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57 std::optional<robot::Robot>
get(
const std::string& name,
62 std::optional<robot::RobotDescription>
queryDescription(
const std::string& name,
70 std::optional<armarx::armem::arondto::Proprioception>
80 std::optional<robot::RobotState::Pose>
84 std::optional<robot::PlatformState>
97 std::optional<std::map<Hand, robot::ForceTorque>>
101 std::optional<std::map<RobotReader::Hand, std::map<armem::Time, robot::ForceTorque>>>
107 std::optional<std::map<Hand, robot::ToFArray>>
119 std::optional<::armarx::armem::robot_state::Transform>
130 const std::string& name)
const;
132 std::optional<robot::RobotDescription>
135 std::vector<robot::RobotDescription>
138 std::optional<armarx::armem::arondto::Proprioception>
140 const std::string& name)
const;
143 const std::string& name)
const;
145 std::optional<robot::PlatformState>
147 const std::string& name)
const;
149 std::map<RobotReader::Hand, robot::ForceTorque>
153 std::map<RobotReader::Hand, std::map<armem::Time, robot::ForceTorque>>
157 const std::string& name)
const;
163 const std::string propertyPrefix =
"mem.robot_state.";
166 mutable std::mutex memoryReaderMutex;
std::optional< std::map< Hand, robot::ForceTorque > > queryForceTorque(const robot::RobotDescription &description, const armem::Time ×tamp) const
Reads data from a memory server.
std::optional< armarx::armem::arondto::Proprioception > queryProprioception(const robot::RobotDescription &description, const armem::Time ×tamp) const
std::optional< robot::RobotState::Pose > queryGlobalPose(const robot::RobotDescription &description, const armem::Time ×tamp) const
bool synchronize(robot::Robot &obj, const armem::Time ×tamp) const override
void setSyncTimeout(const armem::Duration &duration)
virtual void registerPropertyDefinitions(::armarx::PropertyDefinitionsPtr &def)
std::optional< robot::RobotDescription > queryDescription(const std::string &name, const armem::Time ×tamp) const
virtual void connect(armem::client::MemoryNameSystem &memoryNameSystem)
std::optional<::armarx::armem::robot_state::Transform > queryOdometryPose(const robot::RobotDescription &description, const armem::Time ×tamp) const
retrieve the robot's pose in the odometry frame.
Brief description of class memory.
std::map< armem::Time, robot::RobotState::JointMap > JointTrajectory
void setSleepAfterSyncFailure(const armem::Duration &duration)
std::optional< robot::Robot > get(const std::string &name, const armem::Time ×tamp) const override
Client-side working memory.
std::optional< robot::PlatformState > queryPlatformState(const robot::RobotDescription &description, const armem::Time ×tamp) const
std::optional< std::map< Hand, robot::ToFArray > > queryToF(const robot::RobotDescription &description, const armem::Time ×tamp) const
Represents a point in time.
virtual ~RobotReader()=default
JointTrajectory queryJointStates(const robot::RobotDescription &description, const armem::Time &begin, const armem::Time &end) const
std::vector< robot::RobotDescription > queryDescriptions(const armem::Time ×tamp) const
The memory name system (MNS) client.
std::optional< robot::RobotState > queryState(const robot::RobotDescription &description, const armem::Time ×tamp) const
static Duration MicroSeconds(std::int64_t microSeconds)
Constructs a duration in microseconds.
armem::Duration sleepAfterFailure
std::optional< std::map< RobotReader::Hand, std::map< armem::Time, robot::ForceTorque > > > queryForceTorques(const robot::RobotDescription &description, const armem::Time &start, const armem::Time &end) const
armem::Duration syncTimeout