#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>

Inheritance diagram for RobotStateComponentPluginUser:

Public Types
using	RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin

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

Public Member Functions
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 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...

virtual std::string	getDefaultName () const =0
	Retrieve default name of component. 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 ()

Additional Inherited Members
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 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	onConnectComponent ()=0
	Pure virtual hook for the subclass. More...

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

virtual void	onExitComponent ()
	Hook for subclass. More...

virtual void	onInitComponent ()=0
	Pure virtual hook for the subclass. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

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 Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Definition at line 167 of file RobotStateComponentPlugin.h.

Member Typedef Documentation

◆ RobotStateComponentPlugin

using RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin

Definition at line 170 of file RobotStateComponentPlugin.h.

Constructor & Destructor Documentation

◆ RobotStateComponentPluginUser()

RobotStateComponentPluginUser ( )

Definition at line 303 of file RobotStateComponentPlugin.cpp.

Member Function Documentation

◆ addOrGetRobot()

VirtualRobot::RobotPtr addOrGetRobot	(	const std::string &	id,
		Ts &&...	ts
	)

inline

Definition at line 210 of file RobotStateComponentPlugin.h.

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◆ addRobot() [1/4]

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 = `""`
	)

Definition at line 346 of file RobotStateComponentPlugin.cpp.

◆ addRobot() [2/4]

VirtualRobot::RobotPtr addRobot	(	const std::string &	id,
		const VirtualRobot::RobotPtr &	robot,
		const std::string &	rnsName,
		const std::string &	nodeName = `""`
	)

Definition at line 336 of file RobotStateComponentPlugin.cpp.

◆ addRobot() [3/4]

VirtualRobot::RobotPtr addRobot	(	const std::string &	id,
		const VirtualRobot::RobotPtr &	robot,
		const VirtualRobot::RobotNodeSetPtr &	rns = `{}`,
		const VirtualRobot::RobotNodePtr &	node = `{}`
	)

Definition at line 331 of file RobotStateComponentPlugin.cpp.

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◆ addRobot() [4/4]

VirtualRobot::RobotPtr addRobot	(	const std::string &	id,
		VirtualRobot::RobotIO::RobotDescription	loadMode,
		const std::string &	rnsName = `""`,
		const std::string &	nodeName = `""`
	)

Definition at line 341 of file RobotStateComponentPlugin.cpp.

◆ calculateRobotDiffIK()

SimpleDiffIK::Result calculateRobotDiffIK	(	const std::string &	id,
		const Eigen::Matrix4f &	targetPose,
		const SimpleDiffIK::Parameters &	params = `{}`
	)

Definition at line 416 of file RobotStateComponentPlugin.cpp.

◆ calculateRobotReachability()

SimpleDiffIK::Reachability calculateRobotReachability	(	const std::string &	id,
		const std::vector< Eigen::Matrix4f >	targets,
		const Eigen::VectorXf &	initialJV,
		const SimpleDiffIK::Parameters &	params = `{}`
	)