Base unit for high-level access to robot hands. More...

#include <RobotAPI/components/units/HandUnit.h>

Inheritance diagram for HandUnit:

Public Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	describeHandState (const Ice::Current &) override

NameValueMap	getCurrentJointValues (const Ice::Current &c=Ice::emptyCurrent) override

std::string	getDefaultName () const override
	Retrieve default name of component. More...

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

NameValueMap	getShapeJointValues (const std::string &shapeName, const Ice::Current &c=Ice::emptyCurrent) override

SingleTypeVariantListBasePtr	getShapeNames (const Ice::Current &c=Ice::emptyCurrent) override

void	onConnectComponent () override
	Calls armarx::PlatformUnit::onStartPlatformUnit(). More...

void	onExitComponent () override
	Calls armarx::PlatformUnit::onExitPlatformUnit(). More...

virtual void	onExitHandUnit ()=0

void	onInitComponent () override
	Retrieve proxy for publishing State information and call armarx::PlatformUnit::onInitPlatformUnit(). More...

virtual void	onInitHandUnit ()=0

virtual void	onStartHandUnit ()=0

void	sendJointCommands (const NameCommandMap &targetJointCommands, const Ice::Current &) override

void	setJointAngles (const NameValueMap &targetJointAngles, const Ice::Current &) override

void	setJointForces (const NameValueMap &targetJointForces, const Ice::Current &) override

void	setObjectGrasped (const std::string &objectName, const Ice::Current &) override

void	setObjectReleased (const std::string &objectName, const Ice::Current &) override

void	setShape (const std::string &shapeName, const Ice::Current &c=Ice::emptyCurrent) override
	Send command to the hand to form a specific shape position. More...

void	setShapeWithObjectInstance (const std::string &shapeName, const std::string &objectInstanceName, const Ice::Current &c=Ice::emptyCurrent) override
	setShapeWithObjectInstance Send command to the hand to form a specific shape position. More...

Public Member Functions inherited from SensorActorUnit
UnitExecutionState	getExecutionState (const Ice::Current &c=Ice::emptyCurrent) override
	Retrieve current execution state. More...

void	init (const Ice::Current &c=Ice::emptyCurrent) override
	Set execution state to eInitialized. More...

void	release (const Ice::Current &c=Ice::emptyCurrent) override
	Release exclusive access to current unit. More...

void	request (const Ice::Current &c=Ice::emptyCurrent) override
	Request exclusive access to current unit. More...

	SensorActorUnit ()
	Constructs a SensorActorUnit. More...

void	start (const Ice::Current &c=Ice::emptyCurrent) override
	Set execution state to eStarted. More...

void	stop (const Ice::Current &c=Ice::emptyCurrent) override
	Set execution state to eStopped. More...

	~SensorActorUnit () override
	Destructor of SensorActorUnit. More...

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

Protected Attributes
VirtualRobot::EndEffectorPtr	eef

std::string	graspedObject

std::map< std::string, float >	handJoints

std::string	kinematicUnitName

std::string	listenerChannelName
	Ice Topic name on which armarx::HandUnit::listenerPrx publishes information. More...

HandUnitListenerPrx	listenerPrx
	HandUnitListener proxy for publishing state updates. More...

VirtualRobot::RobotPtr	robot

std::string	robotName

SingleTypeVariantListPtr	shapeNames
	List containing the names of all valid shapes. More...

std::string	tcpName

Protected Attributes inherited from SensorActorUnit
UnitExecutionState	executionState

Ice::Identity	ownerId

std::mutex	unitMutex

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...

Protected Member Functions inherited from SensorActorUnit
void	onExitComponent () override
	Hook for subclass. More...

virtual void	onInit ()
	callback onInit for subclass hook. More...

virtual void	onStart ()
	callback onStart for subclass hook. More...

virtual void	onStop ()
	callback onStop for subclass hook. 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	onDisconnectComponent ()
	Hook for 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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

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

Detailed Description

Base unit for high-level access to robot hands.

An instance of a HandUnit provides means to open, close, and preshape hands. It uses the HandUnitListener Ice interface to report updates of its current state

The HandUnit class

Definition at line 71 of file HandUnit.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

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

Reimplemented from Component.

Reimplemented in HandUnitDynamicSimulation, and HandUnitSimulation.

Definition at line 156 of file HandUnit.cpp.

◆ describeHandState()

std::string describeHandState ( const Ice::Current & )

override

Definition at line 217 of file HandUnit.cpp.

◆ getCurrentJointValues()

NameValueMap getCurrentJointValues ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 170 of file HandUnit.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

Reimplemented in HandUnitDynamicSimulation, and HandUnitSimulation.

Definition at line 77 of file HandUnit.h.

◆ getHandName()

std::string getHandName ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 196 of file HandUnit.cpp.

◆ getShapeJointValues()

NameValueMap getShapeJointValues	(	const std::string &	shapeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 163 of file HandUnit.cpp.

◆ getShapeNames()

SingleTypeVariantListBasePtr getShapeNames ( const Ice::Current & c = Ice::emptyCurrent )

override

Returns: a list of strings for shape positions which can be used together with HandUnit::shape().

Definition at line 150 of file HandUnit.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Calls armarx::PlatformUnit::onStartPlatformUnit().

See also: armarx::Component::onConnectComponent()

Implements ManagedIceObject.

Definition at line 124 of file HandUnit.cpp.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Calls armarx::PlatformUnit::onExitPlatformUnit().

See also: armarx::Component::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 133 of file HandUnit.cpp.

◆ onExitHandUnit()

virtual void onExitHandUnit ( )

pure virtual

Implemented in HandUnitDynamicSimulation, KITProstheticHandUnit, KITHandUnit, and HandUnitSimulation.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Retrieve proxy for publishing State information and call armarx::PlatformUnit::onInitPlatformUnit().

See also: armarx::Component::onInitComponent()

Implements ManagedIceObject.

Definition at line 40 of file HandUnit.cpp.

Here is the call graph for this function:

◆ onInitHandUnit()

virtual void onInitHandUnit ( )

pure virtual

Implemented in HandUnitDynamicSimulation, KITProstheticHandUnit, KITHandUnit, and HandUnitSimulation.

◆ onStartHandUnit()

virtual void onStartHandUnit ( )

pure virtual

Implemented in HandUnitDynamicSimulation, KITProstheticHandUnit, KITHandUnit, and HandUnitSimulation.

◆ sendJointCommands()

void sendJointCommands	(	const NameCommandMap &	targetJointCommands,
		const Ice::Current &
	)

override

Definition at line 206 of file HandUnit.cpp.

◆ setJointAngles()

void setJointAngles	(	const NameValueMap &	targetJointAngles,
		const Ice::Current &
	)

override

Definition at line 212 of file HandUnit.cpp.

◆ setJointForces()

void setJointForces	(	const NameValueMap &	targetJointForces,
		const Ice::Current &
	)

override

Definition at line 201 of file HandUnit.cpp.

◆ setObjectGrasped()

void setObjectGrasped	(	const std::string &	objectName,
		const Ice::Current &
	)

override

Definition at line 182 of file HandUnit.cpp.

◆ setObjectReleased()

void setObjectReleased	(	const std::string &	objectName,
		const Ice::Current &
	)

override

Definition at line 188 of file HandUnit.cpp.

◆ setShape()

void setShape	(	const std::string &	shapeName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Send command to the hand to form a specific shape position.

The shapes are defined in the robot.xml file.

Definition at line 140 of file HandUnit.cpp.

◆ setShapeWithObjectInstance()

void setShapeWithObjectInstance	(	const std::string &	shapeName,
		const std::string &	objectInstanceName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

setShapeWithObjectInstance Send command to the hand to form a specific shape position.

While trying to form the specified shape, collison checking with the named object instance is performed. The resulting joint angles of the hand might differ from the predefined joint angles for the given shape.

Parameters

shapeName	Name of the well known shape that the hand should form
graspedObjectInstanceName	name of the object instance which is used to check for collisions while setting the shape

Definition at line 144 of file HandUnit.cpp.

Member Data Documentation

◆ eef

VirtualRobot::EndEffectorPtr eef

protected

Definition at line 163 of file HandUnit.h.

◆ graspedObject

std::string graspedObject

protected

Definition at line 170 of file HandUnit.h.

◆ handJoints

std::map<std::string, float> handJoints

protected

Definition at line 168 of file HandUnit.h.

◆ kinematicUnitName

std::string kinematicUnitName

protected

Definition at line 160 of file HandUnit.h.

◆ listenerChannelName

std::string listenerChannelName

protected

Ice Topic name on which armarx::HandUnit::listenerPrx publishes information.

Definition at line 154 of file HandUnit.h.

◆ listenerPrx

HandUnitListenerPrx listenerPrx

protected

HandUnitListener proxy for publishing state updates.

Definition at line 150 of file HandUnit.h.

◆ robot

VirtualRobot::RobotPtr robot

protected

Definition at line 162 of file HandUnit.h.

◆ robotName

std::string robotName

protected

Definition at line 165 of file HandUnit.h.

◆ shapeNames

SingleTypeVariantListPtr shapeNames

protected

List containing the names of all valid shapes.

Definition at line 158 of file HandUnit.h.

◆ tcpName

std::string tcpName

protected

Definition at line 166 of file HandUnit.h.

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

RobotAPI/components/units/HandUnit.h
RobotAPI/components/units/HandUnit.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ describeHandState()

◆ getCurrentJointValues()

◆ getDefaultName()

◆ getHandName()

◆ getShapeJointValues()

◆ getShapeNames()

◆ onConnectComponent()

◆ onExitComponent()

◆ onExitHandUnit()

◆ onInitComponent()

◆ onInitHandUnit()

◆ onStartHandUnit()

◆ sendJointCommands()

◆ setJointAngles()

◆ setJointForces()

◆ setObjectGrasped()

◆ setObjectReleased()

◆ setShape()

◆ setShapeWithObjectInstance()

Member Data Documentation

◆ eef

◆ graspedObject

◆ handJoints

◆ kinematicUnitName

◆ listenerChannelName

◆ listenerPrx

◆ robot

◆ robotName

◆ shapeNames

◆ tcpName