PlatformSimulationDevice Class Reference

#include <ArmarXSimulation/components/RobotUnitSimulation/Devices/PlatformSimulationDevice.h>

+ Inheritance diagram for PlatformSimulationDevice:

Classes

struct  JointEmergencyStopController
 
struct  JointStopMovementController
 
struct  JointVelocityController
 

Public Member Functions

 PlatformSimulationDevice (const std::string &name)
 
- Public Member Functions inherited from SensorDeviceTemplate< SensorValueHolonomicPlatform >
const SensorValueHolonomicPlatformgetSensorValue () const final override
 
 SensorDeviceTemplate (const std::string &name)
 
- Public Member Functions inherited from SensorDevice
virtual std::string getReportingFrame () const
 
template<class T >
const TgetSensorValue () const
 
virtual const SensorValueBasegetSensorValue () const =0
 
std::string getSensorValueType (bool withoutNamespaceSpecifier=false) const
 Returns the SensorValue's type as a string. More...
 
virtual void rtReadSensorValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 This is a hook for implementations to read the sensor value from a bus. More...
 
 SensorDevice (const std::string &name)
 Create a SensorDevice with the given name. More...
 
- Public Member Functions inherited from DeviceBase
 DeviceBase (const std::string &name)
 Create a Device with the given name. More...
 
const std::string & getDeviceName () const
 
const std::set< std::string > & getTags () const
 
virtual bool hasError ()
 
bool hasTag (const std::string &tag) const
 
const char * rtGetDeviceName () const
 
virtual ~DeviceBase ()=default
 
- Public Member Functions inherited from ControlDevice
 ControlDevice (const std::string &name)
 Create a ControlDevice with the given name. More...
 
const std::vector< std::string > & getControlModes () const
 
JointControllergetJointController (const std::string &mode)
 
const JointControllergetJointController (const std::string &mode) const
 
JointControllergetJointController (std::size_t i)
 
const JointControllergetJointController (std::size_t i) const
 
std::vector< const JointController * > getJointControllers () const
 
std::map< std::string, std::string > getJointControllerToTargetTypeNameMap () const
 
JointControllergetJointEmergencyStopController ()
 
JointControllergetJointStopMovementController ()
 
RobotUnitModule::DevicesgetOwner () const
 
bool hasJointController (const std::string &mode) const
 
JointControllerrtGetActiveJointController ()
 
const std::vector< JointController * > & rtGetJointControllers ()
 
JointControllerrtGetJointEmergencyStopController ()
 
JointControllerrtGetJointStopMovementController ()
 
void rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 runs the active Joint Controller and write the target values into the control device More...
 
virtual void rtSetActiveJointController (JointController *jointCtrl)
 Activates the given JointController for this device. More...
 
virtual void rtWriteTargetValues (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 This is a hook for implementations to write the setpoints to a bus. More...
 

Public Attributes

float initAbsolutePositionRotation
 
float initAbsolutePositionX
 
float initAbsolutePositionY
 
JointEmergencyStopController jointEmergencyCtrl
 
JointStopMovementController jointStopMovCtrl
 
JointVelocityController jointVel
 
ControlTargetHolonomicPlatformVelocity target
 
- Public Attributes inherited from SensorDeviceTemplate< SensorValueHolonomicPlatform >
SensorValueHolonomicPlatform sensorValue
 

Additional Inherited Members

- Static Public Attributes inherited from SensorDevice
static const SensorDevicePtr NullPtr {nullptr}
 A static const nullptr in case a const ref to a nullptr needs to be returned. More...
 
- Static Public Attributes inherited from ControlDevice
static const ControlDevicePtr NullPtr {nullptr}
 A static const nullptr in case a const ref to a nullptr needs to be returned. More...
 
- Protected Member Functions inherited from DeviceBase
void addDeviceTag (const std::string &tag)
 adds the given tag to the Device More...
 
- Protected Member Functions inherited from ControlDevice
void addJointController (JointController *jointCtrl)
 adds the Joint controller to this ControlDevice More...
 
ControlTargetBase::ControlDeviceAccessToken getControlTargetAccessToken () const
 

Detailed Description

Definition at line 35 of file PlatformSimulationDevice.h.

Constructor & Destructor Documentation

◆ PlatformSimulationDevice()

PlatformSimulationDevice ( const std::string &  name)

Definition at line 24 of file PlatformSimulationDevice.cpp.

+ Here is the call graph for this function:

Member Data Documentation

◆ initAbsolutePositionRotation

float initAbsolutePositionRotation

Definition at line 103 of file PlatformSimulationDevice.h.

◆ initAbsolutePositionX

float initAbsolutePositionX

Definition at line 101 of file PlatformSimulationDevice.h.

◆ initAbsolutePositionY

float initAbsolutePositionY

Definition at line 102 of file PlatformSimulationDevice.h.

◆ jointEmergencyCtrl

JointEmergencyStopController jointEmergencyCtrl

Definition at line 106 of file PlatformSimulationDevice.h.

◆ jointStopMovCtrl

JointStopMovementController jointStopMovCtrl

Definition at line 107 of file PlatformSimulationDevice.h.

◆ jointVel

Definition at line 105 of file PlatformSimulationDevice.h.

◆ target


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