Specific thresholds used to split and merge objects given constraints. More...

#include <ConstraintMergeSplitThresholds.h>

Inheritance diagram for agxSDK::ConstraintMergeSplitThresholds:

Public Types
enum	MergeThresholds : agx::UInt { MAX_RELATIVE_SPEED , NUM_MERGE_THRESHOLDS }

enum	SplitThresholds : agx::UInt { DESIRED_SPEED_DIFF = NUM_MERGE_THRESHOLDS , DESIRED_LOCK_ANGLE_DIFF , DESIRED_RANGE_ANGLE_DIFF , DESIRED_FORCE_RANGE_DIFF , NUM_THRESHOLDS }

Public Types inherited from agxSDK::MergeSplitThresholds
using	MixFunction = std::function< agx::Real(agx::Real, agx::Real)>
	Mixing two values function signature given two values and the return value is the mix.

Public Member Functions
	ConstraintMergeSplitThresholds ()
	Default constructor, all thresholds will be set to default.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::ConstraintMergeSplitThresholds)

virtual agx::ICloneableRef	clone (agx::ICloneable *child=nullptr) override
	Creates and returns a clone of this object.

agx::Real	getMaxDesiredForceRangeDiff () const

agx::Real	getMaxDesiredLockAngleDiff () const

agx::Real	getMaxDesiredRangeAngleDiff () const

agx::Real	getMaxDesiredSpeedDiff () const

agx::Real	getMaxRelativeSpeed () const
	When the relative motion between the objects is less than this threshold, the objects may merge.

virtual void	resetToDefault () override
	Resets all values to default.

void	setMaxDesiredForceRangeDiff (agx::Real value)
	Assign maximum difference the 'force range'/desired force range parameter in any controller may change without splitting the constrained objects.

void	setMaxDesiredLockAngleDiff (agx::Real value)
	Assign maximum difference the 'position'/desired angle parameter in a lock controller may change without splitting the constrained objects.

void	setMaxDesiredRangeAngleDiff (agx::Real value)
	Assign maximum difference the 'position'/desired angle parameter in a range controller may change without splitting the constrained objects.

void	setMaxDesiredSpeedDiff (agx::Real value)
	Assign maximum difference the 'speed'/desired speed parameter in a motor controller may change without splitting the constrained objects.

void	setMaxRelativeSpeed (agx::Real value)
	Assign maximum relative speed between the constrained objects for the system to be considered at rest.

Public Member Functions inherited from agxSDK::MergeSplitThresholds
agx::Real	get (const agx::UInt index) const

agx::Real	get (const agx::UInt index, const MergeSplitThresholds *other, MergeSplitThresholds::MixFunction mixFunc) const
	Find and mix values of two instances.

agx::UInt	getNumValues () const

agx::Bool	isGlobal () const

virtual void	resetToDefault ()=0
	Restore all thresholds to default.

void	set (const agx::UInt index, agx::Real value)
	Assign value given index and value.

virtual agx::ICloneableRef	clone (agx::ICloneable *child=nullptr)=0
	Creates a clone of this object.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~ConstraintMergeSplitThresholds ()
	Reference counted object - protected destructor.

Protected Member Functions inherited from agxSDK::MergeSplitThresholds
	MergeSplitThresholds (const agx::UInt numValues)
	Construct given number of thresholds.

virtual	~MergeSplitThresholds ()
	Reference counted object, protected destructor.

void	cloneValuesTo (MergeSplitThresholds &target) const
	Resizes and copies values to `target`.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Specific thresholds used to split and merge objects given constraints.

Definition at line 28 of file ConstraintMergeSplitThresholds.h.

Member Enumeration Documentation

◆ MergeThresholds

enum agxSDK::ConstraintMergeSplitThresholds::MergeThresholds : agx::UInt

Enumerator
MAX_RELATIVE_SPEED
NUM_MERGE_THRESHOLDS

Definition at line 31 of file ConstraintMergeSplitThresholds.h.

◆ SplitThresholds

enum agxSDK::ConstraintMergeSplitThresholds::SplitThresholds : agx::UInt

Enumerator
DESIRED_SPEED_DIFF
DESIRED_LOCK_ANGLE_DIFF
DESIRED_RANGE_ANGLE_DIFF
DESIRED_FORCE_RANGE_DIFF
NUM_THRESHOLDS

Definition at line 37 of file ConstraintMergeSplitThresholds.h.

Constructor & Destructor Documentation

◆ ConstraintMergeSplitThresholds()

agxSDK::ConstraintMergeSplitThresholds::ConstraintMergeSplitThresholds ( )

Default constructor, all thresholds will be set to default.

◆ ~ConstraintMergeSplitThresholds()

virtual agxSDK::ConstraintMergeSplitThresholds::~ConstraintMergeSplitThresholds ( )

protectedvirtual

Reference counted object - protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxSDK::ConstraintMergeSplitThresholds::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxSDK::ConstraintMergeSplitThresholds )

◆ clone()

virtual agx::ICloneableRef agxSDK::ConstraintMergeSplitThresholds::clone ( agx::ICloneable * child = nullptr )

overridevirtual

Creates and returns a clone of this object.

Implements agx::ICloneable.

◆ create()

static agxStream::Serializable * agxSDK::ConstraintMergeSplitThresholds::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 114 of file ConstraintMergeSplitThresholds.h.

◆ getMaxDesiredForceRangeDiff()

agx::Real agxSDK::ConstraintMergeSplitThresholds::getMaxDesiredForceRangeDiff ( ) const

inline

Returns: the maximum difference the 'force range'/desired force range parameter in any controller may change without splitting the constrained objects

Definition at line 153 of file ConstraintMergeSplitThresholds.h.

References DESIRED_FORCE_RANGE_DIFF, and agxSDK::MergeSplitThresholds::get().

◆ getMaxDesiredLockAngleDiff()

agx::Real agxSDK::ConstraintMergeSplitThresholds::getMaxDesiredLockAngleDiff ( ) const

inline

Returns: the maximum difference the 'position'/desired angle parameter in a lock controller may change without splitting the constrained objects

Definition at line 143 of file ConstraintMergeSplitThresholds.h.

References DESIRED_LOCK_ANGLE_DIFF, and agxSDK::MergeSplitThresholds::get().

◆ getMaxDesiredRangeAngleDiff()

agx::Real agxSDK::ConstraintMergeSplitThresholds::getMaxDesiredRangeAngleDiff ( ) const

inline

Returns: the maximum difference the 'position'/desired angle parameter in a range controller may change without splitting the constrained objects

Definition at line 148 of file ConstraintMergeSplitThresholds.h.

References DESIRED_RANGE_ANGLE_DIFF, and agxSDK::MergeSplitThresholds::get().

◆ getMaxDesiredSpeedDiff()

agx::Real agxSDK::ConstraintMergeSplitThresholds::getMaxDesiredSpeedDiff ( ) const

inline

Returns: the maximum difference the 'speed'/desired speed parameter in a motor controller may change without splitting the constrained objects

Definition at line 138 of file ConstraintMergeSplitThresholds.h.

References DESIRED_SPEED_DIFF, and agxSDK::MergeSplitThresholds::get().

◆ getMaxRelativeSpeed()

agx::Real agxSDK::ConstraintMergeSplitThresholds::getMaxRelativeSpeed ( ) const

inline

When the relative motion between the objects is less than this threshold, the objects may merge.

Returns: the maximum relative speed between the constrained objects for the system to be considered at rest

Definition at line 133 of file ConstraintMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAX_RELATIVE_SPEED.

◆ resetToDefault()

virtual void agxSDK::ConstraintMergeSplitThresholds::resetToDefault ( )

overridevirtual

Resets all values to default.

Implements agxSDK::MergeSplitThresholds.

◆ setMaxDesiredForceRangeDiff()

void agxSDK::ConstraintMergeSplitThresholds::setMaxDesiredForceRangeDiff ( agx::Real value )

Assign maximum difference the 'force range'/desired force range parameter in any controller may change without splitting the constrained objects.

Default: 0.1.

◆ setMaxDesiredLockAngleDiff()

void agxSDK::ConstraintMergeSplitThresholds::setMaxDesiredLockAngleDiff ( agx::Real value )

Assign maximum difference the 'position'/desired angle parameter in a lock controller may change without splitting the constrained objects.

Default: 1.0E-5.

◆ setMaxDesiredRangeAngleDiff()

void agxSDK::ConstraintMergeSplitThresholds::setMaxDesiredRangeAngleDiff ( agx::Real value )

Assign maximum difference the 'position'/desired angle parameter in a range controller may change without splitting the constrained objects.

Default: 1.0E-5.

◆ setMaxDesiredSpeedDiff()

void agxSDK::ConstraintMergeSplitThresholds::setMaxDesiredSpeedDiff ( agx::Real value )

Assign maximum difference the 'speed'/desired speed parameter in a motor controller may change without splitting the constrained objects.

Default: 1.0E-5.

◆ setMaxRelativeSpeed()

void agxSDK::ConstraintMergeSplitThresholds::setMaxRelativeSpeed ( agx::Real value )

Assign maximum relative speed between the constrained objects for the system to be considered at rest.

I.e., when the relative motion between the objects is less than this threshold, the objects may merge. Default: 0.005.

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

ConstraintMergeSplitThresholds.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MergeThresholds

◆ SplitThresholds

Constructor & Destructor Documentation

◆ ConstraintMergeSplitThresholds()

◆ ~ConstraintMergeSplitThresholds()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ clone()

◆ create()

◆ getMaxDesiredForceRangeDiff()

◆ getMaxDesiredLockAngleDiff()

◆ getMaxDesiredRangeAngleDiff()

◆ getMaxDesiredSpeedDiff()

◆ getMaxRelativeSpeed()

◆ resetToDefault()

◆ setMaxDesiredForceRangeDiff()

◆ setMaxDesiredLockAngleDiff()

◆ setMaxDesiredRangeAngleDiff()

◆ setMaxDesiredSpeedDiff()

◆ setMaxRelativeSpeed()