#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< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

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

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

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

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

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

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

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

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

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

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

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

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 RobotStateComponentInterfacePrx &	getRobotStateComponent () const

RobotStateComponentPlugin &	getRobotStateComponentPlugin ()

const RobotStateComponentPlugin &	getRobotStateComponentPlugin () 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::Client &	getArvizClient ()

Public Member Functions inherited from DebugObserverComponentPluginUser
	DebugObserverComponentPluginUser ()

const DebugObserverInterfacePrx &	getDebugObserver () const

plugins::DebugObserverComponentPlugin &	getDebugObserverComponentPlugin ()

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 LogSenderPtr &	getLogSender () 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 ( )

default

◆ ~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:

RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.h
RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ control_mode

Constructor & Destructor Documentation

◆ ObstacleAwarePlatformUnit()

◆ ~ObstacleAwarePlatformUnit()

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ move()

◆ moveRelative()

◆ moveTo()

◆ onExitPlatformUnit()

◆ onInitPlatformUnit()

◆ onStartPlatformUnit()

◆ setMaxVelocities()

◆ stopPlatform()

Member Data Documentation

◆ default_name