FrameTracking Class Reference

Brief description of class FrameTracking. More...

#include <RobotAPI/components/FrameTracking/FrameTracking.h>

+ Inheritance diagram for FrameTracking:

Public Member Functions

void enableTracking (bool enable, const Ice::Current &=Ice::emptyCurrent) override
 
std::string getDefaultName () const override
 
std::string getFrame (const Ice::Current &=Ice::emptyCurrent) const override
 
bool isLookingAtPointInGlobalFrame (const Vector3f &point, float max_diff, const Ice::Current &=Ice::emptyCurrent) override
 
void lookAtFrame (const std::string &frameName, const Ice::Current &=Ice::emptyCurrent) override
 
void lookAtPointInGlobalFrame (const Vector3f &point, const Ice::Current &=Ice::emptyCurrent) override
 
void lookAtPointInRobotFrame (const Vector3f &point, const Ice::Current &=Ice::emptyCurrent) override
 
void moveJointsTo (float yaw, float pitch, const Ice::Current &=Ice::emptyCurrent) override
 
void scanInConfigurationSpace (float yawFrom, float yawTo, const ::Ice::FloatSeq &pitchValues, float velocity, const Ice::Current &=Ice::emptyCurrent) override
 
void scanInWorkspace (const ::armarx::Vector3fSeq &points, float maxVelocity, float acceleration, const Ice::Current &=Ice::emptyCurrent) override
 
void setFrame (const std::string &frameName, const Ice::Current &=Ice::emptyCurrent) override
 
- 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 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...
 
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
 

Protected Member Functions

HeadState _calculateJointAngles (const Eigen::Vector3f &point)
 
HeadState _calculateJointAnglesContinously (const std::string &frame)
 
void _doPositionControl (const HeadState &headstate)
 
void _doVelocityControl (const HeadState &headstate, float maxYawVelocity, float yawAcceleration, float maxPitchVelocity, float pitchAcceleration)
 
void _enableTracking (bool enable)
 
void _lookAtFrame (const std::string &frame)
 
void _lookAtPoint (const Eigen::Vector3f &point)
 
bool _looksAtPoint (const Eigen::Vector3f &point, float max_diff)
 
armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
void onConnectComponent () override
 
void onDisconnectComponent () override
 
void onExitComponent () override
 
void onInitComponent () override
 
void process ()
 
void syncronizeLocalClone ()
 
- 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...
 
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 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
 

Protected Attributes

RemoteGui::TabProxy _guiTab
 
SimplePeriodicTask ::pointer_type _guiTask
 
RemoteGuiInterfacePrx _remoteGui
 
VirtualRobot::RobotNodePtr cameraNode
 
std::atomic< bool > enabled
 
std::string frameName
 
VirtualRobot::RobotNodePtr headPitchJoint
 
VirtualRobot::RobotNodePtr headYawJoint
 
KinematicUnitInterfacePrx kinematicUnitInterfacePrx
 
KinematicUnitObserverInterfacePrx kinematicUnitObserverInterfacePrx
 
VirtualRobot::RobotPtr localRobot
 
float maxPitchVelocity
 
float maxYawVelocity
 
float pitchAcceleration
 
PeriodicTask< FrameTracking >::pointer_type processorTask
 
RobotStateComponentInterfacePrx robotStateComponent
 
float yawAcceleration
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Additional Inherited Members

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

Detailed Description

Brief description of class FrameTracking.

Detailed description of class FrameTracking.

Definition at line 82 of file FrameTracking.h.

Member Function Documentation

◆ _calculateJointAngles()

FrameTracking::HeadState _calculateJointAngles ( const Eigen::Vector3f &  point)
protected

Definition at line 547 of file FrameTracking.cpp.

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◆ _calculateJointAnglesContinously()

FrameTracking::HeadState _calculateJointAnglesContinously ( const std::string &  frame)
protected

Definition at line 534 of file FrameTracking.cpp.

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◆ _doPositionControl()

void _doPositionControl ( const HeadState &  headstate)
protected

Definition at line 624 of file FrameTracking.cpp.

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◆ _doVelocityControl()

void _doVelocityControl ( const HeadState &  headstate,
float  maxYawVelocity,
float  yawAcceleration,
float  maxPitchVelocity,
float  pitchAcceleration 
)
protected

Definition at line 594 of file FrameTracking.cpp.

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◆ _enableTracking()

void _enableTracking ( bool  enable)
protected

Definition at line 639 of file FrameTracking.cpp.

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◆ _lookAtFrame()

void _lookAtFrame ( const std::string &  frame)
protected

Definition at line 514 of file FrameTracking.cpp.

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◆ _lookAtPoint()

void _lookAtPoint ( const Eigen::Vector3f &  point)
protected

Definition at line 521 of file FrameTracking.cpp.

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◆ _looksAtPoint()

bool _looksAtPoint ( const Eigen::Vector3f &  point,
float  max_diff 
)
protected

Definition at line 526 of file FrameTracking.cpp.

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◆ createPropertyDefinitions()

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

Reimplemented from Component.

Definition at line 285 of file FrameTracking.cpp.

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◆ enableTracking()

void enableTracking ( bool  enable,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 290 of file FrameTracking.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverridevirtual
See also
armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 113 of file FrameTracking.h.

◆ getFrame()

std::string getFrame ( const Ice::Current &  = Ice::emptyCurrent) const
override

Definition at line 305 of file FrameTracking.cpp.

◆ isLookingAtPointInGlobalFrame()

bool isLookingAtPointInGlobalFrame ( const Vector3f &  point,
float  max_diff,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 337 of file FrameTracking.cpp.

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◆ lookAtFrame()

void lookAtFrame ( const std::string &  frameName,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 310 of file FrameTracking.cpp.

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◆ lookAtPointInGlobalFrame()

void lookAtPointInGlobalFrame ( const Vector3f &  point,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 326 of file FrameTracking.cpp.

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◆ lookAtPointInRobotFrame()

void lookAtPointInRobotFrame ( const Vector3f &  point,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 348 of file FrameTracking.cpp.

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◆ moveJointsTo()

void moveJointsTo ( float  yaw,
float  pitch,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 359 of file FrameTracking.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )
overrideprotectedvirtual

◆ onDisconnectComponent()

void onDisconnectComponent ( )
overrideprotectedvirtual
See also
armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 269 of file FrameTracking.cpp.

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◆ onExitComponent()

void onExitComponent ( )
overrideprotectedvirtual
See also
armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 280 of file FrameTracking.cpp.

◆ onInitComponent()

void onInitComponent ( )
overrideprotectedvirtual
See also
armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

Definition at line 38 of file FrameTracking.cpp.

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◆ process()

void process ( )
protected

Definition at line 493 of file FrameTracking.cpp.

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◆ scanInConfigurationSpace()

void scanInConfigurationSpace ( float  yawFrom,
float  yawTo,
const ::Ice::FloatSeq &  pitchValues,
float  velocity,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 396 of file FrameTracking.cpp.

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◆ scanInWorkspace()

void scanInWorkspace ( const ::armarx::Vector3fSeq &  points,
float  maxVelocity,
float  acceleration,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 458 of file FrameTracking.cpp.

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◆ setFrame()

void setFrame ( const std::string &  frameName,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 295 of file FrameTracking.cpp.

◆ syncronizeLocalClone()

void syncronizeLocalClone ( )
protected

Definition at line 509 of file FrameTracking.cpp.

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Member Data Documentation

◆ _guiTab

RemoteGui::TabProxy _guiTab
protected

Definition at line 191 of file FrameTracking.h.

◆ _guiTask

SimplePeriodicTask ::pointer_type _guiTask
protected

Definition at line 190 of file FrameTracking.h.

◆ _remoteGui

RemoteGuiInterfacePrx _remoteGui
protected

Definition at line 189 of file FrameTracking.h.

◆ cameraNode

VirtualRobot::RobotNodePtr cameraNode
protected

Definition at line 187 of file FrameTracking.h.

◆ enabled

std::atomic<bool> enabled
protected

Definition at line 177 of file FrameTracking.h.

◆ frameName

std::string frameName
protected

Definition at line 178 of file FrameTracking.h.

◆ headPitchJoint

VirtualRobot::RobotNodePtr headPitchJoint
protected

Definition at line 186 of file FrameTracking.h.

◆ headYawJoint

VirtualRobot::RobotNodePtr headYawJoint
protected

Definition at line 185 of file FrameTracking.h.

◆ kinematicUnitInterfacePrx

KinematicUnitInterfacePrx kinematicUnitInterfacePrx
protected

Definition at line 173 of file FrameTracking.h.

◆ kinematicUnitObserverInterfacePrx

KinematicUnitObserverInterfacePrx kinematicUnitObserverInterfacePrx
protected

Definition at line 175 of file FrameTracking.h.

◆ localRobot

VirtualRobot::RobotPtr localRobot
protected

Definition at line 184 of file FrameTracking.h.

◆ maxPitchVelocity

float maxPitchVelocity
protected

Definition at line 181 of file FrameTracking.h.

◆ maxYawVelocity

float maxYawVelocity
protected

Definition at line 179 of file FrameTracking.h.

◆ pitchAcceleration

float pitchAcceleration
protected

Definition at line 182 of file FrameTracking.h.

◆ processorTask

PeriodicTask<FrameTracking>::pointer_type processorTask
protected

Definition at line 174 of file FrameTracking.h.

◆ robotStateComponent

RobotStateComponentInterfacePrx robotStateComponent
protected

Definition at line 172 of file FrameTracking.h.

◆ yawAcceleration

float yawAcceleration
protected

Definition at line 180 of file FrameTracking.h.


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