#include <MprControllerItemBase.h>

Inheritance diagram for cnoid::MprControllerItemBase:

Public Member Functions
	MprControllerItemBase ()

	MprControllerItemBase (const MprControllerItemBase &org)

virtual	~MprControllerItemBase ()

virtual double	timeStep () const override

double	speedRatio () const

void	setSpeedRatio (double r)

virtual bool	initialize (ControllerIO *io) override final

virtual bool	start () override final

virtual void	input () override final

virtual bool	control () override final

virtual void	output () override final

virtual void	stop () override final

Public Member Functions inherited from cnoid::ControllerItem
	ControllerItem ()

	ControllerItem (const ControllerItem &org)

virtual	~ControllerItem ()

bool	isActive () const

bool	isNoDelayMode () const

virtual void	setNoDelayMode (bool on)

const std::string &	optionString () const

void	setOptions (const std::string &options)

virtual ControllerLogItem *	createLogItem ()

virtual void	log ()

bool	isImmediateMode () const

void	setImmediateMode (bool on)

Public Member Functions inherited from cnoid::Item
virtual	~Item ()

Item &	operator= (const Item &rhs)=delete

int	classId () const

Item *	createNewInstance () const

void	assign (Item *srcItem)
	Copy item properties as much as possible like the assignment operator. More...

Item *	duplicate (Item *duplicatedParentItem=nullptr) const

Item *	duplicateSubTree () const
	This function creates a copy of the item including its descendant items. More...

Item *	duplicateAll () const

const std::string &	name () const

virtual bool	setName (const std::string &name)

virtual std::string	displayName () const

void	setDisplayNameModifier (std::function< std::string(const Item *item)> modifier)

SignalProxy< void(const std::string &oldName)>	sigNameChanged ()

void	notifyNameChange ()
	This function notifies the system of a displayName change. More...

void	setAttribute (Attribute attribute)

void	unsetAttribute (Attribute attribute)

bool	hasAttribute (Attribute attribute) const

bool	isSubItem () const

void	setSubItemAttributes ()

bool	isTemporal () const

void	setTemporal (bool on=true)

bool	isSelected () const

void	setSelected (bool on, bool isCurrent=false)

void	setSubTreeItemsSelected (bool on)

bool	isChecked (int checkId=PrimaryCheck) const

void	setChecked (bool on)

void	setChecked (int checkId, bool on)

int	numCheckStates () const

int	numChildren () const

int	countDescendantItems () const

Item *	childItem () const

Item *	prevItem () const

Item *	nextItem () const

Item *	lastChildItem () const

Item *	parentItem () const

Item *	headItem () const

RootItem *	findRootItem () const

bool	isConnectedToRoot () const

Item *	localRootItem () const

bool	addChildItem (Item *item, bool isManualOperation=false)

bool	insertChildItem (Item item, Item nextItem, bool isManualOperation=false)

bool	insertChild (Item position, Item item, bool isManualOperation=false)

bool	addSubItem (Item *item)

bool	insertSubItem (Item item, Item nextItem)

void	removeFromParentItem ()

void	detachFromParentItem ()

void	clearChildren ()

template<class ItemType >
ItemType *	find (const std::string &path="")

Item *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	findItem (std::function< bool(ItemType *item)> pred=nullptr) const

Item *	findChildItem (const std::string &path, std::function< bool(Item *item)> pred=nullptr) const

template<class ItemType >
ItemType *	findChildItem (const std::string &path, std::function< bool(ItemType *item)> pred=nullptr) const

template<class ItemType >
ItemType *	findChildItem (std::function< bool(ItemType *item)> pred=nullptr) const

Item *	findSubItem (const std::string &path) const

template<class ItemType >
ItemType *	findSubItem (const std::string &path="") const

template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false) const

bool	isOwnedBy (Item *item) const

ItemList	childItems (std::function< bool(Item *item)> pred=nullptr) const

template<class ItemType >
ItemList< ItemType >	childItems (std::function< bool(ItemType *item)> pred=nullptr) const

ItemList	descendantItems (std::function< bool(Item *item)> pred=nullptr) const

template<class ItemType >
ItemList< ItemType >	descendantItems (std::function< bool(ItemType *item)> pred=nullptr) const

ItemList	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const

template<class ItemType >
ItemList< ItemType >	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const

bool	traverse (std::function< bool(Item *)> pred)

template<class ItemType >
bool	traverse (std::function< bool(ItemType *item)> pred=nullptr)

SignalProxy< void()>	sigTreePathChanged ()

SignalProxy< void()>	sigTreePositionChanged ()

SignalProxy< void(Item topItem, Item prevTopParentItem)>	sigTreePositionChanged2 ()

SignalProxy< void()>	sigPositionChanged ()

SignalProxy< void()>	sigSubTreeChanged ()

SignalProxy< void()>	sigDisconnectedFromRoot ()

SignalProxy< void()>	sigDetachedFromRoot ()

SignalProxy< void(bool on)>	sigSelectionChanged ()

SignalProxy< void(int checkId, bool on)>	sigAnyCheckToggled ()

SignalProxy< void(bool on)>	sigCheckToggled (int checkId=PrimaryCheck)

virtual void	notifyUpdate ()

SignalProxy< void()>	sigUpdated ()

bool	setAddon (ItemAddon *addon)

void	removeAddon (ItemAddon *addon)

template<class AddonType >
AddonType *	findAddon ()

template<class AddonType >
AddonType *	getAddon ()

std::vector< ItemAddon * >	addons ()

bool	load (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)

bool	load (const std::string &filename, Item parent, const std::string &format=std::string(), const Mapping options=nullptr)

bool	save (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)

bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())

const std::string &	filePath () const
	Full path file name. More...

std::string	fileName () const
	File name without the directory. More...

const std::string &	fileFormat () const

const Mapping *	fileOptions () const

std::time_t	fileModificationTime () const

bool	isConsistentWithFile () const

void	updateFileInformation (const std::string &filename, const std::string &format, Mapping *options=nullptr)

void	setConsistentWithFile (bool isConsistent)

void	suggestFileUpdate ()

void	clearFileInformation ()
	Use this function to disable the implicit overwrite next time. More...

bool	reload ()

bool	replace (Item *originalItem)

Item *	findOriginalItem () const

Item *	findReplacementItem () const

void	putProperties (PutPropertyFunction &putProperty)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Member Functions
static void	initializeClass (ExtensionManager *ext)

Static Public Member Functions inherited from cnoid::ControllerItem
static void	initializeClass (ExtensionManager *ext)

Static Public Member Functions inherited from cnoid::Item
template<class ItemType >
static ItemPredicate	getItemPredicate ()

template<class ItemType >
static ItemPredicate	getItemPredicate (std::function< bool(ItemType *item)> pred)

static Item *	find (const std::string &path)

Protected Member Functions
template<class StatementType >
void	registerStatementInterpreter (std::function< bool(StatementType *statement)> interpret)

void	registerBaseStatementInterpreters ()

void	setResidentInputFunction (std::function< void()> input)

MprProgramItemBase *	getStartupProgramItem ()

MprProgram *	getStartupProgram ()

MprProgram *	getCurrentProgram ()

MprProgram::iterator	getCurrentIterator ()

void	setCurrent (MprProgram::iterator iter)

void	setCurrent (MprProgram *program, MprProgram::iterator iter, MprProgram::iterator upperNext)

MprProgram *	findProgram (const std::string &name)

LinkKinematicsKit *	linkKinematicsKitForControl ()

void	pushControlFunctions (std::function< bool()> control, std::function< void()> input=nullptr, std::function< void()> output=nullptr)

void	pushOutputOnceFunction (std::function< void()> outputOnce)

virtual bool	onInitialize (ControllerIO *io)

virtual bool	onStart ()

virtual bool	onStop ()

virtual bool	initializeVariables ()

void	setVariableListSync (MprVariableList listInGui, MprVariableList listInController)

virtual stdx::optional< MprVariable::Value >	evalExpressionAsVariableValue (std::string::const_iterator &io_expressionBegin, std::string::const_iterator expressionEnd)

virtual std::function< bool(MprVariable::Value value)>	evalExpressionAsVariableToAssginValue (const std::string &expression)

virtual void	onDisconnectedFromRoot () override

virtual void	doPutProperties (PutPropertyFunction &putProperty) override

virtual bool	store (Archive &archive) override

virtual bool	restore (const Archive &archive) override

Protected Member Functions inherited from cnoid::ControllerItem
virtual void	onOptionsChanged ()

Protected Member Functions inherited from cnoid::Item
	Item ()

	Item (const std::string &name)

	Item (const Item &item)

virtual void	doAssign (Item *srcItem)
	Implement the code to copy properties like the assingment operator. More...

virtual Item *	doDuplicate () const
	Override this function to allow duplication of an instance. More...

virtual Item *	doDuplicate (Item *duplicatedParentItem) const

virtual bool	onNewTreePositionCheck (bool isManualOperation, std::function< void()> &out_callbackWhenAdded)

virtual void	onAddedToParent ()

virtual void	onTreePathChanged ()

virtual void	onTreePositionChanged ()

virtual void	onPositionChanged ()

virtual void	onConnectedToRoot ()

virtual void	onRemovedFromParent (Item *parentItem, bool isParentBeingDeleted)

virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)

Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &)

int	refCount () const

Additional Inherited Members
Public Types inherited from cnoid::ControllerItem
typedef ControllerIO	Target

Public Types inherited from cnoid::Item
enum	Attribute { SubItem, Attached, Temporal, LoadOnly, NumAttributes, SUB_ITEM = SubItem, TEMPORAL = Temporal, LOAD_ONLY = LoadOnly }

enum	CheckId { LogicalSumOfAllChecks = -1, PrimaryCheck = 0 }

typedef std::function< bool(Item *item)>	ItemPredicate

Constructor & Destructor Documentation

◆ MprControllerItemBase() [1/2]

MprControllerItemBase::MprControllerItemBase ( )

◆ MprControllerItemBase() [2/2]

MprControllerItemBase::MprControllerItemBase ( const MprControllerItemBase & org )

◆ ~MprControllerItemBase()

MprControllerItemBase::~MprControllerItemBase ( )

virtual

Member Function Documentation

◆ control()

bool MprControllerItemBase::control ( )

finaloverridevirtual

Reimplemented from cnoid::ControllerItem.

◆ doPutProperties()

void MprControllerItemBase::doPutProperties ( PutPropertyFunction & putProperty )

overrideprotectedvirtual

This function is used to put a standard properties of the item. You can implement the standard properties by overriding this function.

Note: The overridden function should call the same function of the parent class.

Reimplemented from cnoid::ControllerItem.

◆ evalExpressionAsVariableToAssginValue()

std::function< bool(MprVariable::Value value)> MprControllerItemBase::evalExpressionAsVariableToAssginValue ( const std::string & expression )

protectedvirtual

◆ evalExpressionAsVariableValue()

stdx::optional< MprVariable::Value > MprControllerItemBase::evalExpressionAsVariableValue	(	std::string::const_iterator &	io_expressionBegin,
		std::string::const_iterator	expressionEnd
	)

protectedvirtual

◆ findProgram()

MprProgram * MprControllerItemBase::findProgram ( const std::string & name )

protected

◆ getCurrentIterator()

MprProgram::iterator MprControllerItemBase::getCurrentIterator ( )

protected

◆ getCurrentProgram()

MprProgram * MprControllerItemBase::getCurrentProgram ( )

protected

◆ getStartupProgram()

MprProgram * MprControllerItemBase::getStartupProgram ( )

protected

This function returns the program instance cloned by the controller for the purpose of control.

◆ getStartupProgramItem()

MprProgramItemBase * MprControllerItemBase::getStartupProgramItem ( )

protected

Note: The MprProgram instance owned by the following item must not be used in the controller. The instance returned by the getMprProgram function can be used instead of it.

◆ initialize()

bool MprControllerItemBase::initialize ( ControllerIO * io )

finaloverridevirtual

This function is called before the simulation world is initialized.

Note: If the io->body() returns a null pointer, a controller is not associated with a particular body. This is for a controller which does some general operations.; This function is called from the main thread.

Reimplemented from cnoid::ControllerItem.

◆ initializeClass()

void MprControllerItemBase::initializeClass ( ExtensionManager * ext )

static

◆ initializeVariables()

bool MprControllerItemBase::initializeVariables ( )

protectedvirtual

◆ input()

void MprControllerItemBase::input ( )

finaloverridevirtual

Note: This function is called from the simulation thread.

Reimplemented from cnoid::ControllerItem.

◆ linkKinematicsKitForControl()

LinkKinematicsKit * MprControllerItemBase::linkKinematicsKitForControl ( )

protected

◆ onDisconnectedFromRoot()

void MprControllerItemBase::onDisconnectedFromRoot ( )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

◆ onInitialize()

bool MprControllerItemBase::onInitialize ( ControllerIO * io )

protectedvirtual

◆ onStart()

bool MprControllerItemBase::onStart ( )

protectedvirtual

◆ onStop()

bool MprControllerItemBase::onStop ( )

protectedvirtual

◆ output()

void MprControllerItemBase::output ( )

finaloverridevirtual

Note: This function is called from the simulation thread.

Reimplemented from cnoid::ControllerItem.

◆ pushControlFunctions()

void MprControllerItemBase::pushControlFunctions	(	std::function< bool()>	control,
		std::function< void()>	input = `nullptr`,
		std::function< void()>	output = `nullptr`
	)

protected

◆ pushOutputOnceFunction()

void MprControllerItemBase::pushOutputOnceFunction ( std::function< void()> outputOnce )

protected

◆ registerBaseStatementInterpreters()

void MprControllerItemBase::registerBaseStatementInterpreters ( )

protected

◆ registerStatementInterpreter()

template<class StatementType >

void cnoid::MprControllerItemBase::registerStatementInterpreter ( std::function< bool(StatementType *statement)> interpret )

inlineprotected

◆ restore()

bool MprControllerItemBase::restore ( const Archive & archive )

overrideprotectedvirtual

Reimplemented from cnoid::ControllerItem.

◆ setCurrent() [1/2]

void MprControllerItemBase::setCurrent	(	MprProgram *	program,
		MprProgram::iterator	iter,
		MprProgram::iterator	upperNext
	)

protected

◆ setCurrent() [2/2]

void MprControllerItemBase::setCurrent ( MprProgram::iterator iter )

protected

◆ setResidentInputFunction()

void MprControllerItemBase::setResidentInputFunction ( std::function< void()> input )

protected

◆ setSpeedRatio()

void MprControllerItemBase::setSpeedRatio ( double r )

◆ setVariableListSync()

void MprControllerItemBase::setVariableListSync	(	MprVariableList *	listInGui,
		MprVariableList *	listInController
	)

protected

◆ speedRatio()

double MprControllerItemBase::speedRatio ( ) const

◆ start()

bool MprControllerItemBase::start ( )

finaloverridevirtual

This function is called after the simulation world is initialized.

Reimplemented from cnoid::ControllerItem.

◆ stop()

void MprControllerItemBase::stop ( )

finaloverridevirtual

Note: This function is called from the main thread.

Reimplemented from cnoid::ControllerItem.

◆ store()

bool MprControllerItemBase::store ( Archive & archive )

overrideprotectedvirtual

Reimplemented from cnoid::ControllerItem.

◆ timeStep()

double MprControllerItemBase::timeStep ( ) const

overridevirtual

Reimplemented from cnoid::ControllerItem.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ MprControllerItemBase() [1/2]

◆ MprControllerItemBase() [2/2]

◆ ~MprControllerItemBase()

Member Function Documentation

◆ control()

◆ doPutProperties()

◆ evalExpressionAsVariableToAssginValue()

◆ evalExpressionAsVariableValue()

◆ findProgram()

◆ getCurrentIterator()

◆ getCurrentProgram()

◆ getStartupProgram()

◆ getStartupProgramItem()

◆ initialize()

◆ initializeClass()

◆ initializeVariables()

◆ input()

◆ linkKinematicsKitForControl()

◆ onDisconnectedFromRoot()

◆ onInitialize()

◆ onStart()

◆ onStop()

◆ output()

◆ pushControlFunctions()

◆ pushOutputOnceFunction()

◆ registerBaseStatementInterpreters()

◆ registerStatementInterpreter()

◆ restore()

◆ setCurrent() [1/2]

◆ setCurrent() [2/2]

◆ setResidentInputFunction()

◆ setSpeedRatio()

◆ setVariableListSync()

◆ speedRatio()

◆ start()

◆ stop()

◆ store()

◆ timeStep()