Component Class Reference

Baseclass for all ArmarX ManagedIceObjects requiring properties. More...

#include <ArmarXCore/core/Component.h>

Inherits ManagedIceObject, and PropertyUser.

Inherited by ik_demo [virtual], AffordanceExtraction [virtual], AffordancePipelineVisualization [virtual], AffordanceUpdateListener [virtual], ArMarkerExternalCameraCalibration [virtual], ArmarXComponentWidgetController [virtual], ArmarXFileLogger [virtual], ArmarXPhysicsWorldVisualization [virtual], ArmarXSimulatorWindow [virtual], ArmarXTimeserver [virtual], LegacyRobotStateMemoryAdapter [virtual], MemoryNameSystem [virtual], GraspMemory [virtual], HumanMemory [virtual], ObjectMemory [virtual], ReasoningMemory [virtual], RobotStateMemory [virtual], VisionMemory [virtual], AronComponentConfigExample [virtual], ArticulatedObjectLocalizerExample [virtual], ArticulatedObjectLocalizerDynamicSimulation [virtual], ArVizExample [virtual], ArVizInteractExample [virtual], ArVizStorage [virtual], AStarPathPlannerTestComponent [virtual], ATINetFTUnit [virtual], CartographerMapRegistration [virtual], CollisionCheckerComponent [virtual], ConditionHandler [virtual], DebugDrawerComponent [virtual], DebugDrawerToArVizComponent [virtual], DHParameterOptimizationLogger [virtual], DMPComponent [virtual], DSObstacleAvoidance [virtual], DummyAgentReporter [virtual], DummyObjectLocalizer [virtual], DummyTextToSpeech [virtual], DummyWorldStateObserver [virtual], DynamicObstacleManager [virtual], EmergencyStopMaster [virtual], EmergencyStopNode< T > [virtual], ExampleMemory [virtual], ExampleMemoryClient [virtual], ExternalApplicationManager [virtual], FakeWorkingMemoryObjectLocalizer [virtual], FrameTracking [virtual], FunctionApproximator [virtual], GamepadControlUnit [virtual], GamepadUnit [virtual], GeneralPurposeMemory [virtual], GraspingManager [virtual], GraspingManagerTest [virtual], GraspProviderExample [virtual], GraspSelectionCriterionBase [virtual], GraspSelectionManager [virtual], HeadIKUnit [virtual], HumanObstacleDetection [virtual], IndexMemory [virtual], JsonStorage [virtual], KBMComponent [virtual], KinematicSelfLocalization [virtual], KITProstheticHandObserver [virtual], LaserScannerFeatureExtraction [virtual], LaserScannerObstacleDetection [virtual], LaserScannerSelfLocalisation [virtual], MetaWearIMU [virtual], MMMPlayer [virtual], MMMSimulation [virtual], MotionMemory [virtual], MotionPlanningServer [virtual], MultiHandUnit [virtual], NaturalIKTest [virtual], ObjectInstanceToIndex [virtual], ObjectLocalizationSaliency [virtual], ObjectLocalizerDynamicSimulation [virtual], ObjectMemoryEditor [virtual], ObjectPoseClientExample [virtual], ObjectPoseProviderExample [virtual], Observer [virtual], OpenPoseSimulation, OptoForce [virtual], OptoForceUnit [virtual], OrientedTactileSensorUnit [virtual], PathPlanner [virtual], PingLoadTest [virtual], PlannedMotionProvider [virtual], PointCloudUtility [virtual], PrimitiveVisualization [virtual], ReflexCombination [virtual], RemoteGuiExample2 [virtual], RemoteGuiProvider [virtual], RemoteObjectNode [virtual], VirtualRobotReaderExampleClient [virtual], Component [virtual], RobotControlUI [virtual], RobotHandLocalizationDynamicSimulation [virtual], RobotHealth [virtual], RobotHealthDummy [virtual], RobotIK [virtual], RobotNameService [virtual], RobotStateComponent [virtual], RobotToArViz [virtual], ModuleBase [virtual], SceneModifier [virtual], SelfLocalization [virtual], ShapesSupportRelations [virtual], SemanticGraphExample [virtual], SemanticGraphStorage [virtual], SemanticRelationAnalyzer [virtual], SensorActorUnit [virtual], SickLaserUnit [virtual], SimpleVirtualRobot [virtual], SimpleEpisodicMemoryKinematicUnitConnector [virtual], SimpleEpisodicMemoryPlatformUnitConnector [virtual], SimpleGraspGenerator [virtual], SimpleRobotPlacement [virtual], SimpleStatechartExecutor [virtual], Component [virtual], Component [virtual], SimulationObjectPoseProvider [virtual], Simulator [virtual], SimulatorToArviz [virtual], BringObjectSkillProvider [virtual], GraspControlSkillProvider [virtual], HandControlSkillProvider [virtual], JointControlSkillProvider [virtual], PlatformControlSkillProvider [virtual], SkillProviderExample [virtual], TCPControlSkillProvider [virtual], VisualSearchSkillProvider [virtual], VisualServoTCPControlSkillProvider [virtual], SkillsMemory [virtual], StatechartContext [virtual], StatechartExecutorExample [virtual], StatechartListener [virtual], StaticAgentReporter [virtual], StreamReceiver [virtual], SubjectMemory [virtual], SystemStateMemory [virtual], TCPControllerSubUnit [virtual], TCPControlUnit [virtual], TopicRecorderComponent, TopicReplayer, TopicTimingClient [virtual], TopicTimingServer [virtual], TrajectoryControllerSubUnit [virtual], TrajectoryPlayer [virtual], ViconMarkerProvider [virtual], ViewSelection [virtual], VirtualRobotWriterExample [virtual], MemoryGrapher [virtual], WorkingMemoryToArViz [virtual], XMLStateComponent, AbstractLongtermMemory [virtual], AbstractWorkingMemory [virtual], ArmarXObjectsImporter [virtual], CommonPlacesLearner [virtual], CommonPlacesTester [virtual], CommonStorage [virtual], CommonStorageExample [virtual], GraphNodePoseResolver [virtual], PriorKnowledge [virtual], PriorKnowledgeImporter [virtual], ProfilerStorage [virtual], SimoxSceneImporter [virtual], SimpleEpisodicMemory [virtual], SimpleEpisodicMemoryWorkingMemoryConnector [virtual], WorkingMemoryExample [virtual], WorkingMemoryObjectPoseProvider [virtual], WorkingMemoryUpdater [virtual], WorldStateObserver [virtual], WorldStateUpdaterBase, XMLSceneImporter [virtual], ArMemToImageProvider [virtual], DeepFaceRecognition, DummyArMarkerLocalizer [virtual], ImageProcessor [virtual], ImageProvider [virtual], Component [virtual], ObjectShapeClassification [virtual], OLPEvaluation [virtual], Component [virtual], PointCloudProcessor [virtual], PointCloudProvider [virtual], SimpleEpisodicMemoryOpenPoseEstimationConnector [virtual], SimpleEpisodicMemorySemanticGraphConnector [virtual], and UCLObjectRecognition.

Public Member Functions

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 preOnConnectComponent () override
 
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...
 
virtual std::string getDefaultName () const =0
 Retrieve default name of component. 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 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 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
 

Static Public Member Functions

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 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 onConnectComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void onDisconnectComponent ()
 Hook for subclass. More...
 
virtual void onExitComponent ()
 Hook for subclass. More...
 
virtual void onInitComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
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
 
- 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
 

Friends

class ArmarXManager
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- 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 Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Baseclass for all ArmarX ManagedIceObjects requiring properties.

Components are the equivalents to ManagedIceObjects with additional properties. Usually, an ArmarX distributed application consists mainly of Component instances, which are configured on startup through properties specified in a config file (

See also
ArmarXCore-HowTos-generate-scenarios).

It is also possible for components to be reconfigured at runtime. To prepare your component for this feature you need to override the Component::componentPropertiesUpdated() method, which is called every time properties change.

The lifecycle of each Component is managed by an instance of ArmarXManager.

Definition at line 95 of file Component.h.

Constructor & Destructor Documentation

◆ Component()

Component ( )
protected

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

Definition at line 49 of file Component.cpp.

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Member Function Documentation

◆ addPropertyUser()

void addPropertyUser ( const PropertyUserPtr subPropertyUser)
protected

Add additional property users here that should show up in the application help text.

This function needs to be called in the icePropertiesInitialized from the component user.

Parameters
subPropertyUser

Definition at line 133 of file Component.cpp.

◆ componentPropertiesUpdated()

void componentPropertiesUpdated ( const std::set< std::string > &  changedProperties)
virtual

Implement this function if you would like to react to changes in the properties.

Parameters
changedPropertiesSet of changed properties. Retrieve the values with getProperty()

Reimplemented in ModuleBase, ImageProcessor, LaserScannerSelfLocalisation, RobotUnitSimulation, TrajectoryControllerSubUnit, VoxelGridMappingProvider, and TCPControllerSubUnit.

Definition at line 262 of file Component.cpp.

◆ create()

static TPtr create ( Ice::PropertiesPtr  properties = Ice::createProperties(),
const std::string &  configName = "",
const std::string &  configDomain = "ArmarX" 
)
inlinestatic

Factory method for a component.

Sets the specified properties.

The properties are identified using a config domain, a config name and a property name. The identifier of properties follows the rule:

configDomain.configName.propertyName

The configName is used as name of the well-known object in Ice.

See also
ManagedIceObject::ManagedIceObject(std::string name) This name can be changed by setting the property:

configDomain.configName.ObjectName=<desiredname>

Parameters
configNamename of the properties identifier
propertiesproperties for the object
configDomaindomain of the properties identifier

Definition at line 119 of file Component.h.

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overrideprotectedvirtual
See also
PropertyUser::createPropertyDefinitions()

Implements PropertyUser.

Reimplemented in ArVizInteractExample, KBMComponent, ImageProcessor, Simulator, PrimitiveExtractor, TrajectoryPlayer, DepthImageProviderDynamicSimulation, DenseCRFSegmentationProcessor, IEEE1394ImageProvider, ObstacleAvoidingPlatformUnit, RobotUnit, CoFusionProcessor, LaserScannerSelfLocalisation, ObstacleAwarePlatformUnit, ObjectLearningByPushing, RobotUnitSimulation, GraspingManager, OpenPoseEstimation, PointCloudSegmenter, PointCloudObjectLocalizer, KinematicUnitSimulation, KLGImageProvider, ObjectLocalizationSaliency, TCPControlUnit, MaskRCNNPointCloudObjectLocalizer, ImageSequenceProvider, TabletopSegmentation, SimpleRobotPlacement, MultiSensePointCloudProvider, ReflexCombination, KinectV2PointCloudProvider, ResultPointCloudProvider, LaserScannerSimulation, CollisionCheckerComponent, OpenNIPointCloudProvider, CropRobotFromImage, ConditionHandler, AffordanceExtraction, RobotStateComponent, ATINetFTUnit, HapticObserver, AffordancePipelineVisualization, CalibrationCreator2, ImageSourceSelection, CartographerMappingAndLocalization, ViewSelection, PointCloudVisualization, RobotHealth, DSObstacleAvoidance, HandUnit, ImageProviderDynamicSimulation, FrameTracking, VisualContactDetection, ArmarXSimulatorWindow, MMMSimulation, RemoteGuiExample2, DebugDrawerComponent, ResultImageFuser, MotionPlanningServer, KinematicUnit, DMPComponent, StereoImagePointCloudProvider, SceneModifier, Component, RemoteObjectNode, KinectV1PointCloudProvider, RCPointCloudProvider, RobotIK, RTABMapRegistration, OpticalFlow, DeepFaceRecognition, HokuyoLaserUnit, StatechartContext, RGBDHandLocalizer, FaceRecognition, DHParameterOptimizationLogger, OrientedTactileSensorUnit, PointCloudRecorder, PrimitiveVisualization, KinematicUnitDynamicSimulation, SimpleGraspGenerator, XMLStateComponent, RCImageProvider, SegmentableTemplateRecognition, FakePointCloudProvider, PointCloudUtility, OptoForceUnit, ObjectMemoryObserver, ObjectLocalizerProcessor, KinectAndCameraCalibration, IntelRealSenseProvider, TopicRecorderComponent, TrajectoryControllerSubUnit, PlatformUnit, RobotPoseUnit, EntityDrawerComponent, FlyCaptureImageProvider, PointCloudFilter, PlannedMotionProvider, KinematicSelfLocalization, NaturalIKTest, StereoCameraProvider, MaskFilterPointCloudProcessor, RobotHandLocalizationWithFingertips, PointCloudToArViz, UserAssistedSegmenter, PrimitiveExtractionParameterTuning, ArmarXPhysicsWorldVisualization, PlatformContext, MMMPlayer, CommonPlacesLearner, DummyObjectLocalizer, XMLSceneImporter, RobotPoseUnitDynamicSimulation, ValveAttention, VoxelGridMappingProvider, GamepadControlUnit, GamepadUnit, SemanticRelationAnalyzer, ShapesSupportRelations, HumanObstacleDetection, SkillProviderExample, SegmentRansacShapeExtractor, RobotHealthDummy, SickLaserUnit, DummyAgentReporter, CalibrationCreator, OLPEvaluation, LaserScannerPointCloudProvider, LongtermMemory, CyberGloveObserver, WorkingMemoryObjectPoseProvider, MultiImageProvider, BigBowlLocalization, ViconMarkerProvider, SkillsMemory, DummyArMarkerLocalizer, LabeledPointCloudMerger, ObjectLocalizationMemoryUpdater, RemoteGuiProvider, KinematicUnitObserver, CartographerMapRegistration, DummyTextToSpeech, PlatformUnitObserver, MetaWearIMU, TrackingError, StaticAgentReporter, HeadIKUnit, MultiViewPointCloudProcessor, AzureKinectPointCloudProvider, DummyWorldStateObserver, StreamDecoderImageProvider, SegmentAABBShapesProvider, SegmentSpatialRelations, FakeWorkingMemoryObjectLocalizer, HandUnitDynamicSimulation, KITProstheticHandUnit, InertialMeasurementUnit, UCLObjectRecognition, KITProstheticHandObserver, RobotNameService, AffordanceUpdateListener, BlurrinessMetric, SegmentableObjectRecognition, ForceTorqueObserver, ForceTorqueUnitSimulation, AbstractWorkingMemory, Component, AzureKinectIRImageProvider, SelfLocalization, SimoxSceneImporter, SemanticGraphStorage, RobotToArViz, TopicTimingClient, ForceTorqueUnit, WorkingMemory, WorkingMemoryToArViz, OpenCVImageStabilizer, EfficientRANSACPrimitiveExtractor, XsensIMU, TexturedObjectRecognition, CommonStorage, WebCamImageProvider, DebugDrawerToArVizComponent, RobotStatechartContext, ArMarkerExternalCameraCalibration, RobotStateMemory, StatechartExecutorExample, HandUnitSimulation, OpenPoseSimulation, BlobRecognition, SimulatorToArviz, LaserScannerFeatureExtraction, DebugObserver, DynamicObstacleManager, TopicTimingServer, PathPlanner, Component, ArVizExample, InertialMeasurementUnitObserver, ColorMarkerObjectLocalizer, LaserScannerObstacleDetection, ObjectMemory, KITHandUnit, MultiHandUnit, OptoForceUnitObserver, RobotControl, SemanticGraphExample, ForceTorqueUnitDynamicSimulation, HapticUnit, OrientedTactileSensorUnitObserver, TCPControllerSubUnit, SimpleEpisodicMemoryImageConnector, GamepadUnitObserver, PlaybackImageProvider, SimpleEpisodicMemorySemanticGraphConnector, IMUSimulation, PlatformUnitDynamicSimulation, ExampleMemory, TopicReplayer, LaserScannerUnitObserver, PlatformUnitSimulation, RobotStateObserver, GraphNodePoseResolver, FilterKnownObjects, HandMarkerLocalization, RobotHandLocalizationDynamicSimulation, MemoryNameSystem, ObjectPoseProviderExample, GraspCandidateObserver, MetaWearIMUObserver, TCPControlUnitObserver, PriorKnowledge, VideoFileImageProvider, ExampleMemoryClient, SimpleEpisodicMemoryKinematicUnitConnector, LegacyRobotStateMemoryAdapter, AbstractLongtermMemory, Component, ArticulatedObjectLocalizerDynamicSimulation, SpeechObserver, GraspingManagerTest, WorkingMemoryUpdater, StreamProviderI, GraspSelectionCriterionBase, SimpleEpisodicMemoryPlatformUnitConnector, GeneralPurposeMemory, ProfilerStorage, ArMarkerLocalizer, ArVizStorage, ik_demo, CommonPlacesTester, SimpleEpisodicMemoryWorkingMemoryConnector, ObjectInstanceToIndex, ObjectPoseClientExample, PriorKnowledgeImporter, ArMarkerLocalizerOpenCV, SimpleEpisodicMemory, WorldStateUpdaterBase, MemoryGrapher, ObjectLocalizerDynamicSimulation, WeissHapticUnit, Component, IndexMemory, GraspablePredicateProvider, ImageToArMem, VirtualRobotReaderExampleClient, MotionMemory, Component, ArMemToImageProvider, ArmarXObjectsImporter, HapticUnitDynamicSimulation, GraspSelectionManager, PutAwayLocationPredicateProvider, SimpleEpisodicMemoryOpenPoseEstimationConnector, SimulationObjectPoseProvider, AronComponentConfigExample, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, AgentAtPredicateProvider, ObjectAtPredicateProvider, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, WorkingMemoryExample, AStarPathPlannerTestComponent, GraspMemory, HandPredicateProvider, Component, VisionMemory, GraspControlSkillProvider, SelfLocalizationDynamicSimulation, DummyCriterion, NaturalGraspFilter, BringObjectSkillProvider, HumanMemory, RGBDPoseEstimationWithMemoryWriter, ArticulatedObjectLocalizerExample, SystemStateMemory, VirtualRobotWriterExample, ReasoningMemory, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, X11ScreenCaptureImageProvider, SimpleVirtualRobot, RGBDOpenPoseEstimation, GraspProviderExample, ObjectMemoryEditor, OpenNIImageProvider, ImageToPointCloud, FindAndGraspObjectContext, StreamReceiver, OptoForce, and ObjectShapeClassification.

Definition at line 195 of file Component.cpp.

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◆ forceComponentCreatedByComponentCreateFunc()

void forceComponentCreatedByComponentCreateFunc ( )

forces the flag to be set to true that the object instance was created by the Component::create function

Note
Do not call this function except you know that you are doing.

Definition at line 163 of file Component.cpp.

◆ getAdditionalPropertyUsers()

std::vector< PropertyUserPtr > getAdditionalPropertyUsers ( ) const

Definition at line 139 of file Component.cpp.

◆ getConfigDomain()

std::string getConfigDomain ( )
protected

Retrieve config domain for this component as set in constructor.

The configdomain defines which properties are used from the properties read from commandline or config file. The name of the used properties follows the rule:

configDomain.configName.propertyName

Definition at line 58 of file Component.cpp.

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◆ getConfigIdentifier()

std::string getConfigIdentifier ( )
protected

Retrieve config identifier for this component as set in constructor.

The config identifier defines which properties are used from the properties read from commandline or config file. The name of the properties follows the rule:

configDomain.configName.propertyName

where the configIdentifier corresponds to

configDomain.configName

Definition at line 70 of file Component.cpp.

◆ getConfigName()

std::string getConfigName ( )
protected

Retrieve config name for this component as set in constructor.

The configname defines which properties are used from the properties read from commandline or config file. The name of the properties follows the rule:

configDomain.configName.propertyName

Definition at line 64 of file Component.cpp.

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◆ getProperty() [1/4]

Property< PropertyType > getProperty ( typename PropertyType  )
See also
PropertyUser::getProperty()

Definition at line 179 of file PropertyUser.h.

◆ getProperty() [2/4]

Property<PropertyType> getProperty ( typename PropertyType  )
inline
See also
PropertyUser::getProperty()

Definition at line 84 of file PropertyUser.h.

◆ getProperty() [3/4]

void getProperty ( class T  )
inline
See also
PropertyUser::getProperty()

Definition at line 202 of file PropertyUser.h.

◆ getProperty() [4/4]

void getProperty ( class T  )
inline
See also
PropertyUser::getProperty()

Definition at line 188 of file PropertyUser.h.

◆ getProxyFromProperty() [1/2]

ProxyType getProxyFromProperty ( const std::string &  propertyName,
bool  addToDependencies = false,
const std::string &  endpoints = "",
bool  throwOnProxyError = true 
)
inline

Get a proxy whose name is specified by the given property.

Parameters
nameName of the property specifying the proxy name.
Returns
The proxy. (See ManagedIceObject::getProxy().)
See also
ManagedIceObject::getProxy()
PropertyUser::getProperty()

Definition at line 236 of file Component.h.

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◆ getProxyFromProperty() [2/2]

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

Definition at line 245 of file Component.h.

◆ getTopicFromProperty() [1/2]

TopicProxyType getTopicFromProperty ( const std::string &  propertyName)
inline

Get a topic proxy whose name is specified by the given property.

Parameters
nameName of the property specifying the proxy name.
Returns
The topic proxy. (See ManagedIceObject::getProxy().)
See also
ManagedIceObject::getTopic()
PropertyUser::getProperty()

Definition at line 218 of file Component.h.

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◆ getTopicFromProperty() [2/2]

void getTopicFromProperty ( TopicProxyType &  top,
const std::string &  propertyName 
)
inline

Definition at line 223 of file Component.h.

◆ icePropertiesInitialized()

virtual void icePropertiesInitialized ( )
inlineprotectedvirtual

Reimplemented in ModuleBase.

Definition at line 297 of file Component.h.

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◆ initializeProperties()

void initializeProperties ( const std::string &  configName,
Ice::PropertiesPtr const &  properties,
const std::string &  configDomain 
)

initializes the properties of this component.

Must not be called after the component was added to the ArmarXManager. Use with caution!

Parameters
configName
properties
configDomain

Definition at line 76 of file Component.cpp.

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◆ injectPropertyDefinitions()

void injectPropertyDefinitions ( PropertyDefinitionsPtr props)
overridevirtual
See also
PropertyUser

Reimplemented from PropertyUser.

Definition at line 169 of file Component.cpp.

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◆ offeringTopicFromProperty()

void offeringTopicFromProperty ( const std::string &  propertyName)

Offer a topic whose name is specified by the given property.

Parameters
nameName of the property specifying the topic name.
See also
ManagedIceObject::offeringTopic()
PropertyUser::getProperty()

Definition at line 145 of file Component.cpp.

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◆ preOnConnectComponent()

void preOnConnectComponent ( )
overridevirtual

Reimplemented from ManagedIceObject.

Definition at line 124 of file Component.cpp.

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◆ preOnInitComponent()

void preOnInitComponent ( )
overridevirtual

Reimplemented from ManagedIceObject.

Definition at line 93 of file Component.cpp.

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◆ usingProxyFromProperty()

bool usingProxyFromProperty ( const std::string &  propertyName,
const std::string &  endpoints = "" 
)

Use a proxy whose name is specified by the given property.

Parameters
nameName of the property specifying the proxy name.
endpointsSee ManagedIceObject::usingProxy().
Returns
See ManagedIceObject::usingProxy().
See also
ManagedIceObject::usingProxy()
PropertyUser::getProperty()

Definition at line 157 of file Component.cpp.

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◆ usingTopicFromProperty()

void usingTopicFromProperty ( const std::string &  propertyName,
bool  orderedPublishing = false 
)

Use a topic whose name is specified by the given property.

Parameters
nameName of the property specifying the topic name.
orderedPublishingSee ManagedIceObject::usingProxy().
See also
ManagedIceObject::usingTopic()
PropertyUser::getProperty()

Definition at line 151 of file Component.cpp.

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Friends And Related Function Documentation

◆ ArmarXManager

friend class ArmarXManager
friend

Definition at line 309 of file Component.h.


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