ManagedIceObject Class Reference

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], ComponentPluginUser [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], ComponentPluginUser [virtual], NJointControllerBase [virtual], ObjectPoseClientPluginUser [virtual], ObjectPoseProviderPluginUser [virtual], PlannedMotionProviderComponentPluginUser [virtual], PlatformUnitComponentPluginUser [virtual], PlatformUnitConfigDialog [virtual], PointCloudVisualizationConfigDialog [virtual], PrimitiveExtractionConfigDialog [virtual], RemoteGuiComponentPluginUser [virtual], RemoteState [virtual], RobotNameServiceComponentPluginUser [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].

Classes
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 LogSenderPtr &	getLogSender () 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 163 of file ManagedIceObject.h.

Member Typedef Documentation

PeriodicTaskPtr

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

Definition at line 217 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 182 of file ManagedIceObject.h.

addPlugin() [2/3]

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

inlineprotected

Definition at line 198 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 205 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

subObjectName

The 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

superObjectName	The name of the super object (has to be unique)
subObjectName	The 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, EmergencyStopMaster, RemoteStateOfferer< ContextType >, WorkingMemoryController, TrajectoryControllerSubUnit, PrimitiveExtractor, KBMComponent, DenseCRFSegmentationProcessor, 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, OpenNIPointCloudProvider, Component, MaskRCNNPointCloudObjectLocalizer, LaserScannerSimulation, RTABMapRegistration, ObjectLearningByPushing, GraspingManager, ViewSelection, HokuyoLaserUnit, RGBDHandLocalizer, FrameTracking, MotionPlanningServer, RemoteObjectNode, RemoteState, ObjectMemoryObserver, CollisionCheckerComponent, AffordanceExtraction, VisualContactDetection, BigBowlLocalization, AzureKinectPointCloudProvider, CropRobotFromImage, IntelRealSenseProvider, SegmentableObjectRecognition, KinectV2PointCloudProvider, OpticalFlow, TrajectoryPlayer, ObjectLocalizationMemoryUpdater, ImageToPointCloud, ObjectLocalizationSaliency, ImageSourceSelection, MultiSensePointCloudProvider, ResultImageFuser, VoxelGridMappingProvider, ThreadList, PointCloudVisualization, AffordancePipelineVisualization, StereoCameraProvider, BlobRecognition, XMLSceneImporter, StreamProviderI, MMMSimulation, Component, SystemObserver, ValveAttention, KLGImageProvider, TexturedObjectRecognition, FlyCaptureImageProvider, ImageSequenceProvider, TCPControllerSubUnit, ImageProviderDynamicSimulation, ATINetFTUnit, SimpleRobotPlacement, NaturalIKTest, MaskFilterPointCloudProcessor, CoupledInteractionGroupStatechartContext, KinectAndCameraCalibration, PrimitiveVisualization, OptoForceUnit, StatechartEventDistributor, KinematicUnitObserver, ColorMarkerObjectLocalizer, RCPointCloudProvider, RobotHandLocalizationDynamicSimulation, FunctionApproximator, PlatformUnitObserver, EntityDrawerComponent, TrackingError, PointCloudFilter, PointCloudRecorder, SimpleStatechartExecutor, HumanObstacleDetection, RCImageProvider, MotionPlanningServerConfigDialog, ExternalApplicationManager, RobotStateComponent, CalibrationCreator, PointCloudToArViz, KinematicSelfLocalization, LaserScannerFeatureExtraction, BlurrinessMetric, RobotHandLocalizationWithFingertips, UCLObjectRecognition, KinectV1PointCloudProvider, PointCloudUtility, ObjectLocalizerDynamicSimulation, HandMarkerLocalization, StereoImagePointCloudProvider, KinematicUnit, Component, LaserScannerPointCloudProvider, RobotPoseUnitDynamicSimulation, BringObjectGroupStatechartContext, DHParameterOptimizationLogger, SimpleGraspGenerator, ArVizExample, GamepadControlUnit, SimoxSceneImporter, OpenCVImageStabilizer, StreamDecoderImageProvider, MMMPlayer, GamepadUnit, RobotStateObserver, CommonStorage, DummyObjectLocalizer, AbstractWorkingMemory, FakePointCloudProvider, OrientedTactileSensorUnit, XsensIMU, WorkingMemory, SceneEditorConfigDialog, AzureKinectIRImageProvider, ArmarXPhysicsWorldVisualization, AStarPathPlannerTestComponent, WorkerNode, ArMarkerLocalizerOpenCV, SemanticRelationAnalyzer, ForceTorqueObserver, ForceTorqueUnit, HandUnit, DeepFaceRecognition, LabeledPointCloudMerger, SegmentRansacShapeExtractor, HandUnitDynamicSimulation, DebugObserver, ObjectMemory, HeadIKUnit, PlatformUnit, PrimitiveExtractionParameterTuning, LocalTimeServer, RobotPoseUnit, CommonPlacesTester, DummyAgentReporter, WorkingMemoryObjectPoseProvider, OLPEvaluation, PlaybackImageProvider, FaceRecognition, EfficientRANSACPrimitiveExtractor, ShapesSupportRelations, RobotStateMemory, RobotHealthDummy, WorkingMemoryToArViz, PriorKnowledgeImporter, IMUSimulation, Component, PythonApplicationManager, DSObstacleAvoidance, CyberGloveObserver, KITProstheticHandUnit, RobotToArViz, OpenPoseSimulation, SimpleEpisodicMemoryImageConnector, MultiViewPointCloudProcessor, SegmentAABBShapesProvider, SegmentSpatialRelations, ForceTorqueUnitDynamicSimulation, KinematicUnitDynamicSimulation, Component, Component, RobotStatechartContext, LongtermMemory, DummyArMarkerLocalizer, ArMarkerLocalizer, MultiImageProvider, MotionControlGroupStatechartContext, PlannedMotionProvider, DynamicRemoteState, EmergencyStopWidget, RemoteGuiProvider, TopicTimingClient, InertialMeasurementUnitObserver, Component, UserAssistedSegmenter, FakeWorkingMemoryObjectLocalizer, PlatformContext, Component, DebugDrawerToArVizComponent, DummyTextToSpeech, RobotHealth, ForceTorqueUnitSimulation, GamepadUnitObserver, OptoForceUnitObserver, MetaWearIMU, GraphNodePoseResolver, ArMarkerExternalCameraCalibration, WebCamImageProvider, HandGroupStatechartContext, StaticAgentReporter, RTUnit, ArmarXTimeserver, PingLoadTest, BatteryWidget, SkillsMemory, DynamicObstacleManager, StatechartExecutorExample, HapticUnit, OrientedTactileSensorUnitObserver, SelfLocalizationDynamicSimulation, SimulatorToArviz, Component, KITHandUnit, LaserScannerUnitObserver, DummyWorldStateObserver, PriorEditorConfigDialog, SemanticGraphStorage, ArticulatedObjectLocalizerDynamicSimulation, Component, StateWatcher, TopicTimingServer, SpeechObserver, FilterKnownObjects, PointCloudToArMem, GraspingManagerTest, Component, KITProstheticHandObserver, SkillProviderExample, GraspCandidateObserver, TCPControlUnitObserver, WorkingMemoryExample, PriorKnowledge, AffordanceUpdateListener, DepthImageProviderDynamicSimulation, LaserScannerObstacleDetection, ObjectInstanceToIndex, ArVizStorage, MultiHandUnit, InertialMeasurementUnit, CommonPlacesLearner, ProfilerStorage, SemanticGraphExample, Component, TopicReplayer, ExampleMemoryClient, ObjectPoseProviderExample, WorldStateObserver, Component, ObjectPoseClientExample, HandUnitSimulation, MetaWearIMUObserver, AStarPathPlanner, Component, GraspablePredicateProvider, PlatformUnitConfigDialog, Component, MemoryGrapher, SimulatorTimeServerProxy, Component, ArmarXFileLogger, SimpleEpisodicMemorySemanticGraphConnector, PlatformUnitDynamicSimulation, Component, VirtualRobotReaderExampleClient, LaserScansMemory, RobotDefinition, PutAwayLocationPredicateProvider, HumanMemory, ExampleMemory, GeneralPurposeMemory, MotionMemory, ik_demo, RobotNameService, AgentAtPredicateProvider, ObjectAtPredicateProvider, ImageToArMem, ArMemToImageProvider, Component, GraspSelectionManager, Component, Component, MemoryNameSystem, ArmarXObjectsImporter, AbstractLongtermMemory, HandControlSkillProvider, PlatformControlSkillProvider, ProfilerObserver, SubjectMemory, HandPredicateProvider, VisionMemory, VideoFileImageProvider, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, IndexMemory, SimpleEpisodicMemoryOpenPoseEstimationConnector, PersonMemoryDebugger, LegacyRobotStateMemoryAdapter, HandUnitConfigDialog, KinematicUnitConfigDialog, TCPMoverConfigDialog, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, DummyCriterion, NaturalGraspFilter, PlatformUnitSimulation, GraspControlSkillProvider, MMMPlayerConfigDialog, ExternalApplicationManagerStarter, LocalizationUnit, SimpleEpisodicMemory, SimpleEpisodicMemoryWorkingMemoryConnector, StatechartPerformanceTest, ArmarXComponentWidgetController, Component, BringObjectSkillProvider, SimpleEpisodicMemoryPlatformUnitConnector, ArticulatedObjectLocalizerExample, RGBDPoseEstimationWithMemoryWriter, SimulationObjectPoseProvider, ExternalApplicationManagerDependency, VirtualRobotWriterExample, SystemStateMemory, AronComponentConfigExample, OnTopPredicateProvider, PersonInstanceUpdater, ArMemToPointCloudProvider, TimeoutExample, RobotControlUI, RobotUnitObserver, ObjectLearningByPushingObserver, VisualContactDetectionObserver, SimpleEpisodicMemoryKinematicUnitConnector, ClientState, ReasoningMemory, ViewSelectionConfigDialog, Component, JsonStorage, OnTablePredicateProvider, Component, StateParameterExample, GraspMemory, Receiver, SimpleVirtualRobot, CommonStorageExample, KinectAndCameraCalibrationObserver, LegacyRGBOpenPoseEstimation, LegacyRGBDOpenPoseEstimation, RGBDOpenPoseEstimation, GraspProviderExample, StatechartListener, UserAssistedSegmenterConfigDialog, ObjectMemoryEditor, X11ScreenCaptureImageProvider, DiagnosticsSubUnit, 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 379 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

name	Proxy name, e.g. Log
addToDependencies	If true, this proxy is added to the dependency list and this function won't return until the proxy becomes available.
endpoints	The endpoints, e.g. tcp ‑p 10002
throwOnProxyError	If true, throws Exception on any proxy error. If false, just returns zero pointer.

Exceptions

LocalException

Throws 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 329 of file ManagedIceObject.h.

getProxy() [3/9]

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

inline

Definition at line 367 of file ManagedIceObject.h.

getProxy() [4/9]

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

inline

Definition at line 373 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 361 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

timeoutMs

Timeout 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 263 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 387 of file ManagedIceObject.h.

getProxy() [9/9]

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

inline

Definition at line 268 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

name	Topic name

Returns

Topic proxy of the type TopicProxyType

Definition at line 451 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

topicProxy	The topic proxy to be assigned.
name	Topic name

See also

getTopic<>()

Definition at line 470 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

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

Definition at line 563 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, PointCloudProvider, TrajectoryPlayer, LaserScannerSelfLocalisation, SimoxCSpaceVisualizerWidgetController, OpenNIPointCloudProvider, CoFusionProcessor, ImageProvider, WorkingMemoryController, MultiSensePointCloudProvider, PointCloudAndImageProcessor, GraspingManagerTest, StatechartEditorController, KinectV2PointCloudProvider, GraspingManager, RTABMapRegistration, Component, ObjectLocalizationSaliency, TCPControlUnit, KinematicUnitWidgetController, ImageToPointCloud, SimpleRobotPlacement, ReflexCombination, RemoteGuiExample2, FTSensorCalibrationGuiWidgetController, WorkerNode, SceneModifier, LaserScannerSimulation, CollisionCheckerComponent, ManagerNode, AffordanceExtraction, ATINetFTUnit, AffordancePipelineVisualization, KinectV1PointCloudProvider, StereoImagePointCloudProvider, Simulator, ViewSelection, HokuyoLaserUnit, ArmarXPlotter, DSObstacleAvoidance, FrameTracking, ArmarXSimulatorWindow, MMMSimulation, DebugDrawerComponent, ArmarXTimeserver, PriorEditorController, MotionPlanningServer, RemoteObjectNode, SimulatorControlController, TopicRecorderComponent, SystemStateMonitorWidget, AzureKinectPointCloudProvider, DHParameterOptimizationLogger, SkillsMemory, FakePointCloudProvider, PrimitiveVisualization, SimpleGraspGenerator, PlatformUnitWidget, PointCloudUtility, RobotHealth, OptoForceUnit, FunctionApproximator, SelfLocalization, SensorActorUnit, GraphNodePoseResolver, PlannedMotionProvider, ExternalApplicationManager, NaturalIKTest, KinematicSelfLocalization, ScenarioManagerWidgetController, RobotIKWidgetController, TCPMover, OpenPoseSimulation, GamepadControlUnit, HumanObstacleDetection, MMMPlayer, LaserScannerFeatureExtraction, GamepadUnit, RobotUnitPluginWidgetController, DummyObjectLocalizer, ShapesSupportRelations, RobotHealthDummy, SceneEditorConfigDialog, SemanticRelationAnalyzer, ArVizWidgetController, RobotViewerWidgetController, DummyAgentReporter, OLPEvaluation, MMMPlayerWidget, ThreadViewer, PlatformUnit, WorkingMemoryObjectPoseProvider, RCPointCloudProvider, HandUnit, RobotPoseUnit, SimpleStatechartExecutor, EntityDrawerComponent, IceGridViewer, GraspCandidateViewerWidgetController, WorkingMemoryToArViz, DummyArMarkerLocalizer, ViconMarkerProvider, Component, RemoteGuiProvider, DepthImageProviderDynamicSimulation, DummyTextToSpeech, MetaWearIMU, StaticAgentReporter, Component, DebugPlotterWidgetWidgetController, HandUnitWidget, ProfilerStorage, DummyWorldStateObserver, FakeWorkingMemoryObjectLocalizer, RobotStateMemory, KinematicUnit, DebugDrawerViewerWidgetController, Base, ArVizExample, KITProstheticHandObserver, InertialMeasurementUnit, DebugRobotUnitDataStreamingWidgetController, AffordanceUpdateListener, SemanticGraphStorage, Component, Component, ObjectMemory, RobotToArViz, TopicTimingClient, Component, MemoryNameSystem, ObjectPoseProviderExample, ArmarXPhysicsWorldVisualization, Component, ForceTorqueUnit, ArticulatedObjectLocalizerDynamicSimulation, PythonApplicationManager, LogViewer, LegacyRobotStateMemoryAdapter, ExampleMemory, DebugDrawerToArVizComponent, CommonStorage, ArMarkerExternalCameraCalibration, RobotHandLocalizationDynamicSimulation, Component, PingLoadTest, DynamicObstacleManager, StatechartExecutorExample, ImageRecorderWidgetController, SimulatorToArviz, RobotDefinition, LaserScannerObstacleDetection, Component, GeneralPurposeMemory, RobotNameService, TopicTimingServer, Component, Component, ArVizStorage, ik_demo, Component, ExampleMemoryClient, Component, MultiHandUnit, WorkingMemoryUpdater, SemanticGraphExample, WorkerNode, HapticUnitWidget, LaserScansMemory, MemoryGrapher, PersonMemoryDebugger, SimpleEpisodicMemorySemanticGraphConnector, HeadIKUnit, Component, Component, Component, HapticUnit, AStarPathPlannerTestComponent, SkillProviderExample, ArmarXObjectsImporter, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, SimulationObjectPoseProvider, SimpleEpisodicMemoryKinematicUnitConnector, ArmarXFileLogger, CommonPlacesLearner, ObserverWidgetController, IndexMemory, Component, VirtualRobotReaderExampleClient, MotionMemory, SimpleEpisodicMemoryPlatformUnitConnector, ConditionViewerWidgetController, HumanMemory, Component, PersonInstanceUpdater, SimpleEpisodicMemoryWorkingMemoryConnector, SimpleEpisodicMemory, ArMemToImageProvider, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, VisionMemory, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, Component, GraspMemory, Receiver, GraspControlSkillProvider, Component, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, KinematicUnitConfigDialog, MMMPlayerConfigDialog, AronComponentConfigExample, Component, BringObjectSkillProvider, ExternalApplicationManagerStarter, ArticulatedObjectLocalizerExample, SystemStateMemory, VirtualRobotWriterExample, ExternalApplicationManagerDependency, ReasoningMemory, RobotControlUI, SimpleVirtualRobot, JsonStorage, GraspProviderExample, ViewSelectionConfigDialog, UserAssistedSegmenterConfigDialog, ObjectMemoryEditor, ModuleBase, PointCloudAndImageProvider, NJointControllerBase, IntelRealSenseProvider, StreamReceiver, OptoForce, and ResultImageAndPointCloudProvider.

Definition at line 570 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, EmergencyStopNode< T >, RobotIK, ImageProcessor, SceneEditorMainWindowController, DMPComponent, GraphVisualizerWidget, PointCloudProvider, SimpleConfigDialog, TrajectoryPlayer, OpenNIPointCloudProvider, CoFusionProcessor, WorkingMemoryController, EmergencyStopMaster, LaserScannerSelfLocalisation, TrajectoryControllerSubUnit, ImageProvider, WorkingMemoryController, StatechartEditorController, MultiSensePointCloudProvider, SimoxCSpaceVisualizerWidgetController, KinectV2PointCloudProvider, TCPControlUnit, ConditionHandler, KinematicUnitWidgetController, Component, GraspingManager, FTSensorCalibrationGuiWidgetController, DeepFaceRecognition, PointCloudAndImageProcessor, EventSenderOverview, SceneModifier, ObjectLocalizationSaliency, RemoteGuiExample2, ImageToPointCloud, RTABMapRegistration, SimpleRobotPlacement, RobotStateComponent, WorkerNode, ReflexCombination, StereoImagePointCloudProvider, Simulator, LocalTimeServer, ArmarXPlotter, KinectV1PointCloudProvider, ArmarXSimulatorWindow, LaserScannerSimulation, CollisionCheckerComponent, ManagerNode, Viewer3DWidget, DebugDrawerComponent, AffordanceExtraction, PriorEditorController, XMLStateComponent, ATINetFTUnit, AffordancePipelineVisualization, ViewSelection, HokuyoLaserUnit, SimulatorControlController, IntelRealSenseProvider, TopicRecorderComponent, FrameTracking, MMMSimulation, OrientedTactileSensorUnit, WidgetController, MotionPlanningServer, AzureKinectPointCloudProvider, RemoteObjectNode, ArmarXTimeserver, DSObstacleAvoidance, SystemStateMonitorWidget, FakePointCloudProvider, RobotTrajectoryDesignerGuiPluginWidgetController, PlatformUnitWidget, RemoteState, ObjectLocalizationMemoryUpdater, UserAssistedSegmenterGuiWidgetController, SkillsMemory, AffordancePipelineGuiWidgetController, MotionPlanningServerWidgetController, ClockWidgetController, UCLObjectRecognition, ViewSelectionWidgetController, SemanticRelationViewerWidgetController, TCPMover, PrimitiveExtractionWidgetController, DHParameterOptimizationLogger, RobotIKWidgetController, ExternalApplicationManager, CartesianNaturalPositionControllerWidgetController, RemoteGuiWidgetController, XMLSceneImporter, PrimitiveVisualization, SimpleGraspGenerator, ScenarioManagerWidgetController, SnapshotControlWidgetController, PointCloudVisualizationWidgetController, SelfLocalization, TopicReplayerWidgetController, NaturalIKTest, PointCloudUtility, RobotHealth, OptoForceUnit, ArVizWidgetController, GridFSFileEditorWidgetController, FunctionApproximator, ObjectLocalizationRequesterWidgetController, HumanObstacleDetection, ThreadList, GuiHealthClientWidgetController, RobotUnitPluginWidgetController, RobotViewerWidgetController, GraphNodePoseResolver, MMMPlayerWidget, PlannedMotionProvider, LaserScannerSelfLocalisationWidgetController, LaserScannerFeatureExtraction, LoadObjectsIntoMemoryWidgetController, RCPointCloudProvider, ShapesSupportRelations, KinematicSelfLocalization, SimpleStatechartExecutor, MessageDisplayPluginWidgetController, PathPlanner, IceProxyWidgetController, HomogeneousMatrixCalculatorWidgetController, LaserScannerPluginWidgetController, EntityDrawerComponent, ThreadViewer, WriteToDebugObserverGuiPluginWidgetController, WorkingMemoryToArViz, ClutteredSceneGeneratorWidgetController, OpenPoseSimulation, DepthImageProviderDynamicSimulation, GamepadControlUnit, MMMPlayer, IceGridViewer, GamepadUnit, ArMemMemoryViewerWidgetController, GraspCandidateViewerWidgetController, DummyObjectLocalizer, WorkingMemoryObjectPoseProvider, DebugPlotterWidgetWidgetController, RobotHealthDummy, HandUnitWidget, HandUnit, KinematicUnit, SceneEditorConfigDialog, SemanticRelationAnalyzer, RobotStateMemory, PlatformUnit, RobotPoseUnit, TCPControllerSubUnit, DebugRobotUnitDataStreamingWidgetController, SimoxSceneImporter, Component, Component, ArVizExample, DebugDrawerViewerWidgetController, DummyAgentReporter, AbstractWorkingMemory, OLPEvaluation, ObjectMemory, ArmarXPhysicsWorldVisualization, Component, ForceTorqueUnit, LogViewer, CommonStorage, PythonApplicationManager, ExampleMemory, ObjectPoseGuiWidgetController, DummyArMarkerLocalizer, RobotHandLocalizationDynamicSimulation, GraspingManagerTest, TopicReplayer, DynamicObstacleManager, CommonPlacesTester, SemanticGraphStorage, ViconMarkerProvider, Component, RemoteGuiProvider, RobotToArViz, TopicTimingClient, BoxToGraspCandidatesWidgetController, PriorKnowledgeImporter, LaserScannerObstacleDetection, MotionPlanningServerConfigDialog, Component, MemoryNameSystem, DummyTextToSpeech, ObjectPoseProviderExample, MetaWearIMU, StaticAgentReporter, Base, Component, DebugDrawerGuiPluginWidgetController, ProfilerStorage, ImageRecorderWidgetController, WorkerNode, ExampleMemoryClient, Component, HapticUnitWidget, DummyWorldStateObserver, WorkingMemoryUpdater, ArticulatedObjectLocalizerDynamicSimulation, FakeWorkingMemoryObjectLocalizer, LegacyRobotStateMemoryAdapter, DebugDrawerToArVizComponent, ArVizDrawerGuiWidgetController, SkillManagerMonitorWidgetController, ArMarkerExternalCameraCalibration, Component, PingLoadTest, KITProstheticHandObserver, StatechartExecutorExample, InertialMeasurementUnit, AffordanceUpdateListener, SimulatorToArviz, HapticUnit, HeadIKUnit, Component, DynamicRemoteState, GeneralPurposeMemory, TopicTimingServer, Component, Component, ArVizStorage, ik_demo, Component, MultiHandUnit, SkillProviderExample, SemanticGraphExample, ObjectLocalizerDynamicSimulation, StatechartViewerController, ObjectInstanceToIndex, ObjectPoseClientExample, WorkingMemoryExample, PriorKnowledge, EmergencyStopWidget, StateWatcher, LaserScansMemory, CommonPlacesLearner, MemoryGrapher, PersonMemoryDebugger, SimpleEpisodicMemorySemanticGraphConnector, AStarPathPlannerTestComponent, ArmarXFileLogger, RobotDefinition, WorldStateObserver, Component, GraspSelectionCriterionBase, GraspSelectionManager, Component, Component, ObserverWidgetController, RobotNameService, BatteryWidget, IndexMemory, VirtualRobotReaderExampleClient, MotionMemory, ArmarXObjectsImporter, ConditionViewerWidgetController, WorldStateUpdaterBase, HumanMemory, SimulationObjectPoseProvider, SimpleEpisodicMemoryKinematicUnitConnector, ArMemToImageProvider, SimulatorTimeServerProxy, HandControlSkillProvider, PlatformControlSkillProvider, SubjectMemory, PriorEditorConfigDialog, VisionMemory, Component, JointControlSkillProvider, TCPControlSkillProvider, VisualSearchSkillProvider, VisualServoTCPControlSkillProvider, AbstractLongtermMemory, Component, GraspMemory, PlatformUnitConfigDialog, SimpleEpisodicMemory, SimpleEpisodicMemoryPlatformUnitConnector, PersonInstanceUpdater, AffordancePipelineGuiConfigDialog, PointCloudVisualizationConfigDialog, PrimitiveExtractionConfigDialog, GraspControlSkillProvider, HandUnitConfigDialog, KinematicUnitConfigDialog, TCPMoverConfigDialog, SimpleEpisodicMemoryWorkingMemoryConnector, MMMPlayerConfigDialog, LocalizationUnit, BringObjectSkillProvider, Component, StaticPlotterWidgetController, ExternalApplicationManagerStarter, ArticulatedObjectLocalizerExample, Component, SystemStateMemory, Receiver, Component, VirtualRobotWriterExample, RobotControlUI, ReasoningMemory, AronComponentConfigExample, ExternalApplicationManagerDependency, SimpleVirtualRobot, CommonStorageExample, JsonStorage, GraspProviderExample, ViewSelectionConfigDialog, UserAssistedSegmenterConfigDialog, StatechartListener, DiagnosticsSubUnit, ObjectMemoryEditor, ModuleBase, RobotUnitEmergencyStopMaster, PointCloudAndImageProvider, NJointControllerBase, StreamReceiver, NJointBimanualCCDMPController, ObjectShapeClassification, OptoForce, SimpleEpisodicMemoryOpenPoseEstimationConnector, and ResultImageAndPointCloudProvider.

postOnConnectComponent()

virtual void postOnConnectComponent ( )

inlineprotectedvirtual

Reimplemented in Base.

Definition at line 554 of file ManagedIceObject.h.

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postOnDisconnectComponent()

virtual void postOnDisconnectComponent ( )

inlineprotectedvirtual

Reimplemented in Base.

Definition at line 565 of file ManagedIceObject.h.

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postOnExitComponent()

virtual void postOnExitComponent ( )

inlineprotectedvirtual

Definition at line 572 of file ManagedIceObject.h.

postOnInitComponent()

virtual void postOnInitComponent ( )

inlineprotectedvirtual

Definition at line 542 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, and Base.

Definition at line 553 of file ManagedIceObject.h.

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preOnDisconnectComponent()

virtual void preOnDisconnectComponent ( )

inlineprotectedvirtual

Definition at line 564 of file ManagedIceObject.h.

preOnExitComponent()

virtual void preOnExitComponent ( )

inlineprotectedvirtual

Definition at line 571 of file ManagedIceObject.h.

preOnInitComponent()

virtual void preOnInitComponent ( )

inlineprotectedvirtual

Reimplemented in Component.

Definition at line 541 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

name	name 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

id	Id and description of the meta information.
value	Value 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

name	Name 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

name	Proxy name
endpoints	Specific 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

name	Topic 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 214 of file ManagedIceObject.h.

ArmarXObjectScheduler

friend class ArmarXObjectScheduler

friend

Definition at line 213 of file ManagedIceObject.h.

Component

friend class Component

friend

Definition at line 169 of file ManagedIceObject.h.

ManagedIceObjectPlugin

friend class ManagedIceObjectPlugin

friend

Definition at line 170 of file ManagedIceObject.h.

Member Data Documentation

NullPtr

const ManagedIceObjectPtr NullPtr

static

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

Definition at line 222 of file ManagedIceObject.h.

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

• ArmarXCore/core/ManagedIceObject.h
• ArmarXCore/core/ManagedIceObject.cpp