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

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

Inheritance diagram for RobotPoseUnitDynamicSimulation:

Public Member Functions
PropertyDefinitionsPtr	createPropertyDefinitions () override

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

Eigen::Vector3f	getRPY (PoseBasePtr pose)

void	move (const PoseBasePtr &targetVelocity, const Ice::Current &c=Ice::emptyCurrent) override

void	moveRelative (const PoseBasePtr &relativeTarget, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent) override

void	moveTo (const PoseBasePtr &targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent) override

void	onExitRobotPoseUnit () override

void	onInitRobotPoseUnit () override

void	onStartRobotPoseUnit () override

void	onStopRobotPoseUnit () override

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

void	setCurrentPose (const PoseBasePtr &newPose)

void	setMaxVelocities (Ice::Float positionalVelocity, Ice::Float orientationalVelocity, const Ice::Current &c=Ice::emptyCurrent) override

void	simulationFunction ()

void	stopMovement (const Ice::Current &c=Ice::emptyCurrent) override

void	updateCurrentPose (const PoseBasePtr &newPose)

Public Member Functions inherited from RobotPoseUnit
virtual void	moveTo (PoseBasePtr targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c=Ice::emptyCurrent)
	moveTo moves the robot to a global pose specified by: More...

void	onConnectComponent () override
	Calls armarx::RobotPoseUnit::onStartRobotPoseUnit(). More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Calls armarx::RobotPoseUnit::onExitRobotPoseUnit(). More...

void	onInitComponent () override
	Retrieve proxy for publishing State information and call armarx::RobotPoseUnit::onInitRobotPoseUnit(). More...

void	stopMovement (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 Attributes
Pose	currentPose

std::mutex	currentPoseMutex

int	intervalMs

IceUtil::Time	lastExecutionTime

::Ice::Float	orientationalAccuracy

::Ice::Float	positionalAccuracy

std::string	robotName

ControlMode	RobotPoseControlMode

PeriodicTask< RobotPoseUnitDynamicSimulation >::pointer_type	simulationTask

SimulatorInterfacePrx	simulatorPrx

std::string	simulatorPrxName

Pose	targetPose

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...

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 inherited from RobotPoseUnit
std::string	listenerChannelName
	Ice Topic name on which armarx::RobotPoseUnit::listenerPrx publishes information. More...

RobotPoseUnitListenerPrx	listenerPrx
	RobotPoseUnitListener proxy for publishing state updates. More...

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

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

Definition at line 75 of file RobotPoseUnitDynamicSimulation.h.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from RobotPoseUnit.

Definition at line 215 of file RobotPoseUnitDynamicSimulation.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 RobotPoseUnit.

Definition at line 82 of file RobotPoseUnitDynamicSimulation.h.

◆ getRPY()

Eigen::Vector3f getRPY ( PoseBasePtr pose )

Definition at line 146 of file RobotPoseUnitDynamicSimulation.cpp.

◆ move()

void move	(	const PoseBasePtr &	targetVelocity,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 155 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ moveRelative()

void moveRelative	(	const PoseBasePtr &	relativeTarget,
		Ice::Float	positionalAccuracy,
		Ice::Float	orientationalAccuracy,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 161 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ moveTo()

void moveTo	(	const PoseBasePtr &	targetPose,
		Ice::Float	positionalAccuracy,
		Ice::Float	orientationalAccuracy,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 129 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ onExitRobotPoseUnit()

void onExitRobotPoseUnit ( )

overridevirtual

Implements RobotPoseUnit.

Definition at line 101 of file RobotPoseUnitDynamicSimulation.cpp.

◆ onInitRobotPoseUnit()

void onInitRobotPoseUnit ( )

overridevirtual

Implements RobotPoseUnit.

Definition at line 38 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ onStartRobotPoseUnit()

void onStartRobotPoseUnit ( )

overridevirtual

Implements RobotPoseUnit.

Definition at line 87 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ onStopRobotPoseUnit()

void onStopRobotPoseUnit ( )

overridevirtual

Reimplemented from RobotPoseUnit.

Definition at line 79 of file RobotPoseUnitDynamicSimulation.cpp.

◆ reportState()

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

override

Definition at line 196 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ setCurrentPose()

void setCurrentPose ( const PoseBasePtr & newPose )

Definition at line 201 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ setMaxVelocities()

void setMaxVelocities	(	Ice::Float	positionalVelocity,
		Ice::Float	orientationalVelocity,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 177 of file RobotPoseUnitDynamicSimulation.cpp.

◆ simulationFunction()

void simulationFunction ( )

Definition at line 115 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ stopMovement()

void stopMovement ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 106 of file RobotPoseUnitDynamicSimulation.cpp.

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◆ updateCurrentPose()

void updateCurrentPose ( const PoseBasePtr & newPose )

Definition at line 184 of file RobotPoseUnitDynamicSimulation.cpp.

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Member Data Documentation

◆ currentPose

Pose currentPose

Definition at line 127 of file RobotPoseUnitDynamicSimulation.h.

◆ currentPoseMutex

std::mutex currentPoseMutex

Definition at line 122 of file RobotPoseUnitDynamicSimulation.h.

◆ intervalMs

int intervalMs

Definition at line 124 of file RobotPoseUnitDynamicSimulation.h.

◆ lastExecutionTime

IceUtil::Time lastExecutionTime

Definition at line 123 of file RobotPoseUnitDynamicSimulation.h.

◆ orientationalAccuracy

::Ice::Float orientationalAccuracy

Definition at line 130 of file RobotPoseUnitDynamicSimulation.h.

◆ positionalAccuracy

::Ice::Float positionalAccuracy

Definition at line 129 of file RobotPoseUnitDynamicSimulation.h.

◆ robotName

std::string robotName

Definition at line 133 of file RobotPoseUnitDynamicSimulation.h.

◆ RobotPoseControlMode

ControlMode RobotPoseControlMode

Definition at line 134 of file RobotPoseUnitDynamicSimulation.h.

◆ simulationTask

PeriodicTask<RobotPoseUnitDynamicSimulation>::pointer_type simulationTask

Definition at line 138 of file RobotPoseUnitDynamicSimulation.h.

◆ simulatorPrx

SimulatorInterfacePrx simulatorPrx

Definition at line 136 of file RobotPoseUnitDynamicSimulation.h.

◆ simulatorPrxName

std::string simulatorPrxName

Definition at line 132 of file RobotPoseUnitDynamicSimulation.h.

◆ targetPose

Pose targetPose

Definition at line 128 of file RobotPoseUnitDynamicSimulation.h.

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

ArmarXSimulation/components/RobotPoseUnitDynamicSimulation/RobotPoseUnitDynamicSimulation.h
ArmarXSimulation/components/RobotPoseUnitDynamicSimulation/RobotPoseUnitDynamicSimulation.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getRPY()

◆ move()

◆ moveRelative()

◆ moveTo()

◆ onExitRobotPoseUnit()

◆ onInitRobotPoseUnit()

◆ onStartRobotPoseUnit()

◆ onStopRobotPoseUnit()

◆ reportState()

◆ setCurrentPose()

◆ setMaxVelocities()

◆ simulationFunction()

◆ stopMovement()

◆ updateCurrentPose()

Member Data Documentation

◆ currentPose

◆ currentPoseMutex

◆ intervalMs

◆ lastExecutionTime

◆ orientationalAccuracy

◆ positionalAccuracy

◆ robotName

◆ RobotPoseControlMode

◆ simulationTask

◆ simulatorPrx

◆ simulatorPrxName

◆ targetPose