KinematicUnit Class Referenceabstract

The KinematicUnit class. More...

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

+ Inheritance diagram for KinematicUnit:

Public Member Functions

PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::vector< std::string > getArmarXPackages (const Ice::Current &=Ice::emptyCurrent) const override
 getArmarXPackages More...
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
std::string getReportTopicName (const Ice::Current &=Ice::emptyCurrent) const override
 
std::string getRobotFilename (const Ice::Current &=Ice::emptyCurrent) const override
 
std::string getRobotName (const Ice::Current &=Ice::emptyCurrent) const override
 
std::string getRobotNodeSetName (const Ice::Current &=Ice::emptyCurrent) const override
 
void onConnectComponent () override
 Pure virtual hook for the subclass. More...
 
void onExitComponent () override
 Hook for subclass. More...
 
virtual void onExitKinematicUnit ()=0
 
void onInitComponent () override
 Pure virtual hook for the subclass. More...
 
virtual void onInitKinematicUnit ()=0
 
virtual void onStartKinematicUnit ()=0
 
virtual void releaseKinematicUnit (const Ice::StringSeq &nodes, const Ice::Current &c=Ice::emptyCurrent)
 
virtual void requestKinematicUnit (const Ice::StringSeq &nodes, const Ice::Current &c=Ice::emptyCurrent)
 
void setJointAngles (const NameValueMap &targetJointAngles, const Ice::Current &c=Ice::emptyCurrent) override
 
void setJointAnglesToZero ()
 
void setJointVelocities (const NameValueMap &targetJointVelocities, const Ice::Current &c=Ice::emptyCurrent) override
 
void setJointVelocitiesToZero ()
 
void switchControlMode (const NameControlModeMap &targetJointModes, const Ice::Current &c=Ice::emptyCurrent) override
 
- 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 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 Attributes

std::vector< std::string > armarXPackages
 
std::string listenerName
 
KinematicUnitListenerPrx listenerPrx
 
std::string relativeRobotFile
 
VirtualRobot::RobotPtr robot
 
std::vector< VirtualRobot::RobotNodePtr > robotNodes
 
std::string robotNodeSetName
 
- 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 LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Detailed Description

The KinematicUnit class.

Definition at line 76 of file KinematicUnit.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
overridevirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Reimplemented in KinematicUnitSimulation, and KinematicUnitDynamicSimulation.

Definition at line 208 of file KinematicUnit.cpp.

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◆ getArmarXPackages()

std::vector< std::string > getArmarXPackages ( const Ice::Current &  = Ice::emptyCurrent) const
override

getArmarXPackages

Returns
All dependent packages, which might contain a robot file.

Definition at line 177 of file KinematicUnit.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 KinematicUnitSimulation, and KinematicUnitDynamicSimulation.

Definition at line 82 of file KinematicUnit.h.

◆ getReportTopicName()

std::string getReportTopicName ( const Ice::Current &  = Ice::emptyCurrent) const
override
Returns
The name of the report topic

Definition at line 203 of file KinematicUnit.cpp.

◆ getRobotFilename()

std::string getRobotFilename ( const Ice::Current &  = Ice::emptyCurrent) const
override
Returns
the robot xml filename as specified in the configuration

Definition at line 172 of file KinematicUnit.cpp.

◆ getRobotName()

std::string getRobotName ( const Ice::Current &  = Ice::emptyCurrent) const
override
Returns
The name of this robot instance.

Definition at line 182 of file KinematicUnit.cpp.

◆ getRobotNodeSetName()

std::string getRobotNodeSetName ( const Ice::Current &  = Ice::emptyCurrent) const
override
Returns
The name of this robot instance.

Definition at line 194 of file KinematicUnit.cpp.

◆ onConnectComponent()

void onConnectComponent ( )
overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also
onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 109 of file KinematicUnit.cpp.

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◆ onExitComponent()

void onExitComponent ( )
overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

Definition at line 118 of file KinematicUnit.cpp.

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◆ onExitKinematicUnit()

virtual void onExitKinematicUnit ( )
pure virtual

Implemented in KinematicUnitSimulation, KinematicSubUnit, and KinematicUnitDynamicSimulation.

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◆ onInitComponent()

void onInitComponent ( )
overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 40 of file KinematicUnit.cpp.

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◆ onInitKinematicUnit()

virtual void onInitKinematicUnit ( )
pure virtual

Implemented in KinematicUnitSimulation, KinematicSubUnit, and KinematicUnitDynamicSimulation.

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◆ onStartKinematicUnit()

virtual void onStartKinematicUnit ( )
pure virtual

Implemented in KinematicUnitSimulation, KinematicSubUnit, and KinematicUnitDynamicSimulation.

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◆ releaseKinematicUnit()

void releaseKinematicUnit ( const Ice::StringSeq &  nodes,
const Ice::Current &  c = Ice::emptyCurrent 
)
virtual

Definition at line 166 of file KinematicUnit.cpp.

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◆ requestKinematicUnit()

void requestKinematicUnit ( const Ice::StringSeq &  nodes,
const Ice::Current &  c = Ice::emptyCurrent 
)
virtual

Definition at line 161 of file KinematicUnit.cpp.

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◆ setJointAngles()

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

Definition at line 128 of file KinematicUnit.cpp.

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◆ setJointAnglesToZero()

void setJointAnglesToZero ( )

Definition at line 136 of file KinematicUnit.cpp.

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◆ setJointVelocities()

void setJointVelocities ( const NameValueMap &  targetJointVelocities,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 132 of file KinematicUnit.cpp.

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◆ setJointVelocitiesToZero()

void setJointVelocitiesToZero ( )

Definition at line 148 of file KinematicUnit.cpp.

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◆ switchControlMode()

void switchControlMode ( const NameControlModeMap &  targetJointModes,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 124 of file KinematicUnit.cpp.

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Field Documentation

◆ armarXPackages

std::vector<std::string> armarXPackages
protected

Definition at line 148 of file KinematicUnit.h.

◆ listenerName

std::string listenerName
protected

Definition at line 146 of file KinematicUnit.h.

◆ listenerPrx

KinematicUnitListenerPrx listenerPrx
protected

Definition at line 141 of file KinematicUnit.h.

◆ relativeRobotFile

std::string relativeRobotFile
protected

Definition at line 143 of file KinematicUnit.h.

◆ robot

VirtualRobot::RobotPtr robot
protected

Definition at line 144 of file KinematicUnit.h.

◆ robotNodes

std::vector< VirtualRobot::RobotNodePtr > robotNodes
protected

Definition at line 147 of file KinematicUnit.h.

◆ robotNodeSetName

std::string robotNodeSetName
protected

Definition at line 145 of file KinematicUnit.h.


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