The ControlDevice class represents a logical unit accepting commands via its JointControllers. More...

#include <RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h>

Inheritance diagram for ControlDevice:

Public Member Functions
	ControlDevice (const std::string &name)
	Create a ControlDevice with the given name. More...

const std::vector< std::string > &	getControlModes () const

JointController *	getJointController (const std::string &mode)

const JointController *	getJointController (const std::string &mode) const

JointController *	getJointController (std::size_t i)

const JointController *	getJointController (std::size_t i) const

std::vector< const JointController * >	getJointControllers () const

std::map< std::string, std::string >	getJointControllerToTargetTypeNameMap () const

JointController *	getJointEmergencyStopController ()

JointController *	getJointStopMovementController ()

RobotUnitModule::Devices *	getOwner () const

bool	hasJointController (const std::string &mode) const

JointController *	rtGetActiveJointController ()

const std::vector< JointController * > &	rtGetJointControllers ()

JointController *	rtGetJointEmergencyStopController ()

JointController *	rtGetJointStopMovementController ()

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	runs the active Joint Controller and write the target values into the control device More...

virtual void	rtSetActiveJointController (JointController *jointCtrl)
	Activates the given JointController for this device. More...

virtual void	rtWriteTargetValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	This is a hook for implementations to write the setpoints to a bus. More...

Public Member Functions inherited from DeviceBase
	DeviceBase (const std::string &name)
	Create a Device with the given name. More...

const std::string &	getDeviceName () const

const std::set< std::string > &	getTags () const

bool	hasTag (const std::string &tag) const

const char *	rtGetDeviceName () const

virtual	~DeviceBase ()=default

Static Public Attributes
static const ControlDevicePtr	NullPtr {nullptr}
	A static const nullptr in case a const ref to a nullptr needs to be returned. More...

Protected Member Functions
void	addJointController (JointController *jointCtrl)
	adds the Joint controller to this ControlDevice More...

ControlTargetBase::ControlDeviceAccessToken	getControlTargetAccessToken () const

Protected Member Functions inherited from DeviceBase
void	addDeviceTag (const std::string &tag)
	adds the given tag to the Device More...

Friends
class	RobotUnitModule::Devices

Detailed Description

The ControlDevice class represents a logical unit accepting commands via its JointControllers.

It holds a set of JointControllers with different Controll modes. It always has a JointController with mode ControlModes::EmergencyStop which is used in case of an error. It always has a JointController with mode ControlModes::StopMovement which is used when the controled device should stop any movement.

It holds a set of tags. These tags are used by different components to create default controllers, check for abilities or present output to the user.

Definition at line 63 of file ControlDevice.h.

Constructor & Destructor Documentation

◆ ControlDevice()

ControlDevice ( const std::string & name )

inline

Create a ControlDevice with the given name.

Definition at line 70 of file ControlDevice.h.

Member Function Documentation

◆ addJointController()

void addJointController ( JointController * jointCtrl )

protected

adds the Joint controller to this ControlDevice

Exceptions

std::logic_error	if the JointController was already added to a ControlDevice
std::invalid_argument	if a JointController with the same control mode was already added to this device

Definition at line 93 of file ControlDevice.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getControlModes()

const std::vector< std::string > & getControlModes ( ) const

inline

Definition at line 217 of file ControlDevice.h.

◆ getControlTargetAccessToken()

ControlTargetBase::ControlDeviceAccessToken getControlTargetAccessToken ( ) const

inlineprotected

Definition at line 133 of file ControlDevice.h.

◆ getJointController() [1/4]

JointController * getJointController ( const std::string & mode )

inline

Returns: the JointController for the given mode of this ControlDevice (or nullptr if there is no controller for this mode)

Definition at line 187 of file ControlDevice.h.

◆ getJointController() [2/4]

const JointController * getJointController ( const std::string & mode ) const

inline

Definition at line 193 of file ControlDevice.h.

◆ getJointController() [3/4]

JointController * getJointController ( std::size_t i )

inline

Definition at line 199 of file ControlDevice.h.

◆ getJointController() [4/4]

const JointController * getJointController ( std::size_t i ) const

inline

Definition at line 205 of file ControlDevice.h.

◆ getJointControllers()

std::vector< const JointController * > getJointControllers ( ) const

inline

Definition at line 181 of file ControlDevice.h.

◆ getJointControllerToTargetTypeNameMap()

std::map< std::string, std::string > getJointControllerToTargetTypeNameMap ( ) const

Definition at line 157 of file ControlDevice.cpp.

◆ getJointEmergencyStopController()

JointController * getJointEmergencyStopController ( )

Returns: the jointEmergencyStopController of this ControlDevice

Definition at line 32 of file ControlDevice.cpp.

Here is the call graph for this function:

◆ getJointStopMovementController()

JointController * getJointStopMovementController ( )

Returns: the jointStopMovementController of this ControlDevice

Definition at line 44 of file ControlDevice.cpp.

Here is the call graph for this function:

◆ getOwner()

RobotUnitModule::Devices * getOwner ( ) const

Definition at line 151 of file ControlDevice.cpp.

◆ hasJointController()

bool hasJointController ( const std::string & mode ) const

inline

Definition at line 211 of file ControlDevice.h.

◆ rtGetActiveJointController()

JointController * rtGetActiveJointController ( )

inline

Returns: the active JointController of this ControlDevice

Definition at line 169 of file ControlDevice.h.

Here is the caller graph for this function:

◆ rtGetJointControllers()

const std::vector< JointController * > & rtGetJointControllers ( )

inline

Returns: all JointControllers of this ControlDevice

Definition at line 175 of file ControlDevice.h.

Here is the caller graph for this function:

◆ rtGetJointEmergencyStopController()

JointController * rtGetJointEmergencyStopController ( )

inline

Returns: the jointEmergencyStopController of this ControlDevice

Definition at line 157 of file ControlDevice.h.

Here is the caller graph for this function:

◆ rtGetJointStopMovementController()

JointController * rtGetJointStopMovementController ( )

inline

Returns: the jointStopMovementController of this ControlDevice

Definition at line 163 of file ControlDevice.h.

Here is the caller graph for this function:

◆ rtRun()

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration
	)

runs the active Joint Controller and write the target values into the control device

Parameters

sensorValuesTimestamp
timeSinceLastIteration

See also: writeTargetValues

Definition at line 83 of file ControlDevice.cpp.

Here is the call graph for this function:

◆ rtSetActiveJointController()

void rtSetActiveJointController ( JointController * jointCtrl )

virtual

Activates the given JointController for this device.

Exceptions

std::logic_error if the Joint controller does not belong to this ControlDevice

Reimplemented in JointSimulationDevice.

Definition at line 56 of file ControlDevice.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ rtWriteTargetValues()

virtual void rtWriteTargetValues	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration
	)

inlinevirtual

This is a hook for implementations to write the setpoints to a bus.

Parameters

sensorValuesTimestamp	The timestamp of the current SensorValues
timeSinceLastIteration	The time delta between the last two updates of SensorValues

Definition at line 115 of file ControlDevice.h.

Here is the caller graph for this function:

Friends And Related Function Documentation

◆ RobotUnitModule::Devices

friend class RobotUnitModule::Devices

friend

Definition at line 139 of file ControlDevice.h.

Member Data Documentation

◆ NullPtr

const ControlDevicePtr NullPtr {nullptr}

static

A static const nullptr in case a const ref to a nullptr needs to be returned.

Definition at line 67 of file ControlDevice.h.

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

RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ControlDevice()

Member Function Documentation

◆ addJointController()

◆ getControlModes()

◆ getControlTargetAccessToken()

◆ getJointController() [1/4]

◆ getJointController() [2/4]

◆ getJointController() [3/4]

◆ getJointController() [4/4]

◆ getJointControllers()

◆ getJointControllerToTargetTypeNameMap()

◆ getJointEmergencyStopController()

◆ getJointStopMovementController()

◆ getOwner()

◆ hasJointController()

◆ rtGetActiveJointController()

◆ rtGetJointControllers()

◆ rtGetJointEmergencyStopController()

◆ rtGetJointStopMovementController()

◆ rtRun()

◆ rtSetActiveJointController()

◆ rtWriteTargetValues()

Friends And Related Function Documentation

◆ RobotUnitModule::Devices

Member Data Documentation

◆ NullPtr