#include <RobotComponents/components/GraspingManager/GraspingManager.h>

Inheritance diagram for GraspingManager:

Classes
class	GraspGenerator

class	GraspingManagerRemoteStateOfferer

class	GraspingPipeline

Public Member Functions
GraspingTrajectory	generateGraspingTrajectory (const std::string &objectInstanceEntityId, const Ice::Current &c=Ice::emptyCurrent) override
	Runs the grasping pipeline. More...

GraspingTrajectoryList	generateGraspingTrajectoryList (const std::string &objectInstanceEntityId, const Ice::Current &c=Ice::emptyCurrent) override

GraspingTrajectoryList	generateGraspingTrajectoryListForGraspList (const GeneratedGraspList &grasps, const Ice::Current &c=Ice::emptyCurrent) override

GeneratedGraspList	generateGraspsByObjectName (const std::string &objectName, const Ice::Current &=Ice::emptyCurrent) override

MotionPlanningDataList	generateIKs (const std::string &objectInstanceEntityId, const Ice::Current &c=Ice::emptyCurrent) override

std::string	getDefaultName () const override

void	visualizeGraspingTrajectory (const GraspingTrajectory &trajectory, float visuSlowdownFactor, const Ice::Current &c=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< PropertyUserPtr >	getAdditionalPropertyUsers () const

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

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

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

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

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

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

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

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

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

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

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

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

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

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

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

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

bool	hasProperty (const std::string &name)

	PropertyUser ()

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

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

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

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Member Functions inherited from NaturalIKComponentPluginUser
NaturalIKInterfacePrx	getNaturalIK ()

	NaturalIKComponentPluginUser ()

Protected Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

std::pair< std::string, Ice::StringSeq >	visualizeGrasp (const GeneratedGrasp &grasp, int id, const DrawColor &color=DrawColor {1, 1, 1, 1})
	Visualizes the grasp using the DebugDrawer topic. More...

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

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

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...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The GraspingManager class.

Definition at line 110 of file GraspingManager.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 171 of file GraspingManager.h.

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◆ generateGraspingTrajectory()

GraspingTrajectory generateGraspingTrajectory	(	const std::string &	objectInstanceEntityId,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Runs the grasping pipeline.

Checks if the robot is close enough to the object to directly grasp it, attempting to calculate the inverse kinematics directly. In case nothing is found, tries to calculate the movement a robotPlacement is generated and the calculation of the IKs is repeated for the new position.

Parameters

objectInstanceEntityId	the id for retrieval of the target object from working memory.
c

Returns: A list of grasping trajectories in configuration and pose space.

Definition at line 943 of file GraspingManager.cpp.

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◆ generateGraspingTrajectoryList()

GraspingTrajectoryList generateGraspingTrajectoryList	(	const std::string &	objectInstanceEntityId,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 973 of file GraspingManager.cpp.

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◆ generateGraspingTrajectoryListForGraspList()

GraspingTrajectoryList generateGraspingTrajectoryListForGraspList	(	const GeneratedGraspList &	grasps,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 988 of file GraspingManager.cpp.

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◆ generateGraspsByObjectName()

GeneratedGraspList generateGraspsByObjectName	(	const std::string &	objectName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1039 of file GraspingManager.cpp.

◆ generateIKs()

MotionPlanningDataList generateIKs	(	const std::string &	objectInstanceEntityId,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1025 of file GraspingManager.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 119 of file GraspingManager.h.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

Definition at line 130 of file GraspingManager.cpp.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

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

Reimplemented from ManagedIceObject.

Definition at line 196 of file GraspingManager.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

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

Reimplemented from ManagedIceObject.

Definition at line 201 of file GraspingManager.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

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

Implements ManagedIceObject.

Definition at line 96 of file GraspingManager.cpp.

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◆ visualizeGrasp()

std::pair< std::string, Ice::StringSeq > visualizeGrasp	(	const GeneratedGrasp &	grasp,
		int	id,
		const DrawColor &	color = `DrawColor {1, 1, 1, 1}`
	)

protected

Visualizes the grasp using the DebugDrawer topic.

Definition at line 224 of file GraspingManager.cpp.

◆ visualizeGraspingTrajectory()

void visualizeGraspingTrajectory	(	const GraspingTrajectory &	trajectory,
		float	visuSlowdownFactor,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 1018 of file GraspingManager.cpp.

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

RobotComponents/components/GraspingManager/GraspingManager.h
RobotComponents/components/GraspingManager/GraspingManager.cpp

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ generateGraspingTrajectory()

◆ generateGraspingTrajectoryList()

◆ generateGraspingTrajectoryListForGraspList()

◆ generateGraspsByObjectName()

◆ generateIKs()

◆ getDefaultName()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ visualizeGrasp()

◆ visualizeGraspingTrajectory()