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NJointCartesianTorqueController Class Reference
The NJointCartesianTorqueController class. More...
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h>
Inheritance diagram for NJointCartesianTorqueController:Public Types | |
| using | ConfigPtrT = NJointCartesianTorqueControllerConfigPtr |
| Public Types inherited from NJointControllerWithTripleBuffer< NJointCartesianTorqueControllerControlData > | |
| using | LockGuardType = std::lock_guard< std::recursive_mutex > |
| using | MutexType = std::recursive_mutex |
| Public Types inherited from NJointControllerBase | |
| using | ConfigPtrT = NJointControllerConfigPtr |
| using | GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices) |
| template<class ConfigPrtType > | |
| using | GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &) |
| Public Types inherited from ManagedIceObject | |
| using | PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >> |
Public Member Functions | |
| void | callDescribedFunction (const std::string &name, const StringVariantBaseMap &valueMap, const Ice::Current &) override |
| std::string | getClassName (const Ice::Current &) const override |
| WidgetDescription::StringWidgetDictionary | getFunctionDescriptions (const Ice::Current &) const override |
| std::string | getNodeSetName () const |
| NJointCartesianTorqueController (RobotUnit *prov, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &) | |
| NJointCartesianTorqueController (RobotUnit *prov, NJointCartesianTorqueControllerConfigPtr config, const VirtualRobot::RobotPtr &r) | |
| void | rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override |
| TODO make protected and use attorneys. More... | |
| void | setControllerTarget (float forceX, float forceY, float forceZ, float torqueX, float torqueY, float torqueZ, const Ice::Current &) override |
| Public Member Functions inherited from NJointControllerWithTripleBuffer< NJointCartesianTorqueControllerControlData > | |
| NJointControllerWithTripleBuffer (const NJointCartesianTorqueControllerControlData &initialCommands=NJointCartesianTorqueControllerControlData()) | |
| void | rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override |
| Public Member Functions inherited from NJointControllerBase | |
| void | activateController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override |
| void | deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | deactivateController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | deleteController (const Ice::Current &=Ice::emptyCurrent) final override |
| const std::map< std::string, const JointController * > & | getControlDevicesUsedJointController () |
| const std::vector< char > & | getControlDeviceUsedBitmap () const |
| StringStringDictionary | getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override |
| const std::vector< std::size_t > & | getControlDeviceUsedIndices () const |
| NJointControllerDescription | getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override |
| NJointControllerDescriptionWithStatus | getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override |
| NJointControllerStatus | getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override |
| WidgetDescription::StringWidgetDictionary | getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override |
| std::string | getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override |
| std::optional< std::vector< char > > | isNotInConflictWith (const NJointControllerBasePtr &other) const |
| std::optional< std::vector< char > > | isNotInConflictWith (const std::vector< char > &used) const |
| NJointControllerBase () | |
| ConstControlDevicePtr | peekControlDevice (const std::string &deviceName) const |
| Get a const ptr to the given ControlDevice. More... | |
| ConstSensorDevicePtr | peekSensorDevice (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice. More... | |
| const std::string & | rtGetClassName () const |
| Returns the class name. More... | |
| const std::vector< std::size_t > & | rtGetControlDeviceUsedIndices () const |
| Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More... | |
| bool | rtGetErrorState () const |
| Sets the error state to true. More... | |
| const std::string & | rtGetInstanceName () const |
| Returns the instance name. More... | |
| std::size_t | rtGetNumberOfUsedControlDevices () const |
| Returns the number of used ControlDevices. More... | |
| const VirtualRobot::RobotPtr & | rtGetRobot () |
| TODO make protected and use attorneys. More... | |
| const std::vector< VirtualRobot::RobotNodePtr > & | rtGetRobotNodes () |
| Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More... | |
| bool | rtUsesControlDevice (std::size_t deviceIndex) const |
| Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More... | |
| ControlTargetBase * | useControlTarget (const std::string &deviceName, const std::string &controlMode) |
| Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More... | |
| template<class T > | |
| T * | useControlTarget (const std::string &deviceName, const std::string &controlMode) |
| Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More... | |
| template<class T > | |
| const T * | useSensorValue (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. More... | |
| const SensorValueBase * | useSensorValue (const std::string &sensorDeviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. More... | |
| const VirtualRobot::RobotPtr & | useSynchronizedRtRobot (bool updateCollisionModel=false) |
| Requests a VirtualRobot for use in rtRun *. More... | |
| ~NJointControllerBase () override | |
| Public Member Functions inherited from ManagedIceObject | |
| void | enableProfiler (bool enable) |
| setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More... | |
| std::string | generateSubObjectName (const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name. More... | |
| ArmarXManagerPtr | getArmarXManager () const |
| Returns the ArmarX manager used to add and remove components. More... | |
| ManagedIceObjectConnectivity | getConnectivity () const |
| Retrieve connectivity of the object (topcis as well as proxies) More... | |
| IceManagerPtr | getIceManager () const |
| Returns the IceManager. More... | |
| VariantBasePtr | getMetaInfo (const std::string &id) |
| StringVariantBaseMap | getMetaInfoMap () const |
| std::string | getName () const |
| Retrieve name of object. More... | |
| Ice::ObjectAdapterPtr | getObjectAdapter () const |
| Returns object's Ice adapter. More... | |
| ArmarXObjectSchedulerPtr | getObjectScheduler () const |
| PeriodicTaskPtr | getPeriodicTask (const std::string &name) |
| Profiler::ProfilerPtr | getProfiler () const |
| getProfiler returns an instance of armarx::Profiler More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args) |
| template<class ProxyType > | |
| ProxyType | getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Retrieves a proxy object. More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args) |
Assigns a proxy to proxy. More... | |
| Ice::ObjectPrx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| Returns the proxy of this object (optionally it waits for the proxy) More... | |
| template<class Prx > | |
| Prx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| template<class ProxyType > | |
| void | getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Overload to allow using string literals as name (solve ambiguous overload). More... | |
| template<class Prx > | |
| void | getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const |
| int | getState () const |
| Retrieve current state of the ManagedIceObject. More... | |
| template<class TopicProxyType > | |
| TopicProxyType | getTopic (const std::string &name) |
| Returns a proxy of the specified topic. More... | |
| template<class TopicProxyType > | |
| void | getTopic (TopicProxyType &topicProxy, const std::string &name) |
Assigns a proxy of the specified topic to topicProxy. More... | |
| std::vector< std::string > | getUnresolvedDependencies () const |
| returns the names of all unresolved dependencies More... | |
| ManagedIceObject (ManagedIceObject const &other) | |
| void | offeringTopic (const std::string &name) |
| Registers a topic for retrival after initialization. More... | |
| void | preambleGetTopic (std::string const &name) |
| void | setMetaInfo (const std::string &id, const VariantBasePtr &value) |
| Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More... | |
| void | startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true) |
| bool | stopPeriodicTask (const std::string &name) |
| bool | unsubscribeFromTopic (const std::string &name) |
| Unsubscribe from a topic. More... | |
| bool | usingProxy (const std::string &name, const std::string &endpoints="") |
| Registers a proxy for retrieval after initialization and adds it to the dependency list. More... | |
| void | usingTopic (const std::string &name, bool orderedPublishing=false) |
| Registers a proxy for subscription after initialization. More... | |
| void | waitForObjectScheduler () |
| Waits until the ObjectScheduler could resolve all dependencies. More... | |
| void | waitForProxy (std::string const &name, bool addToDependencies) |
| Public Member Functions inherited from Logging | |
| SpamFilterDataPtr | deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const |
| disables the logging for the current line for the given amount of seconds. More... | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More... | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
Static Public Member Functions | |
| ::armarx::WidgetDescription::HBoxLayoutPtr | createSliders () |
| static WidgetDescription::WidgetPtr | GenerateConfigDescription (const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &) |
| static NJointCartesianTorqueControllerConfigPtr | GenerateConfigFromVariants (const StringVariantBaseMap &values) |
| Static Public Member Functions inherited from NJointControllerBase | |
| template<class ItT > | |
| static std::optional< std::vector< char > > | AreNotInConflict (ItT first, ItT last) |
| Static Public Member Functions inherited from ManagedIceObject | |
| static std::string | generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name and unique name. More... | |
| static std::string | GetObjectStateAsString (int state) |
Protected Member Functions | |
| void | rtPostDeactivateController () override |
| This function is called after the controller is deactivated. More... | |
| void | rtPreActivateController () override |
| This function is called before the controller is activated. More... | |
| Protected Member Functions inherited from NJointControllerWithTripleBuffer< NJointCartesianTorqueControllerControlData > | |
| NJointCartesianTorqueControllerControlData & | getWriterControlStruct () |
| void | reinitTripleBuffer (const NJointCartesianTorqueControllerControlData &initial) |
| const NJointCartesianTorqueControllerControlData & | rtGetControlStruct () const |
| bool | rtUpdateControlStruct () |
| void | setControlStruct (const NJointCartesianTorqueControllerControlData &newStruct) |
| void | writeControlStruct () |
| Protected Member Functions inherited from NJointControllerBase | |
| std::string | getDefaultName () const override |
| ThreadPoolPtr | getThreadPool () const |
| void | onConnectComponent () final |
| virtual void | onConnectNJointController () |
| void | onDisconnectComponent () final |
| virtual void | onDisconnectNJointController () |
| void | onExitComponent () final |
| virtual void | onExitNJointController () |
| void | onInitComponent () final |
| virtual void | onInitNJointController () |
| virtual void | onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| virtual void | onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| virtual void | onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| void | rtSetErrorState () |
| Sets the error state to true. More... | |
| template<typename Task > | |
| void | runTask (const std::string &taskName, Task &&task) |
| Executes a given task in a separate thread from the Application ThreadPool. More... | |
| Protected Member Functions inherited from ManagedIceObject | |
| template<class PluginT , class... ParamsT> | |
| PluginT * | addPlugin (const std::string prefix="", ParamsT &&...params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params) |
| Ice::CommunicatorPtr | getCommunicator () const |
| std::unique_ptr< ManagedIceObjectPlugin > & | getPluginPointer (std::type_info const &type, std::string const &prefix) |
| ManagedIceObject () | |
| Protected default constructor. More... | |
| virtual void | postOnConnectComponent () |
| virtual void | postOnDisconnectComponent () |
| virtual void | postOnExitComponent () |
| virtual void | postOnInitComponent () |
| virtual void | 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 |
Additional Inherited Members | |
| Static Public Attributes inherited from NJointControllerBase | |
| static const NJointControllerBasePtr | NullPtr {nullptr} |
| Static Public Attributes inherited from ManagedIceObject | |
| static const ManagedIceObjectPtr | NullPtr |
| A nullptr to be used when a const ref to a nullptr is required. More... | |
| Protected Attributes inherited from NJointControllerWithTripleBuffer< NJointCartesianTorqueControllerControlData > | |
| MutexType | controlDataMutex |
| Protected Attributes inherited from NJointControllerBase | |
| std::map< std::string, std::shared_ptr< ThreadPool::Handle > > | threadHandles |
| std::mutex | threadHandlesMutex |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
The NJointCartesianTorqueController class.
Definition at line 75 of file NJointCartesianTorqueController.h.
Member Typedef Documentation
◆ ConfigPtrT
| using ConfigPtrT = NJointCartesianTorqueControllerConfigPtr |
Definition at line 80 of file NJointCartesianTorqueController.h.
Constructor & Destructor Documentation
◆ NJointCartesianTorqueController() [1/2]
| NJointCartesianTorqueController | ( | RobotUnit * | prov, |
| const NJointControllerConfigPtr & | config, | ||
| const VirtualRobot::RobotPtr & | |||
| ) |
◆ NJointCartesianTorqueController() [2/2]
| NJointCartesianTorqueController | ( | RobotUnit * | prov, |
| NJointCartesianTorqueControllerConfigPtr | config, | ||
| const VirtualRobot::RobotPtr & | r | ||
| ) |
Definition at line 47 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function:Member Function Documentation
◆ callDescribedFunction()
|
override |
Definition at line 246 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function:◆ createSliders()
|
static |
Definition at line 125 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ GenerateConfigDescription()
|
static |
Definition at line 174 of file NJointCartesianTorqueController.cpp.
◆ GenerateConfigFromVariants()
|
static |
Definition at line 219 of file NJointCartesianTorqueController.cpp.
◆ getClassName()
|
overridevirtual |
Implements NJointControllerBase.
Definition at line 42 of file NJointCartesianTorqueController.cpp.
◆ getFunctionDescriptions()
|
override |
Definition at line 237 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function:◆ getNodeSetName()
| std::string getNodeSetName | ( | ) | const |
Definition at line 226 of file NJointCartesianTorqueController.cpp.
◆ rtPostDeactivateController()
|
overrideprotectedvirtual |
This function is called after the controller is deactivated.
You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.
Reimplemented from NJointControllerBase.
Definition at line 232 of file NJointCartesianTorqueController.cpp.
◆ rtPreActivateController()
|
overrideprotectedvirtual |
This function is called before the controller is activated.
You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.
Reimplemented from NJointControllerBase.
Definition at line 96 of file NJointCartesianTorqueController.cpp.
◆ rtRun()
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overridevirtual |
TODO make protected and use attorneys.
Implements SynchronousNJointController.
Definition at line 101 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function:◆ setControllerTarget()
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override |
Definition at line 269 of file NJointCartesianTorqueController.cpp.
Here is the call graph for this function:The documentation for this class was generated from the following files:
- RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
- RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
