctDoubleVec &guard, const vctDoubleVec &velocity, const vctDoubleVec &acceleration, const vctDoubleVec &deceleration, const bool &isPositionGuarded): constructor with all parameters

virtual ~prmVelocityJointSet(): destructor

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmVelocityCartesianSet : public prmMotionBase 

Cartesian velocity motion command arguments - default motion is a line between the current position and the goal

Todo:: Review SerializeRaw and DeserializeRaw, they don’t seriliaze the frame pointers.

Public Functions

inline prmVelocityCartesianSet(): default constructor

inline prmVelocityCartesianSet(const vctDouble3 &velocity, const vctDouble3 &velocityAngular, const vctDouble3 &acceleration, const vctDouble3 &accelerationAngular, const vctBool6 &mask): constructor with all parameters.

virtual ~prmVelocityCartesianSet(): destructor

inline void SetGoal(const vctDouble6 &velocities)

Set translation and angular velocities only

Parameters:: velocities – (3 translational and 3 angular velocities)
Returns:: void

inline void SetTranslationGoal(const vctDouble3 &velocity)

inline void SetRotationGoal(const vctDouble3 &velocityAngular)

Set angular velocity only

Parameters:: velocityAngular – angular velocity
Returns:: void

inline vctDouble3 GetGoal(void) const

Get current goal

Returns:: vctDouble3 current goal velocity

inline void SetVelocity(const vctDouble3 &velocity)

Set the velocity parameter

Parameters:: velocity – planned velocity
Returns:: void

inline vctDouble3 GetVelocity(void) const

Get the velocity parameter

Returns:: vctDouble3 current planned velocity

inline void SetAngularVelocity(const vctDouble3 &velocityAngular)

Set the angular velocity parameter

Parameters:: velocityAngular – planned angular velocity
Returns:: void

inline vctDouble3 GetAngularVelocity(void) const

Get the angular velocity parameter

Returns:: vctDouble3 current planned angular velocity

inline void SetAcceleration(const vctDouble3 &acceleration)

Set the acceleration parameters only

Parameters:: acceleration – target acceleration vector
Returns:: void

inline vctDouble3 GetAcceleration(void) const

Get the current acceleration parameters

Returns:: vctDouble3 acceleration vector

inline void SetAngularAcceleration(const vctDouble3 &accelerationAngular)

Set the deceleration parameters only

Parameters:: acceleration – target angular acceleration vector
Returns:: void

inline vctDouble3 GetAngularAcceleration(void) const

Get the current angular acceleration parameters

Returns:: vctDouble3 angular acceleration vector

inline void SetMask(const vctBool6 &mask)

Set the mask only

Parameters:: mask – mask for moves
Returns:: void

inline vctBool6 GetMask(void) const

Get the current mask parameter

Returns:: prmBoolVec current mask

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmEventButton : public mtsGenericObject

Button event payload

Public Types

enum EventType

Values:

enumerator PRESSED

enumerator RELEASED

enumerator CLICKED

enumerator DOUBLE_CLICKED

enumerator UNDEFINED

typedef mtsGenericObject BaseType

Public Functions

inline prmEventButton(): Default constructor

inline prmEventButton(const EventType &type): Constructor with all parameters.

inline prmEventButton(const prmEventButton &other): Copy constructor

virtual ~prmEventButton(): Destructor

inline prmEventButton &operator=(const prmEventButton &other): Assignment operator

CMN_DECLARE_MEMBER_AND_ACCESSORS(EventType, Type): Set and Get methods for event type.

virtual void ToStream(std::ostream &outputStream) const override: Overloaded ToStream

virtual void ToStreamRaw(std::ostream &outputStream, const char delimiter = ' ', bool headerOnly = false, const std::string &headerPrefix = "") const override: To stream raw data.

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

class prmActuatorParameters : public mtsGenericObject

So far all the memebers are public for sake of convenience Only use getters unless you know what you are doing.

TODO: add internal size to specify the size of each member in this class so the user does not have to have a this is not a great software engineering approach but for now it might be the most usefull cisst vector of this class caused compilation errors it is possible to resize each memeber so it is better to test each member for size this is by contract but does not have to be so…more discussion required

using mtsVectors here because prm lib does not define Long Vectors galil position is in counts…so

Public Types

typedef prmActuatorParameters ThisType

typedef mtsGenericObject BaseType

typedef unsigned int size_type

Public Functions

inline prmActuatorParameters(): default constructor

inline prmActuatorParameters(size_type size)

void SetSize(size_type size)

inline virtual ~prmActuatorParameters(): destructor

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, ForwardLimit)

Set and Get methods for actuator settings Can use this in order to reset the position These should be queried only, but for sake of convenience they have setterse here

Set and Get methods for postive limit.

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, ReverseLimit): Set and Get methods for negative limit.

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxVelocity): Set and Get methods for velocity limit, use accelerationMax to accelerate until this limit. Can used this in velocity control mode.

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxAcceleration): Set and Get methods for Acceleration Maximum, this is used as the actual maximum acceleration used for all motion.

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, MaxDeceleration): Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsLongVec, LimitSwitchDeccelaration): Set and Get methods for Deceleration Maximum, this is used as the actual maximum acceleration used for all motion.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Counts_per_mm): Set and Get methods for counts to mm conversion

CMN_DECLARE_MEMBER_AND_ACCESSORS(int, AxisSign)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Kp)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Kd)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, Ki)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, IL)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, FV)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, FA)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueLimit)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueLimitPeak)

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, TorqueOffset)

class prmRobotState : public mtsGenericObject

motion command arguments for Actuator state , Position, Velocity, etc. TODO: seperate cartesian state and the joint state to 2 different classes.

Public Types

typedef prmRobotState ThisType

typedef mtsGenericObject BaseType

typedef unsigned int size_type

Public Functions

prmRobotState(): default constructor - does nothing for now

prmRobotState(size_type size)

void SetSize(size_type size)

virtual void ToStream(std::ostream &outputStream) const override: Human readable output to stream.

inline virtual ~prmRobotState()

constructor with all possible parameters */ inline prmRobotState(const prmPosition & position, const mtsStateIndex & stateIndex): PositionMember(position), StateIndexMember(stateIndex) {}

/*! destructor

virtual void SerializeRaw(std::ostream &outputStream) const override: Binary serialization

virtual void DeSerializeRaw(std::istream &inputStream) override: Binary deserialization

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDynamicVector<std::string>, JointName): Set and Get methods for the Joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPosition): Set and Get methods for the Joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocity): Set and Get methods for the Joint Velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPositionGoal): Set and Get methods for goal joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocityGoal): Set and Get methods for goal joint velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointPositionError): Set and Get methods for error for joint position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, JointVelocityError): Set and Get methods for error for joint velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, ReferenceFrame): Set and Get methods for reference frame.

CMN_DECLARE_MEMBER_AND_ACCESSORS(std::string, MovingFrame): Set and Get methods for moving frame.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPosition): Set and Get methods for cartesian position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocity): Set and Get methods for cartesian velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPositionGoal): Set and Get methods for gaol cartesian position.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocityGoal): Set and Get methods for goal cartesian velocity.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianPositionError): Set and Get methods for cartesian position error.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctDoubleVec, CartesianVelocityError): Set and Get methods for cartesian velocity error.

CMN_DECLARE_MEMBER_AND_ACCESSORS(vctFrm3, EndEffectorFrame): Set and Get methods for EndEffector Frame wrt base robot frame. Slightly redundant.