#include <ArmarXSimulation/components/MMMSimulation/MMMSimulation.h>

Inheritance diagram for MMMSimulation:

Public Member Functions
std::string	getDefaultName () const override

bool	isMotionLoaded (const Ice::Current &=Ice::emptyCurrent) override

bool	loadMMMFile (const std::string &filePath, const std::string &projects=std::string(), bool createTrajectoryPlayer=true, const Ice::Current &=Ice::emptyCurrent) override

void	pauseMotion (const Ice::Current &=Ice::emptyCurrent) override

void	playMotion (const Ice::Current &=Ice::emptyCurrent) override

void	setLoopBack (bool state, const Ice::Current &=Ice::emptyCurrent) override

void	setStartPose (const Eigen::Matrix4f &startPose, const Ice::Current &=Ice::emptyCurrent) override

void	stopMotion (const Ice::Current &=Ice::emptyCurrent) override

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 Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

void	createTrajectoryPlayer ()

void	loadTrajectory ()

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

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	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

Protected Attributes
std::string	agentName

std::string	kinematicUnitName

std::recursive_mutex	mmmMutex

std::string	modelFileName

float	modelScaling

std::shared_ptr< MotionData >	motionData

std::string	motionPath

std::shared_ptr< MotionFileWrapper >	motionWrapper

std::string	robotPoseUnitName

SimulatorInterfacePrx	simulatorPrx

Eigen::Matrix4f	startPose

bool	trajectoryLoaded

TrajectoryPlayerInterfacePrx	trajectoryPlayer

std::string	trajectoryPlayerName

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...

Detailed Description

The MMMSimulation class.

Definition at line 90 of file MMMSimulation.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 347 of file MMMSimulation.cpp.

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◆ createTrajectoryPlayer()

void createTrajectoryPlayer ( )

protected

Definition at line 306 of file MMMSimulation.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 98 of file MMMSimulation.h.

◆ isMotionLoaded()

bool isMotionLoaded ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 66 of file MMMSimulation.cpp.

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◆ loadMMMFile()

bool loadMMMFile	(	const std::string &	filePath,
		const std::string &	projects = `std::string()`,
		bool	createTrajectoryPlayer = `true`,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 71 of file MMMSimulation.cpp.

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◆ loadTrajectory()

void loadTrajectory ( )

protected

Definition at line 157 of file MMMSimulation.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

Definition at line 173 of file MMMSimulation.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 334 of file MMMSimulation.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 342 of file MMMSimulation.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

Definition at line 55 of file MMMSimulation.cpp.

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◆ pauseMotion()

void pauseMotion ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 133 of file MMMSimulation.cpp.

◆ playMotion()

void playMotion ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 124 of file MMMSimulation.cpp.

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◆ setLoopBack()

void setLoopBack	(	bool	state,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 149 of file MMMSimulation.cpp.

◆ setStartPose()

void setStartPose	(	const Eigen::Matrix4f &	startPose,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

inlineoverride

Definition at line 109 of file MMMSimulation.h.

◆ stopMotion()

void stopMotion ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 141 of file MMMSimulation.cpp.

Member Data Documentation

◆ agentName

std::string agentName

protected

Definition at line 159 of file MMMSimulation.h.

◆ kinematicUnitName

std::string kinematicUnitName

protected

Definition at line 149 of file MMMSimulation.h.

◆ mmmMutex

std::recursive_mutex mmmMutex

protected

Definition at line 162 of file MMMSimulation.h.

◆ modelFileName

std::string modelFileName

protected

Definition at line 160 of file MMMSimulation.h.

◆ modelScaling

float modelScaling

protected

Definition at line 158 of file MMMSimulation.h.

◆ motionData

std::shared_ptr<MotionData> motionData

protected

Definition at line 155 of file MMMSimulation.h.

◆ motionPath

std::string motionPath

protected

Definition at line 156 of file MMMSimulation.h.

◆ motionWrapper

std::shared_ptr<MotionFileWrapper> motionWrapper

protected

Definition at line 154 of file MMMSimulation.h.

◆ robotPoseUnitName

std::string robotPoseUnitName

protected

Definition at line 150 of file MMMSimulation.h.

◆ simulatorPrx

SimulatorInterfacePrx simulatorPrx

protected

Definition at line 147 of file MMMSimulation.h.

◆ startPose

Eigen::Matrix4f startPose

protected

Definition at line 152 of file MMMSimulation.h.

◆ trajectoryLoaded

bool trajectoryLoaded

protected

Definition at line 157 of file MMMSimulation.h.

◆ trajectoryPlayer

TrajectoryPlayerInterfacePrx trajectoryPlayer

protected

Definition at line 146 of file MMMSimulation.h.

◆ trajectoryPlayerName

std::string trajectoryPlayerName

protected

Definition at line 151 of file MMMSimulation.h.

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

ArmarXSimulation/components/MMMSimulation/MMMSimulation.h
ArmarXSimulation/components/MMMSimulation/MMMSimulation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ createTrajectoryPlayer()

◆ getDefaultName()

◆ isMotionLoaded()

◆ loadMMMFile()

◆ loadTrajectory()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ pauseMotion()

◆ playMotion()

◆ setLoopBack()

◆ setStartPose()

◆ stopMotion()

Member Data Documentation

◆ agentName

◆ kinematicUnitName

◆ mmmMutex

◆ modelFileName

◆ modelScaling

◆ motionData

◆ motionPath

◆ motionWrapper

◆ robotPoseUnitName

◆ simulatorPrx

◆ startPose

◆ trajectoryLoaded

◆ trajectoryPlayer

◆ trajectoryPlayerName