RobotPoseUnit.cpp
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18  * @package ArmarXCore::units
19  * @author Nikolaus Vahrenkamp (vahrenkamp at kit dot edu)
20  * @date 2016
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 
26 #include "RobotPoseUnit.h"
27 
28 
29 namespace armarx
30 {
32  {
33  std::string RobotPoseName = getProperty<std::string>("RobotName").getValue();
34 
35  // component dependencies
36  listenerChannelName = RobotPoseName + "6DPoseState";
38 
39  this->onInitRobotPoseUnit();
40  }
41 
42 
44  {
45  ARMARX_INFO << "setting report topic to " << listenerChannelName << flush;
46  listenerPrx = getTopic<RobotPoseUnitListenerPrx>(listenerChannelName);
47 
48  this->onStartRobotPoseUnit();
49  }
50 
51 
53  {
54  listenerPrx = NULL;
55 
56  this->onStopRobotPoseUnit();
57  }
58 
59 
61  {
62  this->onExitRobotPoseUnit();
63  }
64 
65 
66  void RobotPoseUnit:: moveTo(PoseBasePtr targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c)
67  {
68  }
69 
70 
72  {
75  }
76 }
armarx::VariantType::Float
const VariantTypeId Float
Definition: Variant.h:918
armarx::RobotPoseUnit::onExitRobotPoseUnit
virtual void onExitRobotPoseUnit()=0
armarx::RobotPoseUnit::listenerChannelName
std::string listenerChannelName
Ice Topic name on which armarx::RobotPoseUnit::listenerPrx publishes information.
Definition: RobotPoseUnit.h:126
c
constexpr T c
Definition: UnscentedKalmanFilterTest.cpp:43
RobotPoseUnit.h
armarx::RobotPoseUnit::listenerPrx
RobotPoseUnitListenerPrx listenerPrx
RobotPoseUnitListener proxy for publishing state updates.
Definition: RobotPoseUnit.h:122
armarx::flush
const LogSender::manipulator flush
Definition: LogSender.h:251
armarx::RobotPoseUnit::moveTo
virtual void moveTo(PoseBasePtr targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent)
moveTo moves the robot to a global pose specified by:
Definition: RobotPoseUnit.cpp:66
armarx::RobotPoseUnit::onExitComponent
void onExitComponent() override
Calls armarx::RobotPoseUnit::onExitRobotPoseUnit().
Definition: RobotPoseUnit.cpp:60
armarx::RobotPoseUnit::onStartRobotPoseUnit
virtual void onStartRobotPoseUnit()=0
armarx::RobotPoseUnit::onInitRobotPoseUnit
virtual void onInitRobotPoseUnit()=0
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:74
ARMARX_INFO
#define ARMARX_INFO
Definition: Logging.h:174
armarx::RobotPoseUnitPropertyDefinitions
Defines all necessary properties for armarx::RobotPoseUnit.
Definition: RobotPoseUnit.h:42
armarx::ManagedIceObject::offeringTopic
void offeringTopic(const std::string &name)
Registers a topic for retrival after initialization.
Definition: ManagedIceObject.cpp:290
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::RobotPoseUnit::onStopRobotPoseUnit
virtual void onStopRobotPoseUnit()
Definition: RobotPoseUnit.h:101
armarx::RobotPoseUnit::onConnectComponent
void onConnectComponent() override
Calls armarx::RobotPoseUnit::onStartRobotPoseUnit().
Definition: RobotPoseUnit.cpp:43
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:34
armarx::RobotPoseUnit::createPropertyDefinitions
PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: RobotPoseUnit.cpp:71
armarx::RobotPoseUnit::onInitComponent
void onInitComponent() override
Retrieve proxy for publishing State information and call armarx::RobotPoseUnit::onInitRobotPoseUnit()...
Definition: RobotPoseUnit.cpp:31
armarx::RobotPoseUnit::onDisconnectComponent
void onDisconnectComponent() override
Hook for subclass.
Definition: RobotPoseUnit.cpp:52
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28