This unit connects to the physics simulator topic (default: "Simulator") and handles platform movements. More...

#include <ArmarXSimulation/components/PlatformUnitDynamicSimulation/PlatformUnitDynamicSimulation.h>

Inheritance diagram for PlatformUnitDynamicSimulation:

Public Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getDefaultName () const override
	Retrieve default name of component. More...

void	move (float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c=Ice::emptyCurrent) override

void	moveRelative (float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent) override

void	moveTo (Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent) override

void	onExitPlatformUnit () override

void	onInitPlatformUnit () override

void	onStartPlatformUnit () override

void	onStopPlatformUnit () override

void	setMaxVelocities (float linearVelocity, float angularVelocity, const Ice::Current &c=Ice::emptyCurrent) override

void	simulationFunction ()

void	stopPlatform (const Ice::Current &current) override

Public Member Functions inherited from PlatformUnit
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...

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

Protected Member Functions
float	calculateAngularVelocity (float source, float target, float curV)

Eigen::Vector3f	calculateLinearVelocity (Eigen::Vector3f distance, Eigen::Vector3f curV)

float	clampf (float x, float min, float max)

void	reportState (SimulatedRobotState const &state, const Ice::Current &) override

void	updateCurrentPose (const PoseBasePtr &newPose)

void	updateCurrentVelocity (const Vector3BasePtr &translationVel, const Vector3BasePtr &rotationVel)

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

Protected Attributes
::Ice::Float	angularAccelerationMax

::Ice::Float	angularVelocityMax

std::mutex	currentPoseMutex

Vector3	currentPosition

::Ice::Float	currentRotation

::Ice::Float	currentRotationVelocity

Vector3	currentVelocity

int	intervalMs

IceUtil::Time	lastExecutionTime

::Ice::Float	linearAccelerationMax

::Ice::Float	linearVelocityMax

::Ice::Float	linearVelocityMin

::Ice::Float	orientationalAccuracy

ControlMode	platformControlMode

std::string	platformName

::Ice::Float	platformOrientationOffset

::Ice::Float	positionalAccuracy

std::string	referenceFrame

std::string	robotName

PeriodicTask< PlatformUnitDynamicSimulation >::pointer_type	simulationTask

SimulatorInterfacePrx	simulatorPrx

std::string	simulatorPrxName

Vector3	targetPosition

::Ice::Float	targetRotation

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

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

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)

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...

Detailed Description

This unit connects to the physics simulator topic (default: "Simulator") and handles platform movements.

Definition at line 51 of file PlatformUnitDynamicSimulation.h.

Member Function Documentation

◆ calculateAngularVelocity()

float calculateAngularVelocity	(	float	source,
		float	target,
		float	curV
	)

protected

Definition at line 151 of file PlatformUnitDynamicSimulation.cpp.

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◆ calculateLinearVelocity()

Eigen::Vector3f calculateLinearVelocity	(	Eigen::Vector3f	distance,
		Eigen::Vector3f	curV
	)

protected

Definition at line 110 of file PlatformUnitDynamicSimulation.cpp.

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◆ clampf()

float clampf	(	float	x,
		float	min,
		float	max
	)

inlineprotected

Definition at line 92 of file PlatformUnitDynamicSimulation.h.

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◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from PlatformUnit.

Definition at line 365 of file PlatformUnitDynamicSimulation.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

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")

Reimplemented from PlatformUnit.

Definition at line 58 of file PlatformUnitDynamicSimulation.h.

◆ move()

void move	(	float	targetPlatformVelocityX,
		float	targetPlatformVelocityY,
		float	targetPlatformVelocityRotation,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 251 of file PlatformUnitDynamicSimulation.cpp.

◆ moveRelative()

void moveRelative	(	float	targetPlatformOffsetX,
		float	targetPlatformOffsetY,
		float	targetPlatformOffsetRotation,
		float	positionalAccuracy,
		float	orientationalAccuracy,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 266 of file PlatformUnitDynamicSimulation.cpp.

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◆ moveTo()

void moveTo	(	Ice::Float	targetPlatformPositionX,
		Ice::Float	targetPlatformPositionY,
		Ice::Float	targetPlatformRotation,
		Ice::Float	positionalAccuracy,
		Ice::Float	orientationalAccuracy,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 237 of file PlatformUnitDynamicSimulation.cpp.

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◆ onExitPlatformUnit()

void onExitPlatformUnit ( )

overridevirtual

Implements PlatformUnit.

Definition at line 104 of file PlatformUnitDynamicSimulation.cpp.

◆ onInitPlatformUnit()

void onInitPlatformUnit ( )

overridevirtual

Implements PlatformUnit.

Definition at line 36 of file PlatformUnitDynamicSimulation.cpp.

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◆ onStartPlatformUnit()

void onStartPlatformUnit ( )

overridevirtual

Implements PlatformUnit.

Definition at line 85 of file PlatformUnitDynamicSimulation.cpp.

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◆ onStopPlatformUnit()

void onStopPlatformUnit ( )

overridevirtual

Reimplemented from PlatformUnit.

Definition at line 77 of file PlatformUnitDynamicSimulation.cpp.

◆ reportState()

void reportState	(	SimulatedRobotState const &	state,
		const Ice::Current &
	)

overrideprotected

Definition at line 333 of file PlatformUnitDynamicSimulation.cpp.

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◆ setMaxVelocities()

void setMaxVelocities	(	float	linearVelocity,
		float	angularVelocity,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 280 of file PlatformUnitDynamicSimulation.cpp.

◆ simulationFunction()

void simulationFunction ( )

Definition at line 184 of file PlatformUnitDynamicSimulation.cpp.

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◆ stopPlatform()

void stopPlatform ( const Ice::Current & current )

override

Definition at line 173 of file PlatformUnitDynamicSimulation.cpp.

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◆ updateCurrentPose()

void updateCurrentPose ( const PoseBasePtr & newPose )

protected

Definition at line 287 of file PlatformUnitDynamicSimulation.cpp.

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◆ updateCurrentVelocity()

void updateCurrentVelocity	(	const Vector3BasePtr &	translationVel,
		const Vector3BasePtr &	rotationVel
	)

protected

Definition at line 317 of file PlatformUnitDynamicSimulation.cpp.

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Member Data Documentation

◆ angularAccelerationMax

::Ice::Float angularAccelerationMax

protected

Definition at line 116 of file PlatformUnitDynamicSimulation.h.

◆ angularVelocityMax

::Ice::Float angularVelocityMax

protected

Definition at line 115 of file PlatformUnitDynamicSimulation.h.

◆ currentPoseMutex

std::mutex currentPoseMutex

protected

Definition at line 97 of file PlatformUnitDynamicSimulation.h.

◆ currentPosition

Vector3 currentPosition

protected

Definition at line 101 of file PlatformUnitDynamicSimulation.h.

◆ currentRotation

::Ice::Float currentRotation

protected

Definition at line 103 of file PlatformUnitDynamicSimulation.h.

◆ currentRotationVelocity

::Ice::Float currentRotationVelocity

protected

Definition at line 108 of file PlatformUnitDynamicSimulation.h.

◆ currentVelocity

Vector3 currentVelocity

protected

Definition at line 107 of file PlatformUnitDynamicSimulation.h.

◆ intervalMs

int intervalMs

protected

Definition at line 99 of file PlatformUnitDynamicSimulation.h.

◆ lastExecutionTime

IceUtil::Time lastExecutionTime

protected

Definition at line 98 of file PlatformUnitDynamicSimulation.h.

◆ linearAccelerationMax

::Ice::Float linearAccelerationMax

protected

Definition at line 112 of file PlatformUnitDynamicSimulation.h.

◆ linearVelocityMax

::Ice::Float linearVelocityMax

protected

Definition at line 111 of file PlatformUnitDynamicSimulation.h.

◆ linearVelocityMin

::Ice::Float linearVelocityMin

protected

Definition at line 110 of file PlatformUnitDynamicSimulation.h.

◆ orientationalAccuracy

::Ice::Float orientationalAccuracy

protected

Definition at line 119 of file PlatformUnitDynamicSimulation.h.

◆ platformControlMode

ControlMode platformControlMode

protected

Definition at line 126 of file PlatformUnitDynamicSimulation.h.

◆ platformName

std::string platformName

protected

Definition at line 124 of file PlatformUnitDynamicSimulation.h.

◆ platformOrientationOffset

::Ice::Float platformOrientationOffset

protected

Definition at line 113 of file PlatformUnitDynamicSimulation.h.

◆ positionalAccuracy

::Ice::Float positionalAccuracy

protected

Definition at line 118 of file PlatformUnitDynamicSimulation.h.

◆ referenceFrame

std::string referenceFrame

protected

Definition at line 121 of file PlatformUnitDynamicSimulation.h.

◆ robotName

std::string robotName

protected

Definition at line 123 of file PlatformUnitDynamicSimulation.h.

◆ simulationTask

PeriodicTask<PlatformUnitDynamicSimulation>::pointer_type simulationTask

protected

Definition at line 131 of file PlatformUnitDynamicSimulation.h.

◆ simulatorPrx

SimulatorInterfacePrx simulatorPrx

protected

Definition at line 129 of file PlatformUnitDynamicSimulation.h.

◆ simulatorPrxName

std::string simulatorPrxName

protected

Definition at line 122 of file PlatformUnitDynamicSimulation.h.

◆ targetPosition

Vector3 targetPosition

protected

Definition at line 102 of file PlatformUnitDynamicSimulation.h.

◆ targetRotation

::Ice::Float targetRotation

protected

Definition at line 105 of file PlatformUnitDynamicSimulation.h.

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

ArmarXSimulation/components/PlatformUnitDynamicSimulation/PlatformUnitDynamicSimulation.h
ArmarXSimulation/components/PlatformUnitDynamicSimulation/PlatformUnitDynamicSimulation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ calculateAngularVelocity()

◆ calculateLinearVelocity()

◆ clampf()

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ move()

◆ moveRelative()

◆ moveTo()

◆ onExitPlatformUnit()

◆ onInitPlatformUnit()

◆ onStartPlatformUnit()

◆ onStopPlatformUnit()

◆ reportState()

◆ setMaxVelocities()

◆ simulationFunction()

◆ stopPlatform()

◆ updateCurrentPose()

◆ updateCurrentVelocity()

Member Data Documentation

◆ angularAccelerationMax

◆ angularVelocityMax

◆ currentPoseMutex

◆ currentPosition

◆ currentRotation

◆ currentRotationVelocity

◆ currentVelocity

◆ intervalMs

◆ lastExecutionTime

◆ linearAccelerationMax

◆ linearVelocityMax

◆ linearVelocityMin

◆ orientationalAccuracy

◆ platformControlMode

◆ platformName

◆ platformOrientationOffset

◆ positionalAccuracy

◆ referenceFrame

◆ robotName

◆ simulationTask

◆ simulatorPrx

◆ simulatorPrxName

◆ targetPosition

◆ targetRotation