KITHandUnit Class Reference

Brief description of class KITHandUnit. More...

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

+ Inheritance diagram for KITHandUnit:

Public Member Functions

void addShape (const std::string &name, const std::map< std::string, float > &shape)
 
void addShapeName (const std::string &name)
 
NameValueMap getCurrentJointValues (const Ice::Current &=Ice::emptyCurrent) override
 
virtual std::string getDefaultName () const override
 
void onExitHandUnit () override
 
void onInitHandUnit () override
 
void onStartHandUnit () override
 
void setJointAngles (const NameValueMap &targetJointAngles, const Ice::Current &=Ice::emptyCurrent) override
 
void setShape (const std::string &shapeName, const Ice::Current &=Ice::emptyCurrent) override
 
- Public Member Functions inherited from RemoteGuiComponentPluginUser
template<class... Ts>
void createOrUpdateRemoteGuiTab (Ts &&...ts)
 
const RemoteGuiInterfacePrx & getRemoteGui () const
 
armarx::plugins::RemoteGuiComponentPlugingetRemoteGuiPlugin ()
 
const armarx::plugins::RemoteGuiComponentPlugingetRemoteGuiPlugin () const
 
RemoteGui::TabProxygetRemoteGuiTab (const std::string &name="")
 
bool hasRemoteGuiTab (const std::string &name="")
 
 RemoteGuiComponentPluginUser ()
 
void removeRemoteGuiTab (const std::string &name="")
 
- 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 HandUnit
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...
 
void onInitComponent () override
 Retrieve proxy for publishing State information and call armarx::PlatformUnit::onInitPlatformUnit(). More...
 
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< 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 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

RemoteGui::WidgetPtr buildGui ()
 
void connectionStateChangedCallback (const KITHand::State state)
 
virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
void processGui (RemoteGui::TabProxy &prx)
 
- 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 LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 
- 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 ()
 

Additional Inherited Members

- Public Types inherited from RemoteGuiComponentPluginUser
using RemoteGuiComponentPlugin = armarx::plugins::RemoteGuiComponentPlugin
 
using RemoteGuiTabTask = RemoteGuiComponentPlugin::TabTask
 
- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- 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 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 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
 
- Protected Attributes inherited from HandUnit
VirtualRobot::EndEffectorPtr eef
 
std::string graspedObject
 
std::map< std::string, floathandJoints
 
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
 

Detailed Description

Brief description of class KITHandUnit.

Detailed description of class KITHandUnit.

Definition at line 60 of file KITHandUnit.h.

Member Function Documentation

◆ addShape()

void addShape ( const std::string &  name,
const std::map< std::string, float > &  shape 
)

Definition at line 198 of file KITHandUnit.cpp.

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◆ addShapeName()

void addShapeName ( const std::string &  name)

Definition at line 204 of file KITHandUnit.cpp.

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◆ buildGui()

RemoteGui::WidgetPtr buildGui ( )
protected

Definition at line 226 of file KITHandUnit.cpp.

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◆ connectionStateChangedCallback()

void connectionStateChangedCallback ( const KITHand::State  state)
protected

Definition at line 218 of file KITHandUnit.cpp.

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◆ createPropertyDefinitions()

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

Reimplemented from Component.

Definition at line 212 of file KITHandUnit.cpp.

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◆ getCurrentJointValues()

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

Definition at line 190 of file KITHandUnit.cpp.

◆ getDefaultName()

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

Implements ManagedIceObject.

Definition at line 46 of file KITHandUnit.cpp.

◆ onExitHandUnit()

void onExitHandUnit ( )
overridevirtual

Implements HandUnit.

Definition at line 126 of file KITHandUnit.cpp.

◆ onInitHandUnit()

void onInitHandUnit ( )
overridevirtual

Implements HandUnit.

Definition at line 51 of file KITHandUnit.cpp.

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◆ onStartHandUnit()

void onStartHandUnit ( )
overridevirtual

Implements HandUnit.

Definition at line 69 of file KITHandUnit.cpp.

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◆ processGui()

void processGui ( RemoteGui::TabProxy prx)
protected

Definition at line 248 of file KITHandUnit.cpp.

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◆ setJointAngles()

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

Definition at line 158 of file KITHandUnit.cpp.

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◆ setShape()

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

Definition at line 133 of file KITHandUnit.cpp.

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