ManagedIceObject Class Referenceabstract

The ManagedIceObject is the base class for all ArmarX objects. More...

#include <ArmarXCore/core/ManagedIceObject.h>

Inherits Object, and Logging.

Inherited by ManagerNode [virtual], WorkerNode [virtual], AffordancePipelineGuiConfigDialog [virtual], PluginUser [virtual], PluginUser [virtual], ReadOnlyPluginUser [virtual], ReadWritePluginUser [virtual], ArVizComponentPluginUser [virtual], CartesianPositionControlComponentPluginUser [virtual], Component [virtual], DebugDrawerHelperComponentPluginUser [virtual], DebugObserverComponentPluginUser [virtual], Receiver [virtual], ExternalApplicationManagerDependency [virtual], ExternalApplicationManagerStarter [virtual], FrameTrackingComponentPluginUser [virtual], GraspCandidateObserverComponentPluginUser [virtual], GraspGeneratorComponentPluginUser [virtual], GraspingManagerTest [virtual], GraspSelectionManagerComponentPluginUser [virtual], HandUnitComponentPluginUser [virtual], HandUnitConfigDialog [virtual], JsonStorageComponentPluginUser [virtual], KinematicUnitComponentPluginUser [virtual], KinematicUnitConfigDialog [virtual], LightweightRemoteGuiComponentPluginUser [virtual], LocalTimeServer [virtual], MessageDisplayComponentPluginUser [virtual], MMMPlayerConfigDialog [virtual], MotionPlanningServerConfigDialog [virtual], NaturalIKComponentPluginUser [virtual], NJointControllerBase [virtual], ObjectPoseClientPluginUser [virtual], ObjectPoseProviderPluginUser [virtual], PlannedMotionProviderComponentPluginUser [virtual], PlatformUnitComponentPluginUser [virtual], PlatformUnitConfigDialog [virtual], PointCloudVisualizationConfigDialog [virtual], PrimitiveExtractionConfigDialog [virtual], RemoteGuiComponentPluginUser [virtual], RemoteState [virtual], RobotPlacementComponentPluginUser [virtual], RobotStateComponentPluginUser [virtual], RobotUnitComponentPluginUser [virtual], RobotUnitEmergencyStopMaster [virtual], RobotUnitObserverComponentPluginUser [virtual], RobotUnitSubUnit [virtual], WorkerNode [virtual], SemanticGraphStorageComponentPluginUser [virtual], SimpleConfigDialog [virtual], SimulatorTimeServerProxy [virtual], SkillManagerComponentPluginUser [virtual], SkillProviderComponentPluginUser [virtual], StatechartEventDistributor [virtual], StatechartListenerComponentPluginUser [virtual], StateWatcher, TCPMoverConfigDialog [virtual], ThreadList [virtual], TrajectoryPlayerComponentPluginUser [virtual], SceneEditorConfigDialog [virtual], PriorEditorConfigDialog, WorkingMemoryController, ViewSelectionConfigDialog [virtual], and UserAssistedSegmenterConfigDialog [virtual].

Data Structures

struct  Impl
 

Public Types

using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 

Public Member Functions

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...
 
virtual std::string getDefaultName () const =0
 Retrieve default name of component. 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 ()
 

Static Public Member Functions

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

static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 

Protected Member Functions

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 onConnectComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void onDisconnectComponent ()
 Hook for subclass. More...
 
virtual void onExitComponent ()
 Hook for subclass. More...
 
virtual void onInitComponent ()=0
 Pure virtual hook for the subclass. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnConnectComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
virtual void preOnInitComponent ()
 
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
 

Friends

class ArmarXManager
 
class ArmarXObjectScheduler
 
class Component
 
class ManagedIceObjectPlugin
 

Additional Inherited Members

- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

The ManagedIceObject is the base class for all ArmarX objects.

ManagedIceObject are the ArmarX equivalent to well-known Ice objects. A defined lifecycle is guaranteed which and state dependent interface is provided by the following framework hooks:

  • ManagedIceObjects::onInitComponent()
  • ManagedIceObjects::onConnectComponent()
  • ManagedIceObjects::onExitComponent()
Lifecyle of a ManagedIceObject managed by the ArmarXObjectScheduler

Every subclass of ManagedIceObject can specify dependent proxies and topics as well as offered topics in ManagedIceObjects::onInitComponent(). These connectivity parameters are specified through the following methods:

  • MangedIceObject::usingProxy()
  • MangedIceObject::usingTopic()
  • MangedIceObject::offeringTopic()

These dependencies are resolved at runtime and can be visualized. Additionally it is possible to handle the case of crashed dependencies.

MyManagedIceObject::onInitComponent()
{
// component depends on proxy "MyDataProvider"
usingProxy("MyDataProvider");
// component wants to subscribe to topic "News"
usingTopic("News");
// component will offer topic "FilteredNews"
offeringTopic("FilteredNews");
}
See also
ArmarXObjectScheduler

Definition at line 165 of file ManagedIceObject.h.

Member Typedef Documentation

◆ PeriodicTaskPtr

using PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)> >>

Definition at line 219 of file ManagedIceObject.h.

Constructor & Destructor Documentation

◆ ManagedIceObject() [1/2]

ManagedIceObject ( ManagedIceObject const &  other)

Definition at line 91 of file ManagedIceObject.cpp.

◆ ManagedIceObject() [2/2]

ManagedIceObject ( )
protected

Protected default constructor.

Used for virtual inheritance. Use createManagedIceObject() instead.

Definition at line 76 of file ManagedIceObject.cpp.

◆ ~ManagedIceObject()

~ManagedIceObject ( )
overrideprotected

Definition at line 128 of file ManagedIceObject.cpp.

Member Function Documentation

◆ addPlugin() [1/3]

PluginT* addPlugin ( const std::string  prefix = "",
ParamsT &&...  params 
)
inlineprotected

Definition at line 184 of file ManagedIceObject.h.

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◆ addPlugin() [2/3]

void addPlugin ( PluginT *&  targ,
const std::string  prefix = "",
ParamsT &&...  params 
)
inlineprotected

Definition at line 200 of file ManagedIceObject.h.

◆ addPlugin() [3/3]

void addPlugin ( std::experimental::observer_ptr< PluginT > &  targ,
const std::string  prefix = "",
ParamsT &&...  params 
)
inlineprotected

Definition at line 207 of file ManagedIceObject.h.

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◆ enableProfiler()

void enableProfiler ( bool  enable)

setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

Definition at line 364 of file ManagedIceObject.cpp.

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◆ generateSubObjectName() [1/2]

std::string generateSubObjectName ( const std::string &  subObjectName)

Generates a unique name for a sub object from a general name.

(given the current object name is unique)

Parameters
subObjectNameThe sub object's name (has to be unique among the sub objects)
Returns
The unique sub object name

Generates a unique name for a sub object from a general name. E.g.: Two objects A (object name "A") and B (object name "B") have a DebugDrawer as sub object. A and B can generate different object names for the debug drawer by calling this function with the same name "DebugDrawer". Additionally the created name contains the super object's name.

Definition at line 122 of file ManagedIceObject.cpp.

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◆ generateSubObjectName() [2/2]

std::string generateSubObjectName ( const std::string &  superObjectName,
const std::string &  subObjectName 
)
static

Generates a unique name for a sub object from a general name and unique name.

Parameters
superObjectNameThe name of the super object (has to be unique)
subObjectNameThe sub object's name (has to be unique among the sub objects)
Returns

Definition at line 117 of file ManagedIceObject.cpp.

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◆ getArmarXManager()

ArmarXManagerPtr getArmarXManager ( ) const

Returns the ArmarX manager used to add and remove components.

@retrun pointer to the armarXManager

Definition at line 348 of file ManagedIceObject.cpp.

◆ getCommunicator()

Ice::CommunicatorPtr getCommunicator ( ) const
protected

Definition at line 431 of file ManagedIceObject.cpp.

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◆ getConnectivity()

ManagedIceObjectConnectivity getConnectivity ( ) const

Retrieve connectivity of the object (topcis as well as proxies)

Returns
connectivity

Definition at line 737 of file ManagedIceObject.cpp.

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◆ getDefaultName()

virtual std::string getDefaultName ( ) const
pure virtual

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")

Implemented in NJointControllerBase, ArVizInteractExample, ResultImageProvider, ModuleBase, EmergencyStopNode< T >, SimpleConfigDialog, IEEE1394ImageProvider, RemoteStateOfferer< ContextType >, WorkingMemoryController, PrimitiveExtractor, KBMComponent, DenseCRFSegmentationProcessor, EmergencyStopMaster, RobotUnitSimulation, LaserScannerSelfLocalisation, TCPControlUnit, OpenPoseEstimation, WorkerNode, ManagerNode, SceneModifier, ResultPointCloudProvider, CoFusionProcessor, ObstacleAvoidingPlatformUnit, SegmentableTemplateRecognition, Simulator, HapticObserver, ObstacleAwarePlatformUnit, ConditionHandler, RemoteGuiExample2, PointCloudSegmenter, RobotIK, XMLStateComponent, KinematicUnitSimulation, CalibrationCreator2, ArmarXSimulatorWindow, DMPComponent, PointCloudObjectLocalizer, TabletopSegmentation, TopicRecorderComponent, DebugDrawerComponent, ReflexCombination, Component, MaskRCNNPointCloudObjectLocalizer, LaserScannerSimulation, RTABMapRegistration, ObjectLearningByPushing, GraspingManager, ViewSelection, RGBDHandLocalizer, FrameTracking, MotionPlanningServer, DepthImageProviderDynamicSimulation, RemoteObjectNode, RemoteState, ObjectMemoryObserver, CollisionCheckerComponent, TrajectoryControllerSubUnit, AffordanceExtraction, VisualContactDetection, BigBowlLocalization, CropRobotFromImage, IntelRealSenseProvider, SegmentableObjectRecognition, KinectV2PointCloudProvider, OpticalFlow, TrajectoryPlayer, ObjectLocalizationMemoryUpdater, ImageToPointCloud, ObjectLocalizationSaliency, ImageSourceSelection, MultiSensePointCloudProvider, ResultImageFuser, VoxelGridMappingProvider, OpenNIPointCloudProvider, ThreadList, SkillProviderExample, PointCloudVisualization, AffordancePipelineVisualization, StereoCameraProvider, BlobRecognition, HokuyoLaserUnit, SickLaserUnit, XMLSceneImporter, StreamProviderI, MMMSimulation, CartographerMappingAndLocalization, SystemObserver, ValveAttention, KLGImageProvider, TexturedObjectRecognition, FlyCaptureImageProvider, ImageSequenceProvider, ImageProviderDynamicSimulation, ATINetFTUnit, SimpleRobotPlacement, NaturalIKTest, RobotHealth, MaskFilterPointCloudProcessor, CoupledInteractionGroupStatechartContext, KinectAndCameraCalibration, PrimitiveVisualization, OptoForceUnit, StatechartEventDistributor, KinematicUnitObserver, ColorMarkerObjectLocalizer, RCPointCloudProvider, RobotHandLocalizationDynamicSimulation, FunctionApproximator, PlatformUnitObserver, EntityDrawerComponent, TrackingError, PointCloudFilter, PointCloudRecorder, AzureKinectPointCloudProvider, ExternalApplicationManager, SimpleStatechartExecutor, HumanObstacleDetection, RCImageProvider, MotionPlanningServerConfigDialog, RobotStateComponent, CalibrationCreator, PointCloudToArViz, KinematicSelfLocalization, BlurrinessMetric, RobotHandLocalizationWithFingertips, UCLObjectRecognition, KinectV1PointCloudProvider, PointCloudUtility, ObjectLocalizerDynamicSimulation, HandMarkerLocalization, StereoImagePointCloudProvider, KinematicUnit, Component, LaserScannerPointCloudProvider, RobotPoseUnitDynamicSimulation, BringObjectGroupStatechartContext, CartographerMapRegistration, DHParameterOptimizationLogger, SimpleGraspGenerator, ArVizExample, SimoxSceneImporter, OpenCVImageStabilizer, StreamDecoderImageProvider, MMMPlayer, RobotStateObserver, CommonStorage, DummyObjectLocalizer, AbstractWorkingMemory, FakePointCloudProvider, LaserScannerFeatureExtraction, OrientedTactileSensorUnit, XsensIMU, WorkingMemory, SceneEditorConfigDialog, AzureKinectIRImageProvider, ArmarXPhysicsWorldVisualization, AStarPathPlannerTestComponent, WorkerNode, GamepadControlUnit, GamepadUnit, PlaybackImageProvider, SemanticRelationAnalyzer, ForceTorqueObserver, ForceTorqueUnit, HandUnit, DeepFaceRecognition, LabeledPointCloudMerger, SegmentRansacShapeExtractor, HandUnitDynamicSimulation, DebugObserver, ObjectMemory, RobotStateMemory, HeadIKUnit, PlatformUnit, PrimitiveExtractionParameterTuning, ArmarXFileLogger, LocalTimeServer, RobotPoseUnit, CommonPlacesTester, DummyAgentReporter, WorkingMemoryObjectPoseProvider, OLPEvaluation, FaceRecognition, EfficientRANSACPrimitiveExtractor, ShapesSupportRelations, TCPControllerSubUnit, WorkingMemoryToArViz, PriorKnowledgeImporter, IMUSimulation, PythonApplicationManager, DSObstacleAvoidance, CyberGloveObserver, KITProstheticHandUnit, RobotToArViz, OpenPoseSimulation, SimpleEpisodicMemoryImageConnector, MultiViewPointCloudProcessor, SegmentAABBShapesProvider, SegmentSpatialRelations, ForceTorqueUnitDynamicSimulation, KinematicUnitDynamicSimulation, Component, RobotHealthDummy, RobotStatechartContext, LongtermMemory, DummyArMarkerLocalizer, ArMarkerLocalizer, MultiImageProvider, MotionControlGroupStatechartContext, PlannedMotionProvider, DynamicRemoteState, SkillsMemory, RemoteGuiProvider, TopicTimingClient, InertialMeasurementUnitObserver, ArMarkerLocalizerOpenCV, Component, UserAssistedSegmenter, FakeWorkingMemoryObjectLocalizer, PlatformContext, DebugDrawerToArVizComponent, DummyTextToSpeech, ForceTorqueUnitSimulation, GamepadUnitObserver, OptoForceUnitObserver, MetaWearIMU, GraphNodePoseResolver, ArMarkerExternalCameraCalibration, WebCamImageProvider, HandGroupStatechartContext, StaticAgentReporter, ArmarXTimeserver, PingLoadTest, DynamicObstacleManager, StatechartExecutorExample, HapticUnit, OrientedTactileSensorUnitObserver, SelfLocalizationDynamicSimulation, SimulatorToArviz, KITHandUnit, LaserScannerUnitObserver, DummyWorldStateObserver, PriorEditorConfigDialog, SemanticGraphStorage, StateWatcher, TopicTimingServer, SpeechObserver, FilterKnownObjects, ArticulatedObjectLocalizerDynamicSimulation, GraspingManagerTest, KITProstheticHandObserver, RobotNameService, GraspCandidateObserver, TCPControlUnitObserver, WorkingMemoryExample, PriorKnowledge, AffordanceUpdateListener, LaserScannerObstacleDetection, ObjectInstanceToIndex, ArVizStorage, MultiHandUnit, InertialMeasurementUnit, CommonPlacesLearner, ProfilerStorage, SemanticGraphExample, TopicReplayer, ExampleMemoryClient, ObjectPoseProviderExample, WorldStateObserver, ObjectPoseClientExample, HandUnitSimulation, MetaWearIMUObserver, AStarPathPlanner, EmergencyStopWidget, GraspablePredicateProvider, PlatformUnitConfigDialog, Component, MemoryGrapher, SimulatorTimeServerProxy, SimpleEpisodicMemorySemanticGraphConnector, PlatformUnitDynamicSimulation, VirtualRobotReaderExampleClient, PutAwayLocationPredicateProvider, ImageToArMem, ArMemToImageProvider, ExampleMemory, GeneralPurposeMemory, MotionMemory, ik_demo, AgentAtPredicateProvider, ObjectAtPredicateProvider, Component, GraspSelectionManager, MemoryNameSystem, ArmarXObjectsImporter, AbstractLongtermMemory, HandControlSkillProvider, PlatformControlSkillProvider, ProfilerObserver, SubjectMemory, HandPredicateProvider, VideoFileImageProvider, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, IndexMemory, SimpleEpisodicMemoryOpenPoseEstimationConnector, LegacyRobotStateMemoryAdapter, HandUnitConfigDialog, KinematicUnitConfigDialog, TCPMoverConfigDialog, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, DummyCriterion, NaturalGraspFilter, PlatformUnitSimulation, GraspControlSkillProvider, MMMPlayerConfigDialog, VisionMemory, ExternalApplicationManagerStarter, SimpleEpisodicMemory, SimpleEpisodicMemoryWorkingMemoryConnector, StatechartPerformanceTest, ArmarXComponentWidgetController, LocalizationUnit, Component, BringObjectSkillProvider, SimpleEpisodicMemoryPlatformUnitConnector, ArticulatedObjectLocalizerExample, HumanMemory, RGBDPoseEstimationWithMemoryWriter, SimulationObjectPoseProvider, ExternalApplicationManagerDependency, VirtualRobotWriterExample, SystemStateMemory, AronComponentConfigExample, OnTopPredicateProvider, TimeoutExample, RobotControlUI, ObjectLearningByPushingObserver, VisualContactDetectionObserver, SimpleEpisodicMemoryKinematicUnitConnector, ClientState, ReasoningMemory, ViewSelectionConfigDialog, JsonStorage, OnTablePredicateProvider, StateParameterExample, GraspMemory, SimpleVirtualRobot, CommonStorageExample, KinectAndCameraCalibrationObserver, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, RobotUnitObserver, Receiver, RGBDOpenPoseEstimation, GraspProviderExample, StatechartListener, UserAssistedSegmenterConfigDialog, ObjectMemoryEditor, X11ScreenCaptureImageProvider, RobotUnitEmergencyStopMaster, OpenNIImageProvider, ObjectShapeClassification, StreamReceiver, ViconMarkerProvider, OptoForce, StreamImageProvider, ResultImageAndPointCloudProvider, and InstallConditionExample.

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◆ getIceManager()

IceManagerPtr getIceManager ( ) const

Returns the IceManager.

Returns
pointer to IceManager

Definition at line 353 of file ManagedIceObject.cpp.

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◆ getMetaInfo()

VariantBasePtr getMetaInfo ( const std::string &  id)

Definition at line 755 of file ManagedIceObject.cpp.

◆ getMetaInfoMap()

StringVariantBaseMap getMetaInfoMap ( ) const

Definition at line 761 of file ManagedIceObject.cpp.

◆ getName()

std::string getName ( ) const

Retrieve name of object.

Corresponds to well-known object name.

Returns
name

Definition at line 107 of file ManagedIceObject.cpp.

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◆ getObjectAdapter()

Ice::ObjectAdapterPtr getObjectAdapter ( ) const

Returns object's Ice adapter.

Returns
object's adapter

Definition at line 140 of file ManagedIceObject.cpp.

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◆ getObjectScheduler()

ArmarXObjectSchedulerPtr getObjectScheduler ( ) const

Definition at line 731 of file ManagedIceObject.cpp.

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◆ GetObjectStateAsString()

std::string GetObjectStateAsString ( int  state)
static

Definition at line 213 of file ManagedIceObject.cpp.

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◆ getPeriodicTask()

ManagedIceObject::PeriodicTaskPtr getPeriodicTask ( const std::string &  name)

Definition at line 792 of file ManagedIceObject.cpp.

◆ getPluginPointer()

std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer ( std::type_info const &  type,
std::string const &  prefix 
)
protected

Definition at line 85 of file ManagedIceObject.cpp.

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◆ getProfiler()

Profiler::ProfilerPtr getProfiler ( ) const

getProfiler returns an instance of armarx::Profiler

Definition at line 359 of file ManagedIceObject.cpp.

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◆ getProxy() [1/9]

void getProxy ( const char *  name,
IceInternal::ProxyHandle< ProxyTarg > &  proxy,
Args &&...  args 
)
inline

Definition at line 381 of file ManagedIceObject.h.

◆ getProxy() [2/9]

ProxyType getProxy ( const std::string &  name,
bool  addToDependencies = false,
const std::string &  endpoints = "",
bool  throwOnProxyError = true 
)
inline

Retrieves a proxy object.

Parameters
nameProxy name, e.g. Log
addToDependenciesIf true, this proxy is added to the dependency list and this function won't return until the proxy becomes available.
endpointsThe endpoints, e.g. tcp ‑p 10002
throwOnProxyErrorIf true, throws Exception on any proxy error. If false, just returns zero pointer.
Exceptions
LocalExceptionThrows if proxy is not available, this object is not yet starting or the proxyName is empty.
Returns
A proxy of the remote instance.

Definition at line 331 of file ManagedIceObject.h.

◆ getProxy() [3/9]

void getProxy ( const std::string &  name,
IceInternal::ProxyHandle< ProxyTarg > &  proxy,
Args &&...  args 
)
inline

Definition at line 369 of file ManagedIceObject.h.

◆ getProxy() [4/9]

void getProxy ( IceInternal::ProxyHandle< ProxyTarg > &  proxy,
const char *  name,
Args &&...  args 
)
inline

Definition at line 375 of file ManagedIceObject.h.

◆ getProxy() [5/9]

void getProxy ( IceInternal::ProxyHandle< ProxyTarg > &  proxy,
const std::string &  name,
Args &&...  args 
)
inline

Assigns a proxy to proxy.

This method can be called without explicit template argument, as the proxy type can be inferred from the arguments.

See also
getProxy<>()

Definition at line 363 of file ManagedIceObject.h.

◆ getProxy() [6/9]

Ice::ObjectPrx getProxy ( long  timeoutMs = 0,
bool  waitForScheduler = true 
) const

Returns the proxy of this object (optionally it waits for the proxy)

Parameters
timeoutMsTimeout in miliseconds until this function stops waiting for the proxy. Set to -1 for infinite waiting.
Returns
object's proxy (will be null if the time runs out/no object scheduler was set (e.g. by calling addObject on an ArmarXManager))

Definition at line 393 of file ManagedIceObject.cpp.

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◆ getProxy() [7/9]

Prx getProxy ( long  timeoutMs = 0,
bool  waitForScheduler = true 
) const
inline

Definition at line 265 of file ManagedIceObject.h.

◆ getProxy() [8/9]

void getProxy ( ProxyType proxy,
const char *  name,
bool  addToDependencies = false,
const std::string &  endpoints = "",
bool  throwOnProxyError = true 
)
inline

Overload to allow using string literals as name (solve ambiguous overload).

Definition at line 389 of file ManagedIceObject.h.

◆ getProxy() [9/9]

void getProxy ( Prx &  prx,
long  timeoutMs = 0,
bool  waitForScheduler = true 
) const
inline

Definition at line 270 of file ManagedIceObject.h.

◆ getState()

int getState ( ) const

Retrieve current state of the ManagedIceObject.

Returns
state of the ManagedIceObject

Definition at line 725 of file ManagedIceObject.cpp.

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◆ getTopic() [1/2]

TopicProxyType getTopic ( const std::string &  name)
inline

Returns a proxy of the specified topic.

Parameters
nameTopic name
Returns
Topic proxy of the type TopicProxyType

Definition at line 453 of file ManagedIceObject.h.

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◆ getTopic() [2/2]

void getTopic ( TopicProxyType &  topicProxy,
const std::string &  name 
)
inline

Assigns a proxy of the specified topic to topicProxy.

This method can be called without explicit template argument, as the topic proxy type can be inferred from the arguments.

Parameters
topicProxyThe topic proxy to be assigned.
nameTopic name
See also
getTopic<>()

Definition at line 472 of file ManagedIceObject.h.

◆ getUnresolvedDependencies()

std::vector< std::string > getUnresolvedDependencies ( ) const

returns the names of all unresolved dependencies

Definition at line 194 of file ManagedIceObject.cpp.

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◆ offeringTopic()

void offeringTopic ( const std::string &  name)

Registers a topic for retrival after initialization.

Parameters
nameTopic name

Definition at line 290 of file ManagedIceObject.cpp.

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◆ onConnectComponent()

virtual void onConnectComponent ( )
protectedpure virtual

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()

Implemented in ArVizInteractExample, PointCloudProcessor, KBMComponent, RobotIK, ImageProcessor, EmergencyStopNode< T >, SceneEditorMainWindowController, DMPComponent, GraphVisualizerWidget, DepthImageProviderDynamicSimulation, SimpleConfigDialog, TrajectoryPlayer, PointCloudProvider, CoFusionProcessor, WorkingMemoryController, LaserScannerSelfLocalisation, WorkingMemoryController, ImageProvider, SimoxCSpaceVisualizerWidgetController, MultiSensePointCloudProvider, StatechartEditorController, KinectV2PointCloudProvider, EmergencyStopMaster, PointCloudAndImageProcessor, OpenNIPointCloudProvider, GraspingManager, TCPControlUnit, ConditionHandler, KinematicUnitWidgetController, FTSensorCalibrationGuiWidgetController, DeepFaceRecognition, ImageToPointCloud, SceneModifier, ObjectLocalizationSaliency, EventSenderOverview, RTABMapRegistration, RemoteGuiExample2, SimpleRobotPlacement, ReflexCombination, WorkerNode, LocalTimeServer, RobotStateComponent, StereoImagePointCloudProvider, Simulator, LaserScannerSimulation, CollisionCheckerComponent, KinectV1PointCloudProvider, ArmarXPlotter, ManagerNode, CartographerMappingAndLocalization, AffordanceExtraction, ArmarXSimulatorWindow, ATINetFTUnit, AffordancePipelineVisualization, Viewer3DWidget, DebugDrawerComponent, ViewSelection, RobotHealth, PriorEditorController, XMLStateComponent, FrameTracking, MMMSimulation, SimulatorControlController, IntelRealSenseProvider, MotionPlanningServer, RemoteObjectNode, TopicRecorderComponent, DSObstacleAvoidance, ArmarXTimeserver, OrientedTactileSensorUnit, SystemStateMonitorWidget, RobotTrajectoryDesignerGuiPluginWidgetController, FakePointCloudProvider, PlatformUnitWidget, AffordancePipelineGuiWidgetController, UserAssistedSegmenterGuiWidgetController, RemoteState, HokuyoLaserUnit, ObjectLocalizationMemoryUpdater, MotionPlanningServerWidgetController, ClockWidgetController, ViewSelectionWidgetController, SemanticRelationViewerWidgetController, ExternalApplicationManager, SickLaserUnit, SnapshotControlWidgetController, PrimitiveExtractionWidgetController, DHParameterOptimizationLogger, SkillProviderExample, TrajectoryControllerSubUnit, GridFSFileEditorWidgetController, UCLObjectRecognition, PrimitiveVisualization, SimpleGraspGenerator, ScenarioManagerWidgetController, PointCloudVisualizationWidgetController, TopicReplayerWidgetController, TCPMover, PointCloudUtility, RobotIKWidgetController, OptoForceUnit, FunctionApproximator, RemoteGuiWidgetController, NaturalIKTest, ObjectLocalizationRequesterWidgetController, XMLSceneImporter, CartographerMapRegistration, ArVizWidgetController, GuiHealthClientWidgetController, GraphNodePoseResolver, SelfLocalization, RobotUnitPluginWidgetController, AzureKinectPointCloudProvider, HumanObstacleDetection, PlannedMotionProvider, LaserScannerSelfLocalisationWidgetController, LoadObjectsIntoMemoryWidgetController, KinematicSelfLocalization, ThreadList, MessageDisplayPluginWidgetController, PathPlanner, IceProxyWidgetController, HomogeneousMatrixCalculatorWidgetController, LaserScannerPluginWidgetController, RobotViewerWidgetController, ShapesSupportRelations, MMMPlayerWidget, ThreadViewer, WriteToDebugObserverGuiPluginWidgetController, OpenPoseSimulation, RCPointCloudProvider, SimpleStatechartExecutor, SceneEditorConfigDialog, ClutteredSceneGeneratorWidgetController, MMMPlayer, IceGridViewer, DummyObjectLocalizer, EntityDrawerComponent, ArmarXFileLogger, WorkingMemoryToArViz, GamepadControlUnit, HandUnit, GamepadUnit, WorkingMemoryObjectPoseProvider, SemanticRelationAnalyzer, GraspingManagerTest, SkillsMemory, PlatformUnit, RobotPoseUnit, ArMemMemoryViewerWidgetController, GraspCandidateViewerWidgetController, LaserScannerFeatureExtraction, DebugPlotterWidgetWidgetController, RobotHealthDummy, HandUnitWidget, DummyAgentReporter, OLPEvaluation, RobotStateMemory, KinematicUnit, StreamDecoderImageProvider, DebugDrawerViewerWidgetController, DebugRobotUnitDataStreamingWidgetController, ObjectPoseGuiWidgetController, SimoxSceneImporter, Component, ArVizExample, AbstractWorkingMemory, DummyArMarkerLocalizer, ObjectMemory, ArmarXPhysicsWorldVisualization, ViconMarkerProvider, RemoteGuiProvider, ForceTorqueUnit, LogViewer, DummyTextToSpeech, MetaWearIMU, CommonStorage, SemanticGraphStorage, StaticAgentReporter, MotionPlanningServerConfigDialog, PythonApplicationManager, ExampleMemory, RobotToArViz, TopicTimingClient, ProfilerStorage, RobotHandLocalizationDynamicSimulation, TopicReplayer, MemoryNameSystem, DynamicObstacleManager, ObjectPoseProviderExample, CommonPlacesTester, DummyWorldStateObserver, FakeWorkingMemoryObjectLocalizer, BoxToGraspCandidatesWidgetController, PriorKnowledgeImporter, LaserScannerObstacleDetection, KITProstheticHandObserver, RobotNameService, InertialMeasurementUnit, AffordanceUpdateListener, ImageRecorderWidgetController, LegacyRobotStateMemoryAdapter, DebugDrawerToArVizComponent, DebugDrawerGuiPluginWidgetController, ArMarkerExternalCameraCalibration, ArticulatedObjectLocalizerDynamicSimulation, WorkerNode, PingLoadTest, ExampleMemoryClient, StatechartExecutorExample, HapticUnitWidget, WorkingMemoryUpdater, SimulatorToArviz, ArVizDrawerGuiWidgetController, SkillManagerMonitorWidgetController, GeneralPurposeMemory, TopicTimingServer, ArVizStorage, ik_demo, HapticUnit, HeadIKUnit, TCPControllerSubUnit, DynamicRemoteState, MultiHandUnit, SemanticGraphExample, AStarPathPlannerTestComponent, MemoryGrapher, SimpleEpisodicMemorySemanticGraphConnector, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, WorkingMemoryExample, PriorKnowledge, Component, StateWatcher, CommonPlacesLearner, WorldStateObserver, GraspSelectionCriterionBase, GraspSelectionManager, ObserverWidgetController, ArmarXObjectsImporter, IndexMemory, SimulationObjectPoseProvider, VirtualRobotReaderExampleClient, MotionMemory, ArMemToImageProvider, SimpleEpisodicMemoryKinematicUnitConnector, ConditionViewerWidgetController, WorldStateUpdaterBase, PriorEditorConfigDialog, Component, Component, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, SimpleEpisodicMemoryPlatformUnitConnector, SimpleEpisodicMemory, AbstractLongtermMemory, EmergencyStopWidget, GraspMemory, PlatformUnitConfigDialog, SimpleEpisodicMemoryWorkingMemoryConnector, VisionMemory, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, GraspControlSkillProvider, HandUnitConfigDialog, KinematicUnitConfigDialog, TCPMoverConfigDialog, MMMPlayerConfigDialog, SelfLocalizationDynamicSimulation, LocalizationUnit, BringObjectSkillProvider, StaticPlotterWidgetController, HumanMemory, ExternalApplicationManagerStarter, ArticulatedObjectLocalizerExample, Component, SystemStateMemory, VirtualRobotWriterExample, AronComponentConfigExample, RobotControlUI, ReasoningMemory, ExternalApplicationManagerDependency, Receiver, SimpleVirtualRobot, CommonStorageExample, JsonStorage, GraspProviderExample, ViewSelectionConfigDialog, UserAssistedSegmenterConfigDialog, StatechartListener, ObjectMemoryEditor, ModuleBase, RobotUnitEmergencyStopMaster, PointCloudAndImageProvider, NJointControllerBase, StreamReceiver, ObjectShapeClassification, OptoForce, StreamImageProvider, ResultImageAndPointCloudProvider, and SimpleEpisodicMemoryOpenPoseEstimationConnector.

◆ onDisconnectComponent()

virtual void onDisconnectComponent ( )
inlineprotectedvirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also
onConnectComponent

Reimplemented in ArVizInteractExample, PointCloudProcessor, KBMComponent, ImageProcessor, RobotIK, SceneEditorMainWindowController, DMPComponent, TrajectoryPlayer, DepthImageProviderDynamicSimulation, PointCloudProvider, CoFusionProcessor, LaserScannerSelfLocalisation, WorkingMemoryController, SimoxCSpaceVisualizerWidgetController, ImageProvider, MultiSensePointCloudProvider, PointCloudAndImageProcessor, StatechartEditorController, KinectV2PointCloudProvider, ImageToPointCloud, GraspingManagerTest, GraspingManager, OpenNIPointCloudProvider, TCPControlUnit, KinematicUnitWidgetController, RTABMapRegistration, ObjectLocalizationSaliency, FTSensorCalibrationGuiWidgetController, SceneModifier, SimpleRobotPlacement, RemoteGuiExample2, ReflexCombination, ObjectLocalizerProcessor, WorkerNode, XMLStateComponent, LaserScannerSimulation, CollisionCheckerComponent, LocalTimeServer, RobotStateComponent, ManagerNode, StereoImagePointCloudProvider, Simulator, AffordanceExtraction, KinectV1PointCloudProvider, CartographerMappingAndLocalization, ATINetFTUnit, AffordancePipelineVisualization, ViewSelection, ArmarXSimulatorWindow, RobotHealth, DebugDrawerComponent, FrameTracking, MMMSimulation, PriorEditorController, DSObstacleAvoidance, MotionPlanningServer, ArmarXTimeserver, SimulatorControlController, IntelRealSenseProvider, TopicRecorderComponent, SystemStateMonitorWidget, ForceTorqueObserver, RobotTrajectoryDesignerGuiPluginWidgetController, HokuyoLaserUnit, MotionPlanningServerWidgetController, ClockWidgetController, SnapshotControlWidgetController, FakePointCloudProvider, PlatformUnitWidget, GridFSFileEditorWidgetController, AffordancePipelineGuiWidgetController, DHParameterOptimizationLogger, RemoteState, ObjectLocalizationMemoryUpdater, SickLaserUnit, PrimitiveVisualization, SimpleGraspGenerator, ExternalApplicationManager, SemanticRelationViewerWidgetController, PointCloudUtility, PrimitiveExtractionWidgetController, OptoForceUnit, FunctionApproximator, SkillProviderExample, TrajectoryControllerSubUnit, PointCloudVisualizationWidgetController, NaturalIKTest, GraphNodePoseResolver, CartographerMapRegistration, RobotIKWidgetController, SelfLocalization, PlannedMotionProvider, GuiHealthClientWidgetController, ObjectLocalizationRequesterWidgetController, KinematicSelfLocalization, ArVizWidgetController, RobotUnitPluginWidgetController, HumanObstacleDetection, AzureKinectPointCloudProvider, OpenPoseSimulation, ShapesSupportRelations, ThreadList, MMMPlayer, MMMPlayerWidget, RobotViewerWidgetController, DummyObjectLocalizer, ArmarXFileLogger, GamepadControlUnit, GamepadUnit, RCPointCloudProvider, SemanticRelationAnalyzer, EntityDrawerComponent, WorkingMemoryObjectPoseProvider, SkillsMemory, RobotHealthDummy, GraspCandidateViewerWidgetController, DummyAgentReporter, WorkingMemoryToArViz, OLPEvaluation, PlatformUnit, LaserScannerFeatureExtraction, RobotPoseUnit, ArMemMemoryViewerWidgetController, DebugPlotterWidgetWidgetController, HandUnitWidget, DummyArMarkerLocalizer, RobotStateMemory, ObjectPoseGuiWidgetController, ViconMarkerProvider, RemoteGuiProvider, ArVizExample, DummyTextToSpeech, MetaWearIMU, DebugRobotUnitDataStreamingWidgetController, StaticAgentReporter, Component, ObjectMemory, ProfilerStorage, DummyWorldStateObserver, SemanticGraphStorage, ArmarXPhysicsWorldVisualization, FakeWorkingMemoryObjectLocalizer, RobotToArViz, TopicTimingClient, MemoryNameSystem, KITProstheticHandObserver, ObjectPoseProviderExample, RobotNameService, InertialMeasurementUnit, AffordanceUpdateListener, PythonApplicationManager, ExampleMemory, RobotHandLocalizationDynamicSimulation, TopicReplayer, DynamicObstacleManager, LegacyRobotStateMemoryAdapter, DebugDrawerToArVizComponent, ArMarkerExternalCameraCalibration, ImageRecorderWidgetController, ArticulatedObjectLocalizerDynamicSimulation, LaserScannerObstacleDetection, PingLoadTest, StatechartExecutorExample, SimulatorToArviz, DebugDrawerGuiPluginWidgetController, HapticUnitWidget, ExampleMemoryClient, GeneralPurposeMemory, TopicTimingServer, WorkingMemoryUpdater, ArVizStorage, ik_demo, ArVizDrawerGuiWidgetController, SkillManagerMonitorWidgetController, MultiHandUnit, SemanticGraphExample, HeadIKUnit, MemoryGrapher, SimpleEpisodicMemorySemanticGraphConnector, Component, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, StateWatcher, ArmarXObjectsImporter, SimulationObjectPoseProvider, SimpleEpisodicMemoryKinematicUnitConnector, IndexMemory, VirtualRobotReaderExampleClient, MotionMemory, ArMemToImageProvider, ConditionViewerWidgetController, Component, Component, SimpleEpisodicMemoryPlatformUnitConnector, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, WeissHapticUnit, SimpleEpisodicMemory, SimpleEpisodicMemoryWorkingMemoryConnector, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, EmergencyStopWidget, GraspMemory, VisionMemory, GraspControlSkillProvider, SelfLocalizationDynamicSimulation, BringObjectSkillProvider, ExternalApplicationManagerStarter, HumanMemory, Component, AronComponentConfigExample, ArticulatedObjectLocalizerExample, SystemStateMemory, VirtualRobotWriterExample, ExternalApplicationManagerDependency, ReasoningMemory, SimpleVirtualRobot, JsonStorage, GraspProviderExample, ObjectMemoryEditor, ModuleBase, PointCloudAndImageProvider, NJointControllerBase, StreamReceiver, OptoForce, and ResultImageAndPointCloudProvider.

Definition at line 565 of file ManagedIceObject.h.

◆ onExitComponent()

virtual void onExitComponent ( )
inlineprotectedvirtual

Hook for subclass.

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

Reimplemented in ArVizInteractExample, PointCloudProcessor, KBMComponent, ImageProcessor, DMPComponent, GraphVisualizerWidget, DepthImageProviderDynamicSimulation, TrajectoryPlayer, PointCloudProvider, LaserScannerSelfLocalisation, SimoxCSpaceVisualizerWidgetController, CoFusionProcessor, ImageProvider, WorkingMemoryController, MultiSensePointCloudProvider, PointCloudAndImageProcessor, GraspingManagerTest, StatechartEditorController, KinectV2PointCloudProvider, GraspingManager, RTABMapRegistration, ObjectLocalizationSaliency, OpenNIPointCloudProvider, TCPControlUnit, KinematicUnitWidgetController, ImageToPointCloud, SimpleRobotPlacement, ReflexCombination, RemoteGuiExample2, FTSensorCalibrationGuiWidgetController, WorkerNode, SceneModifier, LaserScannerSimulation, CollisionCheckerComponent, ManagerNode, AffordanceExtraction, CartographerMappingAndLocalization, ATINetFTUnit, AffordancePipelineVisualization, KinectV1PointCloudProvider, StereoImagePointCloudProvider, Simulator, ViewSelection, RobotHealth, ArmarXPlotter, DSObstacleAvoidance, FrameTracking, ArmarXSimulatorWindow, MMMSimulation, DebugDrawerComponent, ArmarXTimeserver, PriorEditorController, MotionPlanningServer, RemoteObjectNode, SimulatorControlController, TopicRecorderComponent, SystemStateMonitorWidget, HokuyoLaserUnit, DHParameterOptimizationLogger, FakePointCloudProvider, PrimitiveVisualization, SimpleGraspGenerator, PlatformUnitWidget, SickLaserUnit, PointCloudUtility, OptoForceUnit, FunctionApproximator, ExternalApplicationManager, SensorActorUnit, GraphNodePoseResolver, PlannedMotionProvider, NaturalIKTest, SkillProviderExample, KinematicSelfLocalization, CartographerMapRegistration, SelfLocalization, ScenarioManagerWidgetController, RobotIKWidgetController, TCPMover, OpenPoseSimulation, HumanObstacleDetection, MMMPlayer, RobotUnitPluginWidgetController, DummyObjectLocalizer, AzureKinectPointCloudProvider, ShapesSupportRelations, ArmarXFileLogger, SceneEditorConfigDialog, GamepadControlUnit, GamepadUnit, SemanticRelationAnalyzer, ArVizWidgetController, RobotViewerWidgetController, RobotHealthDummy, DummyAgentReporter, OLPEvaluation, MMMPlayerWidget, ThreadViewer, PlatformUnit, WorkingMemoryObjectPoseProvider, RCPointCloudProvider, SkillsMemory, HandUnit, RobotPoseUnit, SimpleStatechartExecutor, EntityDrawerComponent, LaserScannerFeatureExtraction, IceGridViewer, GraspCandidateViewerWidgetController, WorkingMemoryToArViz, DummyArMarkerLocalizer, ViconMarkerProvider, RemoteGuiProvider, DummyTextToSpeech, MetaWearIMU, StaticAgentReporter, DebugPlotterWidgetWidgetController, HandUnitWidget, ProfilerStorage, RobotStateMemory, DummyWorldStateObserver, FakeWorkingMemoryObjectLocalizer, KinematicUnit, DebugDrawerViewerWidgetController, ArVizExample, KITProstheticHandObserver, RobotNameService, InertialMeasurementUnit, DebugRobotUnitDataStreamingWidgetController, AffordanceUpdateListener, SemanticGraphStorage, Component, ObjectMemory, RobotToArViz, TopicTimingClient, MemoryNameSystem, ObjectPoseProviderExample, ArmarXPhysicsWorldVisualization, ForceTorqueUnit, PythonApplicationManager, LogViewer, LegacyRobotStateMemoryAdapter, ExampleMemory, DebugDrawerToArVizComponent, CommonStorage, ArMarkerExternalCameraCalibration, ArticulatedObjectLocalizerDynamicSimulation, RobotHandLocalizationDynamicSimulation, PingLoadTest, DynamicObstacleManager, StatechartExecutorExample, ImageRecorderWidgetController, SimulatorToArviz, LaserScannerObstacleDetection, GeneralPurposeMemory, TopicTimingServer, ArVizStorage, ik_demo, ExampleMemoryClient, MultiHandUnit, WorkingMemoryUpdater, SemanticGraphExample, WorkerNode, HapticUnitWidget, MemoryGrapher, SimpleEpisodicMemorySemanticGraphConnector, HeadIKUnit, Component, HapticUnit, AStarPathPlannerTestComponent, ArmarXObjectsImporter, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, SimulationObjectPoseProvider, SimpleEpisodicMemoryKinematicUnitConnector, CommonPlacesLearner, ObserverWidgetController, IndexMemory, Component, VirtualRobotReaderExampleClient, MotionMemory, ArMemToImageProvider, SimpleEpisodicMemoryPlatformUnitConnector, ConditionViewerWidgetController, Component, SimpleEpisodicMemoryWorkingMemoryConnector, SimpleEpisodicMemory, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, GraspMemory, VisionMemory, GraspControlSkillProvider, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, KinematicUnitConfigDialog, MMMPlayerConfigDialog, AronComponentConfigExample, Component, BringObjectSkillProvider, ExternalApplicationManagerStarter, HumanMemory, ArticulatedObjectLocalizerExample, SystemStateMemory, VirtualRobotWriterExample, ExternalApplicationManagerDependency, ReasoningMemory, RobotControlUI, Receiver, SimpleVirtualRobot, JsonStorage, GraspProviderExample, ViewSelectionConfigDialog, UserAssistedSegmenterConfigDialog, ObjectMemoryEditor, ModuleBase, PointCloudAndImageProvider, NJointControllerBase, IntelRealSenseProvider, StreamReceiver, OptoForce, and ResultImageAndPointCloudProvider.

Definition at line 572 of file ManagedIceObject.h.

◆ onInitComponent()

virtual void onInitComponent ( )
protectedpure virtual

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.

Implemented in ArVizInteractExample, PointCloudProcessor, KBMComponent, RobotIK, ImageProcessor, EmergencyStopNode< T >, SceneEditorMainWindowController, DMPComponent, GraphVisualizerWidget, DepthImageProviderDynamicSimulation, SimpleConfigDialog, TrajectoryPlayer, PointCloudProvider, CoFusionProcessor, WorkingMemoryController, LaserScannerSelfLocalisation, ImageProvider, WorkingMemoryController, StatechartEditorController, MultiSensePointCloudProvider, SimoxCSpaceVisualizerWidgetController, KinectV2PointCloudProvider, OpenNIPointCloudProvider, EmergencyStopMaster, TCPControlUnit, ConditionHandler, KinematicUnitWidgetController, GraspingManager, FTSensorCalibrationGuiWidgetController, DeepFaceRecognition, PointCloudAndImageProcessor, EventSenderOverview, SceneModifier, ObjectLocalizationSaliency, RemoteGuiExample2, ImageToPointCloud, RTABMapRegistration, SimpleRobotPlacement, RobotStateComponent, WorkerNode, ReflexCombination, StereoImagePointCloudProvider, Simulator, LocalTimeServer, ArmarXPlotter, KinectV1PointCloudProvider, ArmarXSimulatorWindow, LaserScannerSimulation, CollisionCheckerComponent, CartographerMappingAndLocalization, ManagerNode, Viewer3DWidget, DebugDrawerComponent, AffordanceExtraction, PriorEditorController, XMLStateComponent, ATINetFTUnit, AffordancePipelineVisualization, ViewSelection, RobotHealth, SimulatorControlController, IntelRealSenseProvider, TopicRecorderComponent, FrameTracking, MMMSimulation, OrientedTactileSensorUnit, MotionPlanningServer, RemoteObjectNode, ArmarXTimeserver, DSObstacleAvoidance, SystemStateMonitorWidget, FakePointCloudProvider, RobotTrajectoryDesignerGuiPluginWidgetController, PlatformUnitWidget, RemoteState, ObjectLocalizationMemoryUpdater, UserAssistedSegmenterGuiWidgetController, AffordancePipelineGuiWidgetController, ExternalApplicationManager, HokuyoLaserUnit, MotionPlanningServerWidgetController, ClockWidgetController, SkillProviderExample, TrajectoryControllerSubUnit, SickLaserUnit, UCLObjectRecognition, ViewSelectionWidgetController, SemanticRelationViewerWidgetController, TCPMover, PrimitiveExtractionWidgetController, DHParameterOptimizationLogger, RobotIKWidgetController, RemoteGuiWidgetController, XMLSceneImporter, PrimitiveVisualization, SimpleGraspGenerator, ScenarioManagerWidgetController, SnapshotControlWidgetController, PointCloudVisualizationWidgetController, TopicReplayerWidgetController, NaturalIKTest, PointCloudUtility, CartographerMapRegistration, OptoForceUnit, ArVizWidgetController, GridFSFileEditorWidgetController, AzureKinectPointCloudProvider, FunctionApproximator, ObjectLocalizationRequesterWidgetController, HumanObstacleDetection, SelfLocalization, ThreadList, GuiHealthClientWidgetController, RobotUnitPluginWidgetController, RobotViewerWidgetController, GraphNodePoseResolver, MMMPlayerWidget, PlannedMotionProvider, LaserScannerSelfLocalisationWidgetController, LoadObjectsIntoMemoryWidgetController, RCPointCloudProvider, ShapesSupportRelations, KinematicSelfLocalization, SimpleStatechartExecutor, MessageDisplayPluginWidgetController, PathPlanner, IceProxyWidgetController, HomogeneousMatrixCalculatorWidgetController, LaserScannerPluginWidgetController, EntityDrawerComponent, ThreadViewer, WriteToDebugObserverGuiPluginWidgetController, WorkingMemoryToArViz, ClutteredSceneGeneratorWidgetController, OpenPoseSimulation, MMMPlayer, IceGridViewer, ArMemMemoryViewerWidgetController, GraspCandidateViewerWidgetController, DummyObjectLocalizer, WorkingMemoryObjectPoseProvider, ArmarXFileLogger, DebugPlotterWidgetWidgetController, SkillsMemory, HandUnitWidget, RobotStateMemory, GamepadControlUnit, HandUnit, KinematicUnit, GamepadUnit, SceneEditorConfigDialog, SemanticRelationAnalyzer, LaserScannerFeatureExtraction, PlatformUnit, RobotPoseUnit, DebugRobotUnitDataStreamingWidgetController, SimoxSceneImporter, Component, ArVizExample, RobotHealthDummy, DebugDrawerViewerWidgetController, DummyAgentReporter, AbstractWorkingMemory, OLPEvaluation, ObjectMemory, ObjectPoseGuiWidgetController, ArmarXPhysicsWorldVisualization, ForceTorqueUnit, LogViewer, CommonStorage, PythonApplicationManager, ExampleMemory, DummyArMarkerLocalizer, RobotHandLocalizationDynamicSimulation, GraspingManagerTest, TopicReplayer, DynamicObstacleManager, CommonPlacesTester, SemanticGraphStorage, ViconMarkerProvider, RemoteGuiProvider, RobotToArViz, TopicTimingClient, BoxToGraspCandidatesWidgetController, PriorKnowledgeImporter, LaserScannerObstacleDetection, MotionPlanningServerConfigDialog, MemoryNameSystem, DummyTextToSpeech, ObjectPoseProviderExample, MetaWearIMU, StaticAgentReporter, DebugDrawerGuiPluginWidgetController, ProfilerStorage, ImageRecorderWidgetController, WorkerNode, ExampleMemoryClient, HapticUnitWidget, DummyWorldStateObserver, WorkingMemoryUpdater, FakeWorkingMemoryObjectLocalizer, LegacyRobotStateMemoryAdapter, DebugDrawerToArVizComponent, ArVizDrawerGuiWidgetController, SkillManagerMonitorWidgetController, ArMarkerExternalCameraCalibration, ArticulatedObjectLocalizerDynamicSimulation, PingLoadTest, KITProstheticHandObserver, RobotNameService, StatechartExecutorExample, InertialMeasurementUnit, AffordanceUpdateListener, SimulatorToArviz, HapticUnit, HeadIKUnit, TCPControllerSubUnit, DynamicRemoteState, GeneralPurposeMemory, TopicTimingServer, ArVizStorage, ik_demo, MultiHandUnit, SemanticGraphExample, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, WorkingMemoryExample, PriorKnowledge, StateWatcher, CommonPlacesLearner, MemoryGrapher, SimpleEpisodicMemorySemanticGraphConnector, AStarPathPlannerTestComponent, WorldStateObserver, Component, GraspSelectionCriterionBase, GraspSelectionManager, ObserverWidgetController, IndexMemory, VirtualRobotReaderExampleClient, MotionMemory, ArmarXObjectsImporter, ArMemToImageProvider, ConditionViewerWidgetController, WorldStateUpdaterBase, SimulationObjectPoseProvider, SimpleEpisodicMemoryKinematicUnitConnector, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, PriorEditorConfigDialog, Component, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, AbstractLongtermMemory, Component, EmergencyStopWidget, GraspMemory, PlatformUnitConfigDialog, SimpleEpisodicMemory, SimpleEpisodicMemoryPlatformUnitConnector, VisionMemory, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, GraspControlSkillProvider, HandUnitConfigDialog, KinematicUnitConfigDialog, TCPMoverConfigDialog, SimpleEpisodicMemoryWorkingMemoryConnector, MMMPlayerConfigDialog, LocalizationUnit, BringObjectSkillProvider, StaticPlotterWidgetController, HumanMemory, ExternalApplicationManagerStarter, ArticulatedObjectLocalizerExample, SystemStateMemory, Component, VirtualRobotWriterExample, RobotControlUI, ReasoningMemory, AronComponentConfigExample, ExternalApplicationManagerDependency, Receiver, SimpleVirtualRobot, CommonStorageExample, JsonStorage, GraspProviderExample, ViewSelectionConfigDialog, UserAssistedSegmenterConfigDialog, StatechartListener, ObjectMemoryEditor, ModuleBase, RobotUnitEmergencyStopMaster, PointCloudAndImageProvider, NJointControllerBase, StreamReceiver, ObjectShapeClassification, OptoForce, SimpleEpisodicMemoryOpenPoseEstimationConnector, and ResultImageAndPointCloudProvider.

◆ postOnConnectComponent()

virtual void postOnConnectComponent ( )
inlineprotectedvirtual

Definition at line 556 of file ManagedIceObject.h.

◆ postOnDisconnectComponent()

virtual void postOnDisconnectComponent ( )
inlineprotectedvirtual

Definition at line 567 of file ManagedIceObject.h.

◆ postOnExitComponent()

virtual void postOnExitComponent ( )
inlineprotectedvirtual

Definition at line 574 of file ManagedIceObject.h.

◆ postOnInitComponent()

virtual void postOnInitComponent ( )
inlineprotectedvirtual

Definition at line 544 of file ManagedIceObject.h.

◆ preambleGetTopic()

void preambleGetTopic ( std::string const &  name)

Definition at line 312 of file ManagedIceObject.cpp.

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◆ preOnConnectComponent()

virtual void preOnConnectComponent ( )
inlineprotectedvirtual

Reimplemented in Component.

Definition at line 555 of file ManagedIceObject.h.

◆ preOnDisconnectComponent()

virtual void preOnDisconnectComponent ( )
inlineprotectedvirtual

Definition at line 566 of file ManagedIceObject.h.

◆ preOnExitComponent()

virtual void preOnExitComponent ( )
inlineprotectedvirtual

Definition at line 573 of file ManagedIceObject.h.

◆ preOnInitComponent()

virtual void preOnInitComponent ( )
inlineprotectedvirtual

Reimplemented in Component.

Definition at line 543 of file ManagedIceObject.h.

◆ removeProxyDependency()

bool removeProxyDependency ( const std::string &  name)
protected

This function removes the dependency of this object on the in parameter name specified object.

Parameters
namename of the depedency proxy
Returns
returns true if depedency was found and removed false if dependency does not exist

Definition at line 326 of file ManagedIceObject.cpp.

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◆ setMetaInfo()

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.

Parameters
idId and description of the meta information.
valueValue to be stored. Should only be basic types and strings.

Definition at line 749 of file ManagedIceObject.cpp.

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◆ setName()

void setName ( std::string  name)
protected

Override name of well-known object.

Definition at line 426 of file ManagedIceObject.cpp.

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◆ startPeriodicTask()

void startPeriodicTask ( const std::string &  uniqueName,
std::function< void(void)>  f,
int  periodMs,
bool  assureMeanInterval = false,
bool  forceSystemTime = true 
)

Definition at line 767 of file ManagedIceObject.cpp.

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◆ stopPeriodicTask()

bool stopPeriodicTask ( const std::string &  name)

Definition at line 779 of file ManagedIceObject.cpp.

◆ terminate()

void terminate ( )
protected

Initiates termination of this IceManagedObject.

Returns immediately.

Definition at line 420 of file ManagedIceObject.cpp.

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◆ unsubscribeFromTopic()

bool unsubscribeFromTopic ( const std::string &  name)

Unsubscribe from a topic.

Parameters
nameName of the topic
Returns
True if the ManagedIceObject was subscribed before, false otherwise.

Definition at line 271 of file ManagedIceObject.cpp.

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◆ usingProxy()

bool usingProxy ( const std::string &  name,
const std::string &  endpoints = "" 
)

Registers a proxy for retrieval after initialization and adds it to the dependency list.

This ManagedIceObject won't start (onConnectComponent()) until this proxy is avaiable.

Parameters
nameProxy name
endpointsSpecific endpoints, e.g. tcp ‑p 10002
Returns
returns true if new dependency, else false

Definition at line 151 of file ManagedIceObject.cpp.

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◆ usingTopic()

void usingTopic ( const std::string &  name,
bool  orderedPublishing = false 
)

Registers a proxy for subscription after initialization.

Parameters
nameTopic name
See also
unsubscribeFromTopic()

Definition at line 248 of file ManagedIceObject.cpp.

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◆ waitForObjectScheduler()

void waitForObjectScheduler ( )

Waits until the ObjectScheduler could resolve all dependencies.

Definition at line 744 of file ManagedIceObject.cpp.

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◆ waitForProxy()

void waitForProxy ( std::string const &  name,
bool  addToDependencies 
)

Definition at line 174 of file ManagedIceObject.cpp.

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Friends And Related Function Documentation

◆ ArmarXManager

friend class ArmarXManager
friend

Definition at line 216 of file ManagedIceObject.h.

◆ ArmarXObjectScheduler

friend class ArmarXObjectScheduler
friend

Definition at line 215 of file ManagedIceObject.h.

◆ Component

friend class Component
friend

Definition at line 171 of file ManagedIceObject.h.

◆ ManagedIceObjectPlugin

friend class ManagedIceObjectPlugin
friend

Definition at line 172 of file ManagedIceObject.h.

Field Documentation

◆ NullPtr

const ManagedIceObjectPtr NullPtr
static

A nullptr to be used when a const ref to a nullptr is required.

Definition at line 224 of file ManagedIceObject.h.


The documentation for this class was generated from the following files:
armarx::ManagedIceObject::usingTopic
void usingTopic(const std::string &name, bool orderedPublishing=false)
Registers a proxy for subscription after initialization.
Definition: ManagedIceObject.cpp:248
armarx::ManagedIceObject::offeringTopic
void offeringTopic(const std::string &name)
Registers a topic for retrival after initialization.
Definition: ManagedIceObject.cpp:290
armarx::ManagedIceObject::usingProxy
bool usingProxy(const std::string &name, const std::string &endpoints="")
Registers a proxy for retrieval after initialization and adds it to the dependency list.
Definition: ManagedIceObject.cpp:151