JointSimulationDevice Class Reference

#include <ArmarXSimulation/components/RobotUnitSimulation/Devices/JointSimulationDevice.h>

+ Inheritance diagram for JointSimulationDevice:

Classes

struct  JointSimController
 
struct  JointSimControllerBase
 

Public Member Functions

 JointSimulationDevice (const std::string &name, NameValueMap &ctrlpos, NameValueMap &ctrlvel, NameValueMap &ctrltor)
 
void rtSetActiveJointController (JointController *jointCtrl) override
 Activates the given JointController for this device. More...
 
- Public Member Functions inherited from SensorDeviceTemplate< SensorValue1DoFActuator >
const SensorValue1DoFActuatorgetSensorValue () const final override
 
 SensorDeviceTemplate (const std::string &name)
 
- Public Member Functions inherited from SensorDevice
virtual std::string getReportingFrame () const
 
template<class T >
const TgetSensorValue () const
 
virtual const SensorValueBasegetSensorValue () const =0
 
std::string getSensorValueType (bool withoutNamespaceSpecifier=false) const
 Returns the SensorValue's type as a string. More...
 
virtual void rtReadSensorValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 This is a hook for implementations to read the sensor value from a bus. More...
 
 SensorDevice (const std::string &name)
 Create a SensorDevice with the given name. 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
 
virtual bool hasError ()
 
bool hasTag (const std::string &tag) const
 
const char * rtGetDeviceName () const
 
virtual ~DeviceBase ()=default
 
- Public Member Functions inherited from ControlDevice
 ControlDevice (const std::string &name)
 Create a ControlDevice with the given name. More...
 
const std::vector< std::string > & getControlModes () const
 
JointControllergetJointController (const std::string &mode)
 
const JointControllergetJointController (const std::string &mode) const
 
JointControllergetJointController (std::size_t i)
 
const JointControllergetJointController (std::size_t i) const
 
std::vector< const JointController * > getJointControllers () const
 
std::map< std::string, std::string > getJointControllerToTargetTypeNameMap () const
 
JointControllergetJointEmergencyStopController ()
 
JointControllergetJointStopMovementController ()
 
RobotUnitModule::DevicesgetOwner () const
 
bool hasJointController (const std::string &mode) const
 
JointControllerrtGetActiveJointController ()
 
const std::vector< JointController * > & rtGetJointControllers ()
 
JointControllerrtGetJointEmergencyStopController ()
 
JointControllerrtGetJointStopMovementController ()
 
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 rtWriteTargetValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 This is a hook for implementations to write the setpoints to a bus. More...
 

Public Attributes

JointSimController< DummyControlTargetEmergencyStop > jointCtrlESt {"Velocity"}
 
JointSimController< DummyControlTargetStopMovement > jointCtrlMSt {"Velocity"}
 
JointSimController< ControlTarget1DoFActuatorPosition > jointCtrlPos {"Position"}
 
JointSimController< ControlTarget1DoFActuatorTorque > jointCtrlTor {"Torque"}
 
JointSimController< ControlTarget1DoFActuatorVelocity > jointCtrlVel {"Velocity"}
 
- Public Attributes inherited from SensorDeviceTemplate< SensorValue1DoFActuator >
SensorValue1DoFActuator sensorValue
 

Additional Inherited Members

- Static Public Attributes inherited from SensorDevice
static const SensorDevicePtr NullPtr {nullptr}
 A static const nullptr in case a const ref to a nullptr needs to be returned. More...
 
- Static Public Attributes inherited from ControlDevice
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 inherited from DeviceBase
void addDeviceTag (const std::string &tag)
 adds the given tag to the Device More...
 
- Protected Member Functions inherited from ControlDevice
void addJointController (JointController *jointCtrl)
 adds the Joint controller to this ControlDevice More...
 
ControlTargetBase::ControlDeviceAccessToken getControlTargetAccessToken () const
 

Detailed Description

Definition at line 35 of file JointSimulationDevice.h.

Constructor & Destructor Documentation

◆ JointSimulationDevice()

JointSimulationDevice ( const std::string &  name,
NameValueMap &  ctrlpos,
NameValueMap &  ctrlvel,
NameValueMap &  ctrltor 
)

Definition at line 28 of file JointSimulationDevice.cpp.

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Member Function Documentation

◆ rtSetActiveJointController()

void rtSetActiveJointController ( armarx::JointController jointCtrl)
overridevirtual

Activates the given JointController for this device.

Exceptions
std::logic_errorif the Joint controller does not belong to this ControlDevice

Reimplemented from ControlDevice.

Definition at line 56 of file JointSimulationDevice.cpp.

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Member Data Documentation

◆ jointCtrlESt

JointSimController<DummyControlTargetEmergencyStop> jointCtrlESt {"Velocity"}

Definition at line 70 of file JointSimulationDevice.h.

◆ jointCtrlMSt

JointSimController<DummyControlTargetStopMovement> jointCtrlMSt {"Velocity"}

Definition at line 71 of file JointSimulationDevice.h.

◆ jointCtrlPos

JointSimController<ControlTarget1DoFActuatorPosition> jointCtrlPos {"Position"}

Definition at line 67 of file JointSimulationDevice.h.

◆ jointCtrlTor

JointSimController<ControlTarget1DoFActuatorTorque> jointCtrlTor {"Torque"}

Definition at line 69 of file JointSimulationDevice.h.

◆ jointCtrlVel

JointSimController<ControlTarget1DoFActuatorVelocity> jointCtrlVel {"Velocity"}

Definition at line 68 of file JointSimulationDevice.h.


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