ObstacleAwarePlatformUnit Class Reference

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

+ Inheritance diagram for ObstacleAwarePlatformUnit:

Public Types

enum  control_mode { position, velocity, none }
 
- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- Public Types inherited from RobotStateComponentPluginUser
using RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin
 
- Public Types inherited from DebugObserverComponentPluginUser
using DebugObserverComponentPlugin = armarx::plugins::DebugObserverComponentPlugin
 

Public Member Functions

std::string getDefaultName () const override
 Retrieve default name of component. More...
 
void move (float target_vel_x, float target_vel_y, float target_rot_vel, const Ice::Current &=Ice::Current{}) override
 
void moveRelative (float target_pos_delta_x, float target_pos_delta_y, float target_delta_ori, float pos_reached_threshold, float ori_reached_threshold, const Ice::Current &=Ice::Current{}) override
 
void moveTo (float target_pos_x, float target_pos_y, float target_ori, float pos_reached_threshold, float ori_reached_threshold, const Ice::Current &=Ice::Current{}) override
 
 ObstacleAwarePlatformUnit ()
 
void setMaxVelocities (float max_pos_vel, float max_rot_vel, const Ice::Current &=Ice::Current{}) override
 
void stopPlatform (const Ice::Current &=Ice::Current{}) override
 
 ~ObstacleAwarePlatformUnit () override
 
- Public Member Functions inherited from PlatformUnit
PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
void moveTo (Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent) override
 Set a new target position and orientation for the platform. More...
 
void onConnectComponent () override
 Calls armarx::PlatformUnit::onStartPlatformUnit(). More...
 
void onDisconnectComponent () override
 Hook for subclass. More...
 
void onExitComponent () override
 Calls armarx::PlatformUnit::onExitPlatformUnit(). More...
 
void onInitComponent () override
 Retrieve proxy for publishing State information and call armarx::PlatformUnit::onInitPlatformUnit(). More...
 
virtual void onStopPlatformUnit ()
 
void stopPlatform (const Ice::Current &c=Ice::emptyCurrent) override
 
- Public Member Functions inherited from SensorActorUnit
UnitExecutionState getExecutionState (const Ice::Current &c=Ice::emptyCurrent) override
 Retrieve current execution state. More...
 
void init (const Ice::Current &c=Ice::emptyCurrent) override
 Set execution state to eInitialized. More...
 
void release (const Ice::Current &c=Ice::emptyCurrent) override
 Release exclusive access to current unit. More...
 
void request (const Ice::Current &c=Ice::emptyCurrent) override
 Request exclusive access to current unit. More...
 
 SensorActorUnit ()
 Constructs a SensorActorUnit. More...
 
void start (const Ice::Current &c=Ice::emptyCurrent) override
 Set execution state to eStarted. More...
 
void stop (const Ice::Current &c=Ice::emptyCurrent) override
 Set execution state to eStopped. More...
 
 ~SensorActorUnit () override
 Destructor of SensorActorUnit. More...
 
- Public Member Functions inherited from Component
virtual void componentPropertiesUpdated (const std::set< std::string > &changedProperties)
 Implement this function if you would like to react to changes in the properties. More...
 
void forceComponentCreatedByComponentCreateFunc ()
 forces the flag to be set to true that the object instance was created by the Component::create function More...
 
std::vector< PropertyUserPtrgetAdditionalPropertyUsers () const
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class ProxyType >
ProxyType getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Get a proxy whose name is specified by the given property. More...
 
template<class ProxyType >
void getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 
template<class TopicProxyType >
TopicProxyType getTopicFromProperty (const std::string &propertyName)
 Get a topic proxy whose name is specified by the given property. More...
 
template<class TopicProxyType >
void getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
 
void initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
 initializes the properties of this component. More...
 
void injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
 
void offeringTopicFromProperty (const std::string &propertyName)
 Offer a topic whose name is specified by the given property. More...
 
virtual void preOnConnectComponent () override
 
virtual void preOnInitComponent () override
 
bool usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
 Use a proxy whose name is specified by the given property. More...
 
void usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
 Use a topic whose name is specified by the given property. More...
 
- Public Member Functions inherited from ManagedIceObject
void enableProfiler (bool enable)
 setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...
 
std::string generateSubObjectName (const std::string &subObjectName)
 Generates a unique name for a sub object from a general name. More...
 
ArmarXManagerPtr getArmarXManager () const
 Returns the ArmarX manager used to add and remove components. More...
 
ManagedIceObjectConnectivity getConnectivity () const
 Retrieve connectivity of the object (topcis as well as proxies) More...
 
IceManagerPtr getIceManager () const
 Returns the IceManager. More...
 
VariantBasePtr getMetaInfo (const std::string &id)
 
StringVariantBaseMap getMetaInfoMap () const
 
std::string getName () const
 Retrieve name of object. More...
 
Ice::ObjectAdapterPtr getObjectAdapter () const
 Returns object's Ice adapter. More...
 
ArmarXObjectSchedulerPtr getObjectScheduler () const
 
PeriodicTaskPtr getPeriodicTask (const std::string &name)
 
Profiler::ProfilerPtr getProfiler () const
 getProfiler returns an instance of armarx::Profiler More...
 
template<class ProxyTarg , class... Args>
void getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyType >
ProxyType getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Retrieves a proxy object. More...
 
template<class ProxyTarg , class... Args>
void getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)
 
template<class ProxyTarg , class... Args>
void getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
 Assigns a proxy to proxy. More...
 
Ice::ObjectPrx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 Returns the proxy of this object (optionally it waits for the proxy) More...
 
template<class Prx >
Prx getProxy (long timeoutMs=0, bool waitForScheduler=true) const
 
template<class ProxyType >
void getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
 Overload to allow using string literals as name (solve ambiguous overload). More...
 
template<class Prx >
void getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
 
int getState () const
 Retrieve current state of the ManagedIceObject. More...
 
template<class TopicProxyType >
TopicProxyType getTopic (const std::string &name)
 Returns a proxy of the specified topic. More...
 
template<class TopicProxyType >
void getTopic (TopicProxyType &topicProxy, const std::string &name)
 Assigns a proxy of the specified topic to topicProxy. More...
 
std::vector< std::string > getUnresolvedDependencies () const
 returns the names of all unresolved dependencies More...
 
 ManagedIceObject (ManagedIceObject const &other)
 
void offeringTopic (const std::string &name)
 Registers a topic for retrival after initialization. More...
 
void preambleGetTopic (std::string const &name)
 
void setMetaInfo (const std::string &id, const VariantBasePtr &value)
 Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...
 
void startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
 
bool stopPeriodicTask (const std::string &name)
 
bool unsubscribeFromTopic (const std::string &name)
 Unsubscribe from a topic. More...
 
bool usingProxy (const std::string &name, const std::string &endpoints="")
 Registers a proxy for retrieval after initialization and adds it to the dependency list. More...
 
void usingTopic (const std::string &name, bool orderedPublishing=false)
 Registers a proxy for subscription after initialization. More...
 
void waitForObjectScheduler ()
 Waits until the ObjectScheduler could resolve all dependencies. More...
 
void waitForProxy (std::string const &name, bool addToDependencies)
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
 PropertyUser ()
 
virtual void setIceProperties (Ice::PropertiesPtr properties)
 Sets the Ice properties. More...
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 
- Public Member Functions inherited from RobotStateComponentPluginUser
template<class... Ts>
VirtualRobot::RobotPtr addOrGetRobot (const std::string &id, Ts &&...ts)
 
VirtualRobot::RobotPtr addRobot (const std::string &id, const std::string &filename, const Ice::StringSeq packages, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")
 
VirtualRobot::RobotPtr addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const std::string &rnsName, const std::string &nodeName="")
 
VirtualRobot::RobotPtr addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const VirtualRobot::RobotNodeSetPtr &rns={}, const VirtualRobot::RobotNodePtr &node={})
 
VirtualRobot::RobotPtr addRobot (const std::string &id, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")
 
SimpleDiffIK::Result calculateRobotDiffIK (const std::string &id, const Eigen::Matrix4f &targetPose, const SimpleDiffIK::Parameters &params={})
 
SimpleDiffIK::Reachability calculateRobotReachability (const std::string &id, const std::vector< Eigen::Matrix4f > targets, const Eigen::VectorXf &initialJV, const SimpleDiffIK::Parameters &params={})
 
VirtualRobot::RobotPtr getRobot (const std::string &id) const
 
RobotStateComponentPlugin::RobotData getRobotData (const std::string &id) const
 
RobotNameHelperPtr getRobotNameHelper () const
 
RobotStateComponentInterfacePrx getRobotStateComponent ()
 
const RobotStateComponentInterfacePrxgetRobotStateComponent () const
 
RobotStateComponentPlugingetRobotStateComponentPlugin ()
 
const RobotStateComponentPlugingetRobotStateComponentPlugin () const
 
bool hasRobot (const std::string &id) const
 
 RobotStateComponentPluginUser ()
 
void setRobotRNSAndNode (const std::string &id, const std::string &rnsName, const std::string &nodeName)
 
bool synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata) const
 
bool synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, const RobotStateConfig &state) const
 
bool synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, Ice::Long timestamp) const
 
bool synchronizeLocalClone (const std::string &id) const
 
bool synchronizeLocalClone (const std::string &id, const RobotStateConfig &state) const
 
bool synchronizeLocalClone (const std::string &id, Ice::Long timestamp) const
 
bool synchronizeLocalClone (const VirtualRobot::RobotPtr &robot) const
 
bool synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, const RobotStateConfig &state) const
 
bool synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, Ice::Long timestamp) const
 
- Public Member Functions inherited from ArVizComponentPluginUser
 ArVizComponentPluginUser ()
 
armarx::viz::Client createArVizClient ()
 
armarx::viz::ClientgetArvizClient ()
 
- Public Member Functions inherited from DebugObserverComponentPluginUser
 DebugObserverComponentPluginUser ()
 
const DebugObserverInterfacePrxgetDebugObserver () const
 
plugins::DebugObserverComponentPlugingetDebugObserverComponentPlugin ()
 
void removeAllDebugObserverChannels () const
 
void removeDebugObserverChannel (const std::string &channelname) const
 
void removeDebugObserverDatafield (const std::string &channelName, const std::string &datafieldName) const
 
void sendDebugObserverBatch ()
 
void setDebugObserverBatchModeEnabled (bool enable)
 
void setDebugObserverChannel (const std::string &channelName, StringVariantBaseMap valueMap) const
 
template<class... Ts>
void setDebugObserverDatafield (Ts &&...ts) const
 

Static Public Attributes

static const std::string default_name = "ObstacleAwarePlatformUnit"
 
- Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 

Protected Member Functions

PropertyDefinitionsPtr createPropertyDefinitions () override
 
void onExitPlatformUnit () override
 
void onInitPlatformUnit () override
 
void onStartPlatformUnit () override
 
- Protected Member Functions inherited from SensorActorUnit
void onExitComponent () override
 Hook for subclass. More...
 
virtual void onInit ()
 callback onInit for subclass hook. More...
 
virtual void onStart ()
 callback onStart for subclass hook. More...
 
virtual void onStop ()
 callback onStop for subclass hook. More...
 
- Protected Member Functions inherited from Component
void addPropertyUser (const PropertyUserPtr &subPropertyUser)
 Add additional property users here that should show up in the application help text. More...
 
 Component ()
 Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...
 
std::string getConfigDomain ()
 Retrieve config domain for this component as set in constructor. More...
 
std::string getConfigIdentifier ()
 Retrieve config identifier for this component as set in constructor. More...
 
std::string getConfigName ()
 Retrieve config name for this component as set in constructor. More...
 
virtual void icePropertiesInitialized ()
 
- Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT * addPlugin (const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)
 
template<class PluginT , class... ParamsT>
void addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)
 
Ice::CommunicatorPtr getCommunicator () const
 
std::unique_ptr< ManagedIceObjectPlugin > & getPluginPointer (std::type_info const &type, std::string const &prefix)
 
 ManagedIceObject ()
 Protected default constructor. More...
 
virtual void postOnConnectComponent ()
 
virtual void postOnDisconnectComponent ()
 
virtual void postOnExitComponent ()
 
virtual void postOnInitComponent ()
 
virtual void preOnDisconnectComponent ()
 
virtual void preOnExitComponent ()
 
bool removeProxyDependency (const std::string &name)
 This function removes the dependency of this object on the in parameter name specified object. More...
 
void setName (std::string name)
 Override name of well-known object. More...
 
void terminate ()
 Initiates termination of this IceManagedObject. More...
 
 ~ManagedIceObject () override
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Additional Inherited Members

- Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
 Factory method for a component. More...
 
- Static Public Member Functions inherited from ManagedIceObject
static std::string generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
 Generates a unique name for a sub object from a general name and unique name. More...
 
static std::string GetObjectStateAsString (int state)
 
- Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client arviz
 
- Protected Attributes inherited from PlatformUnit
GlobalRobotPoseLocalizationListenerPrx globalPosePrx
 
PlatformUnitListenerPrx listenerPrx
 PlatformUnitListener proxy for publishing state updates. More...
 
OdometryListenerPrx odometryPrx
 
RobotStateComponentInterfacePrx robotStateComponent
 
- Protected Attributes inherited from SensorActorUnit
UnitExecutionState executionState
 
Ice::Identity ownerId
 
std::mutex unitMutex
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 60 of file ObstacleAwarePlatformUnit.h.

Member Enumeration Documentation

◆ control_mode

enum control_mode
strong
Enumerator
position 
velocity 
none 

Definition at line 69 of file ObstacleAwarePlatformUnit.h.

Constructor & Destructor Documentation

◆ ObstacleAwarePlatformUnit()

◆ ~ObstacleAwarePlatformUnit()

~ObstacleAwarePlatformUnit ( )
overridedefault

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )
overrideprotectedvirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 723 of file ObstacleAwarePlatformUnit.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const
overridevirtual

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")

Implements ManagedIceObject.

Definition at line 146 of file ObstacleAwarePlatformUnit.cpp.

◆ move()

void move ( float  target_vel_x,
float  target_vel_y,
float  target_rot_vel,
const Ice::Current &  = Ice::Current{} 
)
override

Definition at line 181 of file ObstacleAwarePlatformUnit.cpp.

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◆ moveRelative()

void moveRelative ( float  target_pos_delta_x,
float  target_pos_delta_y,
float  target_delta_ori,
float  pos_reached_threshold,
float  ori_reached_threshold,
const Ice::Current &  current = Ice::Current{} 
)
override

Definition at line 205 of file ObstacleAwarePlatformUnit.cpp.

◆ moveTo()

void moveTo ( float  target_pos_x,
float  target_pos_y,
float  target_ori,
float  pos_reached_threshold,
float  ori_reached_threshold,
const Ice::Current &  = Ice::Current{} 
)
override

Definition at line 154 of file ObstacleAwarePlatformUnit.cpp.

◆ onExitPlatformUnit()

void onExitPlatformUnit ( )
overrideprotectedvirtual

Implements PlatformUnit.

Definition at line 135 of file ObstacleAwarePlatformUnit.cpp.

◆ onInitPlatformUnit()

void onInitPlatformUnit ( )
overrideprotectedvirtual

Implements PlatformUnit.

Definition at line 106 of file ObstacleAwarePlatformUnit.cpp.

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◆ onStartPlatformUnit()

void onStartPlatformUnit ( )
overrideprotectedvirtual

Implements PlatformUnit.

Definition at line 115 of file ObstacleAwarePlatformUnit.cpp.

◆ setMaxVelocities()

void setMaxVelocities ( float  max_pos_vel,
float  max_rot_vel,
const Ice::Current &  = Ice::Current{} 
)
override

Definition at line 234 of file ObstacleAwarePlatformUnit.cpp.

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◆ stopPlatform()

void stopPlatform ( const Ice::Current &  = Ice::Current{})
override

Definition at line 251 of file ObstacleAwarePlatformUnit.cpp.

Member Data Documentation

◆ default_name

const std::string default_name = "ObstacleAwarePlatformUnit"
static

Definition at line 242 of file ObstacleAwarePlatformUnit.h.


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