CartesianImpedanceControllerWidgetController brief one line description. More...

#include <armarx/control/ui/CartesianImpedanceController/CartesianImpedanceControllerWidgetController.h>

Inheritance diagram for CartesianImpedanceControllerWidgetController:

Public Member Functions
	CartesianImpedanceControllerWidgetController ()

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	setupGuiAfterConnect () override

	~CartesianImpedanceControllerWidgetController ()

Public Member Functions inherited from NJointControllerGuiPluginBase< CartesianImpedanceControllerWidgetController, NJointTaskSpaceImpedanceControlInterfacePrx >
void	activateController () override

void	createController () override

void	deactivateController () override

void	deleteController () override

QIcon	getWidgetCategoryIcon () const final override
	Implement this function to supply an icon for the category. More...

QIcon	getWidgetIcon () const final override
	Implement this function to supply an icon for the menu. More...

QString	getWidgetName () const final override
	Implement this function to specify the default name of your Widget. More...

	NJointControllerGuiPluginBase (const std::string &ctrlClass)

	~NJointControllerGuiPluginBase ()

Public Member Functions inherited from Base
	Base ()

void	configured () override
	This function must be implemented by the user, if he supplies a config dialog. More...

void	connectCreateAcivateDeactivateDelete (QPushButton cr, QPushButton ac, QPushButton dc, QPushButton de)

QPointer< QDialog >	getConfigDialog (QWidget *parent) override
	getConfigDialog returns a pointer to the a configuration widget of this controller. More...

std::string	getControllerName () const

void	loadSettings (QSettings *settings) override
	Implement to load the settings that are part of the GUI configuration. More...

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	saveSettings (QSettings *settings) override
	Implement to save the settings as part of the GUI configuration. More...

	~Base () override

Public Member Functions inherited from ArmarXComponentWidgetController
	ArmarXComponentWidgetController ()

std::string	getDefaultName () const override
	Retrieve default name of component. More...

Public Member Functions inherited from ArmarXWidgetController
	ArmarXWidgetController ()

void	enableMainWidgetAsync (bool enable)
	This function enables/disables the main widget asynchronously (if called from a non qt thread). More...

virtual QPointer< QWidget >	getCustomTitlebarWidget (QWidget *parent=0)
	getTitleToolbar returns a pointer to the a toolbar widget of this controller. More...

QString	getInstanceName ()

virtual QMainWindow *	getMainWindow ()
	Returns the ArmarX MainWindow. More...

virtual SoNode *	getScene ()
	Reimplementing this function and returning a SoNode* will show this SoNode in the 3DViewerWidget, so that you do not need to implement a viewer yourself. More...

virtual QPointer< QDialog >	getSceneConfigDialog (QWidget *parent=nullptr)
	Reimplementing this function and returning a QDialog* will enable a configuration button which opens the returned dialog. More...

QPointer< TipDialog >	getTipDialog () const
	Returns the default instance for the TipDialog used by all widgets (if not set otherwise). More...

virtual QPointer< QWidget >	getWidget ()
	getWidget returns a pointer to the a widget of this controller. More...

virtual QIcon	getWidgetCategoryIcon () const
	Implement this function to supply an icon for the category. More...

virtual QIcon	getWidgetIcon () const
	Implement this function to supply an icon for the menu. More...

virtual QString	getWidgetName () const =0
	Implement this function to specify the default name of your Widget. More...

virtual void	onLockWidget ()

virtual void	onUnlockWidget ()

virtual void	postDocking ()
	postDocking is called after the widget has been docked into the main window. More...

bool	setInstanceName (QString instanceName)
	sets the name of this instance. More...

virtual void	setMainWindow (QMainWindow *mainWindow)

virtual void	setMutex3D (RecursiveMutexPtr const &mutex3D)
	This mutex is used to protect 3d scene updates. Usually called by the ArmarXGui main window on creation of this controller. More...

void	setTipDialog (QPointer< TipDialog > tipDialog)

	~ArmarXWidgetController () override

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Member Functions inherited from RobotUnitComponentPluginUser
RobotUnitInterfacePrx	getRobotUnit () const

plugins::RobotUnitComponentPlugin &	getRobotUnitComponentPlugin ()

	RobotUnitComponentPluginUser ()

void	setRobotUnitAsOptionalDependency (bool isOptional=true)

void	waitUntilRobotUnitIsRunning (const std::function< bool()> &termCond=[] { return false;}) const
	Waits until the robot unit is running. More...

Public Member Functions inherited from RobotStateComponentPluginUser
template<class... Ts>
VirtualRobot::RobotPtr	addOrGetRobot (const std::string &id, Ts &&...ts)

VirtualRobot::RobotPtr	addRobot (const std::string &id, const std::string &filename, const Ice::StringSeq packages, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")

VirtualRobot::RobotPtr	addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const std::string &rnsName, const std::string &nodeName="")

VirtualRobot::RobotPtr	addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const VirtualRobot::RobotNodeSetPtr &rns={}, const VirtualRobot::RobotNodePtr &node={})

VirtualRobot::RobotPtr	addRobot (const std::string &id, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")

SimpleDiffIK::Result	calculateRobotDiffIK (const std::string &id, const Eigen::Matrix4f &targetPose, const SimpleDiffIK::Parameters &params={})

SimpleDiffIK::Reachability	calculateRobotReachability (const std::string &id, const std::vector< Eigen::Matrix4f > targets, const Eigen::VectorXf &initialJV, const SimpleDiffIK::Parameters &params={})

VirtualRobot::RobotPtr	getRobot (const std::string &id) const

RobotStateComponentPlugin::RobotData	getRobotData (const std::string &id) const

RobotNameHelperPtr	getRobotNameHelper () const

RobotStateComponentInterfacePrx	getRobotStateComponent ()

const RobotStateComponentInterfacePrx &	getRobotStateComponent () const

RobotStateComponentPlugin &	getRobotStateComponentPlugin ()

const RobotStateComponentPlugin &	getRobotStateComponentPlugin () const

bool	hasRobot (const std::string &id) const

	RobotStateComponentPluginUser ()

void	setRobotRNSAndNode (const std::string &id, const std::string &rnsName, const std::string &nodeName)

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata) const

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, Ice::Long timestamp) const

bool	synchronizeLocalClone (const std::string &id) const

bool	synchronizeLocalClone (const std::string &id, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const std::string &id, Ice::Long timestamp) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, Ice::Long timestamp) const

Public Member Functions inherited from ArVizComponentPluginUser
	ArVizComponentPluginUser ()

armarx::viz::Client	createArVizClient ()

armarx::viz::Client &	getArvizClient ()

Static Public Member Functions
static QString	GetWidgetName ()
	Returns the Widget name displayed in the ArmarXGui to create an instance of this class. More...

Static Public Member Functions inherited from ArmarXComponentWidgetController
template<typename Class >
static ArmarXWidgetControllerPtr	createInstance ()

Static Public Member Functions inherited from ArmarXWidgetController
template<typename Class >
static ArmarXWidgetControllerPtr	createInstance ()

static QIcon	GetWidgetCategoryIcon ()
	Implement this function to supply an icon for the menu (if you implemented static QString GetWidgetName()). More...

static QIcon	GetWidgetIcon ()
	Implement this function to supply an icon for the menu (if you implemented static QString GetWidgetName()). More...

static int	showMessageBox (const QString &msg)

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
void	timerEvent (QTimerEvent *event) override

void	visuHandAtPose (const Eigen::Matrix4f &tcpInRoot=Eigen::Matrix4f::Identity())

Protected Member Functions inherited from Base
void	postOnConnectComponent () override

void	postOnDisconnectComponent () override

void	preOnConnectComponent () override

Protected Member Functions inherited from ArmarXComponentWidgetController
bool	onClose () override
	If you overwrite this method, make sure to call this implementation at the end of your implementation with ArmarXComponentWidgetController::onClose(). More...

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Additional Inherited Members
Public Types inherited from ArmarXWidgetController
using	RecursiveMutex = std::recursive_mutex

using	RecursiveMutexLock = std::unique_lock< RecursiveMutex >

using	RecursiveMutexLockPtr = std::shared_ptr< RecursiveMutexLock >

using	RecursiveMutexPtr = std::shared_ptr< RecursiveMutex >

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Types inherited from RobotStateComponentPluginUser
using	RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin

Public Slots inherited from Base
Public Slots inherited from ArmarXWidgetController
void	configAccepted ()

void	configRejected ()

void	enableMainWidget (bool enable)

Signals inherited from ArmarXWidgetController
void	configAccepted (ArmarXWidgetControllerPtr widget)

void	configRejected (ArmarXWidgetControllerPtr widget)

Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client	arviz

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from NJointControllerGuiPluginBase< CartesianImpedanceControllerWidgetController, NJointTaskSpaceImpedanceControlInterfacePrx >
NJointTaskSpaceImpedanceControlInterfacePrx	_controller

std::string	_ctrlClass

Protected Attributes inherited from Base
std::recursive_mutex	_allMutex

QPointer< SimpleConfigDialog >	_dialog

VirtualRobot::RobotPtr	_robot

Protected Attributes inherited from ArmarXWidgetController
std::shared_ptr< std::recursive_mutex >	mutex3D

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

CartesianImpedanceControllerWidgetController brief one line description.

Detailed description

Definition at line 53 of file CartesianImpedanceControllerWidgetController.h.

Constructor & Destructor Documentation

◆ CartesianImpedanceControllerWidgetController()

CartesianImpedanceControllerWidgetController ( )

explicit

Definition at line 35 of file CartesianImpedanceControllerWidgetController.cpp.

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◆ ~CartesianImpedanceControllerWidgetController()

~CartesianImpedanceControllerWidgetController ( )

Definition at line 55 of file CartesianImpedanceControllerWidgetController.cpp.

Member Function Documentation

◆ GetWidgetName()

static QString GetWidgetName ( )

inlinestatic

Returns the Widget name displayed in the ArmarXGui to create an instance of this class.

Definition at line 69 of file CartesianImpedanceControllerWidgetController.h.

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.