RobotPoseUnitDynamicSimulation Class Reference

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< 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 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 LogSenderPtrgetLogSender () 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: