MPPoolInterface.ice

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotControllers::RobotNJointControllersInterface
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/interface/core/BasicTypes.ice>
 
#include <RobotAPI/interface/aron.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 
 
module armarx
{
    dictionary<string, Ice::DoubleSeq> StringDoubleSeqMap;
    dictionary<string, double> StringDoubleMap;
    sequence<armarx::aron::data::dto::Dict> AronSeq;
 
interface MPPoolInterface /* extends NJointControllerInterface*/
    {
        string getNames();
 
        /// control
        void
        set(StringDoubleSeqMap startVec, StringDoubleSeqMap goalVec, StringDoubleMap durationSec);
        void
        start(string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec, double durationSec);
        void stop(string mpName);
        void pause(string mpName);
        void resume(string mpName);
        void reset(string mpName);
        bool isFinished(string mpName);
 
        void startAll();
        void stopAll();
        void pauseAll();
        void resumeAll();
        void resetAll();
        bool isFinishedAll();
 
        /// setting
        void learnFromCSV(Ice::StringSeq fileNames);
        void learnFromTrajs(armarx::aron::data::dto::Dict config);
        void trainMP();
 
        void setGoal(Ice::DoubleSeq goals);
        void setStartAndGoal(Ice::DoubleSeq starts, Ice::DoubleSeq goals);
        void setViaPoint(double u, Ice::DoubleSeq viapoint);
        void removeAllViaPoint();
 
        /// serialze
        //        void setWeight(Ice::DoubleSeqSeq weights);
        //        Ice::DoubleSeqSeq getWeight();
        string serialize();
        Ice::DoubleSeq deserialize(string mpAsString);
 
        /// utilities
        double getCanVal(string mpName);
        bool getMPEnabled();
 
        /// config
        void updateMPConfig(armarx::aron::data::dto::Dict config);
        armarx::aron::data::dto::Dict getMPConfig();
    };
};