CartesianImpedanceControllerWidgetController Class Reference

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< TipDialoggetTipDialog () 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< PropertyUserPtrgetAdditionalPropertyUsers () 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< TgetPropertyAsCSV (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::RobotUnitComponentPlugingetRobotUnitComponentPlugin ()
 
 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 RobotStateComponentInterfacePrxgetRobotStateComponent () const
 
RobotStateComponentPlugingetRobotStateComponentPlugin ()
 
const RobotStateComponentPlugingetRobotStateComponentPlugin () 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::ClientgetArvizClient ()
 

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 LogSenderPtrgetLogSender () 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()

Definition at line 35 of file CartesianImpedanceControllerWidgetController.cpp.

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◆ ~CartesianImpedanceControllerWidgetController()

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.

See also
onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 110 of file CartesianImpedanceControllerWidgetController.cpp.

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◆ setupGuiAfterConnect()

void setupGuiAfterConnect ( )
overridevirtual

Reimplemented from Base.

Definition at line 64 of file CartesianImpedanceControllerWidgetController.cpp.

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◆ timerEvent()

void timerEvent ( QTimerEvent *  event)
overrideprotected

Definition at line 119 of file CartesianImpedanceControllerWidgetController.cpp.

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◆ visuHandAtPose()

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

Definition at line 167 of file CartesianImpedanceControllerWidgetController.cpp.

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