Simulates robot kinematics. More...

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

Inheritance diagram for KinematicUnitSimulation:

Public Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

NameControlModeMap	getControlModes (const Ice::Current &c=Ice::emptyCurrent) override

DebugInfo	getDebugInfo (const Ice::Current &c=Ice::emptyCurrent) const override

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

armarx::NameValueMap	getJointAngles (const Ice::Current &c) const override

Ice::StringSeq	getJoints (const Ice::Current &c) const override

armarx::NameValueMap	getJointVelocities (const Ice::Current &c) const override

void	onExitKinematicUnit () override

void	onInitKinematicUnit () override

void	onStartKinematicUnit () override

void	releaseJoints (const Ice::StringSeq &joints, const Ice::Current &c=Ice::emptyCurrent) override

void	requestJoints (const Ice::StringSeq &joints, const Ice::Current &c=Ice::emptyCurrent) override

void	setJointAccelerations (const NameValueMap &targetJointAccelerations, const Ice::Current &c=Ice::emptyCurrent) override

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

void	setJointDecelerations (const NameValueMap &targetJointDecelerations, const Ice::Current &c=Ice::emptyCurrent) override

void	setJointTorques (const NameValueMap &targetJointTorques, const Ice::Current &c=Ice::emptyCurrent) override

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

void	simulationFunction ()

void	stop (const Ice::Current &c=Ice::emptyCurrent) override

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

Public Member Functions inherited from KinematicUnit
std::vector< std::string >	getArmarXPackages (const Ice::Current &=Ice::emptyCurrent) const override
	getArmarXPackages 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...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

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< 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
std::normal_distribution< double >	distribution

std::default_random_engine	generator

int	intervalMs

KinematicUnitSimulationJointInfos	jointInfos

KinematicUnitSimulationJointStates	jointStates

std::mutex	jointStatesMutex

IceUtil::Time	lastExecutionTime

float	noise

std::map< std::string, PIDControllerPtr >	positionControlPIDController

KinematicUnitSimulationJointStates	previousJointStates

NameValueMap	sensorAngles

std::mutex	sensorDataMutex

NameValueMap	sensorVelocities

PeriodicTask< KinematicUnitSimulation >::pointer_type	simulationTask

bool	usePDControllerForPosMode

Protected Attributes inherited from KinematicUnit
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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

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

Detailed Description

Simulates robot kinematics.

Definition at line 125 of file KinematicUnitSimulation.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from KinematicUnit.

Definition at line 452 of file KinematicUnitSimulation.cpp.

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◆ getControlModes()

NameControlModeMap getControlModes ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 416 of file KinematicUnitSimulation.cpp.

◆ getDebugInfo()

DebugInfo getDebugInfo ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 476 of file KinematicUnitSimulation.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")

Reimplemented from KinematicUnit.

Definition at line 130 of file KinematicUnitSimulation.h.

◆ getJointAngles()

NameValueMap getJointAngles ( const Ice::Current & c ) const

override

Definition at line 458 of file KinematicUnitSimulation.cpp.

◆ getJoints()

Ice::StringSeq getJoints ( const Ice::Current & c ) const

override

Definition at line 470 of file KinematicUnitSimulation.cpp.

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◆ getJointVelocities()

NameValueMap getJointVelocities ( const Ice::Current & c ) const

override

Definition at line 464 of file KinematicUnitSimulation.cpp.

◆ onExitKinematicUnit()

void onExitKinematicUnit ( )

overridevirtual

Implements KinematicUnit.

Definition at line 114 of file KinematicUnitSimulation.cpp.

◆ onInitKinematicUnit()

void onInitKinematicUnit ( )

overridevirtual

Implements KinematicUnit.

Definition at line 57 of file KinematicUnitSimulation.cpp.

◆ onStartKinematicUnit()

void onStartKinematicUnit ( )

overridevirtual

Implements KinematicUnit.

Definition at line 107 of file KinematicUnitSimulation.cpp.

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◆ releaseJoints()

void releaseJoints	(	const Ice::StringSeq &	joints,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 513 of file KinematicUnitSimulation.cpp.

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◆ requestJoints()

void requestJoints	(	const Ice::StringSeq &	joints,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 502 of file KinematicUnitSimulation.cpp.

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◆ setJointAccelerations()

void setJointAccelerations	(	const NameValueMap &	targetJointAccelerations,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Warning: Not implemented yet!

Definition at line 428 of file KinematicUnitSimulation.cpp.

◆ setJointAngles()

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

override

Definition at line 284 of file KinematicUnitSimulation.cpp.

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◆ setJointDecelerations()

void setJointDecelerations	(	const NameValueMap &	targetJointDecelerations,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Warning: Not implemented yet!

Definition at line 433 of file KinematicUnitSimulation.cpp.

◆ setJointTorques()

void setJointTorques	(	const NameValueMap &	targetJointTorques,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 383 of file KinematicUnitSimulation.cpp.

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◆ setJointVelocities()

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

override

Definition at line 350 of file KinematicUnitSimulation.cpp.

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◆ simulationFunction()

void simulationFunction ( )

Definition at line 120 of file KinematicUnitSimulation.cpp.

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◆ stop()

void stop ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 438 of file KinematicUnitSimulation.cpp.

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◆ switchControlMode()

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

override

Definition at line 247 of file KinematicUnitSimulation.cpp.

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Member Data Documentation

◆ distribution

std::normal_distribution<double> distribution

protected

Definition at line 176 of file KinematicUnitSimulation.h.

◆ generator

std::default_random_engine generator

protected

Definition at line 177 of file KinematicUnitSimulation.h.

◆ intervalMs

int intervalMs

protected

Definition at line 175 of file KinematicUnitSimulation.h.

◆ jointInfos

KinematicUnitSimulationJointInfos jointInfos

protected

Definition at line 171 of file KinematicUnitSimulation.h.

◆ jointStates

KinematicUnitSimulationJointStates jointStates

protected

Definition at line 169 of file KinematicUnitSimulation.h.

◆ jointStatesMutex

std::mutex jointStatesMutex

mutableprotected

Definition at line 172 of file KinematicUnitSimulation.h.

◆ lastExecutionTime

IceUtil::Time lastExecutionTime

protected

Definition at line 173 of file KinematicUnitSimulation.h.

◆ noise

float noise

protected

Definition at line 174 of file KinematicUnitSimulation.h.

◆ positionControlPIDController

std::map<std::string, PIDControllerPtr> positionControlPIDController

protected

Definition at line 179 of file KinematicUnitSimulation.h.

◆ previousJointStates

KinematicUnitSimulationJointStates previousJointStates

protected

Definition at line 170 of file KinematicUnitSimulation.h.

◆ sensorAngles

NameValueMap sensorAngles

protected

Definition at line 183 of file KinematicUnitSimulation.h.

◆ sensorDataMutex

std::mutex sensorDataMutex

mutableprotected

Definition at line 182 of file KinematicUnitSimulation.h.

◆ sensorVelocities

NameValueMap sensorVelocities

protected

Definition at line 184 of file KinematicUnitSimulation.h.

◆ simulationTask

PeriodicTask<KinematicUnitSimulation>::pointer_type simulationTask

protected

Definition at line 180 of file KinematicUnitSimulation.h.

◆ usePDControllerForPosMode

bool usePDControllerForPosMode

protected

Definition at line 178 of file KinematicUnitSimulation.h.

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

RobotAPI/components/units/KinematicUnitSimulation.h
RobotAPI/components/units/KinematicUnitSimulation.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ getControlModes()

◆ getDebugInfo()

◆ getDefaultName()

◆ getJointAngles()

◆ getJoints()

◆ getJointVelocities()

◆ onExitKinematicUnit()

◆ onInitKinematicUnit()

◆ onStartKinematicUnit()

◆ releaseJoints()

◆ requestJoints()

◆ setJointAccelerations()

◆ setJointAngles()

◆ setJointDecelerations()

◆ setJointTorques()

◆ setJointVelocities()

◆ simulationFunction()

◆ stop()

◆ switchControlMode()

Member Data Documentation

◆ distribution

◆ generator

◆ intervalMs

◆ jointInfos

◆ jointStates

◆ jointStatesMutex

◆ lastExecutionTime

◆ noise

◆ positionControlPIDController

◆ previousJointStates

◆ sensorAngles

◆ sensorDataMutex

◆ sensorVelocities

◆ simulationTask

◆ usePDControllerForPosMode