This Module manages all Units of a RobotUnit. More...

#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h>

Inheritance diagram for Units:

Public Member Functions
const EmergencyStopMasterInterfacePtr &	getEmergencyStopMaster () const
	Returns a pointer to the EmergencyStopMaster. More...

ForceTorqueUnitInterfacePtr	getForceTorqueUnit () const
	Returns a pointer to the ForceTorqueUnit. More...

ForceTorqueUnitInterfacePrx	getForceTorqueUnit (const Ice::Current &) const override
	Returns a proxy to the ForceTorqueUnit. More...

InertialMeasurementUnitInterfacePtr	getInertialMeasurementUnit () const
	Returns a pointer to the InertialMeasurementUnit. More...

InertialMeasurementUnitInterfacePrx	getInertialMeasurementUnit (const Ice::Current &) const override
	Returns a proxy to the InertialMeasurementUnit. More...

KinematicUnitInterfacePtr	getKinematicUnit () const
	Returns a pointer to the KinematicUnit. More...

KinematicUnitInterfacePrx	getKinematicUnit (const Ice::Current &) const override
	Returns a proxy to the KinematicUnit. More...

PlatformUnitInterfacePtr	getPlatformUnit () const
	Returns a pointer to the PlatformUnit. More...

PlatformUnitInterfacePrx	getPlatformUnit (const Ice::Current &) const override
	Returns a proxy to the PlatformUnit. More...

TCPControlUnitInterfacePtr	getTCPControlUnit () const
	Returns a pointer to the TCPControlUnit. More...

TCPControlUnitInterfacePrx	getTCPControlUnit (const Ice::Current &) const override
	Returns a proxy to the TCPControlUnit. More...

TrajectoryPlayerInterfacePtr	getTrajectoryPlayer () const
	Returns a pointer to the TrajectoryPlayer. More...

TrajectoryPlayerInterfacePrx	getTrajectoryPlayer (const Ice::Current &) const override
	Returns a proxy to the TrajectoryPlayer. More...

template<class T >
T::PointerType	getUnit () const
	Returns a pointer to the Unit for the given type (or null if there is none) More...

const ManagedIceObjectPtr &	getUnit (const std::string &staticIceId) const
	Returns a pointer to the Unit with the given ice id (or null if there is none) More...

Ice::ObjectPrx	getUnit (const std::string &staticIceId, const Ice::Current &) const override
	Returns a proxy to the Unit with the given ice id (or null if there is none) More...

template<class T >
T::ProxyType	getUnitPrx () const
	Returns a proxy to the Unit for the given type (or null if there is none) More...

Ice::ObjectProxySeq	getUnits (const Ice::Current &) const override
	Returns proxies to all units. More...

Public Member Functions inherited from ModuleBase
template<class T >
T &	_module ()
	Returns this as ref to the given type. More...

template<class T >
const T &	_module () const
	Returns this as ref to the given type. More...

template<class T >
T *	_modulePtr ()
	Returns this as ptr to the given type. More...

template<class T >
const T *	_modulePtr () const
	Returns this as ptr to the given type. More...

bool	areDevicesReady () const
	Returns whether Devices are ready. More...

virtual IceUtil::Time	getControlThreadTargetPeriod () const =0
	The ControlThread's period. More...

RobotUnitState	getRobotUnitState () const
	Returns the RobotUnit's State. More...

bool	inControlThread () const
	Returns whether the current thread is the ControlThread. More...

bool	isShuttingDown () const
	Returns whether the RobotUnit is shutting down. More...

virtual void	joinControlThread ()=0
	Implementations have to join their ControlThread in this hook. (used by RobotUnit::finishRunning()) More...

virtual void	onConnectRobotUnit ()
	called in onConnectComponent More...

virtual void	onDisconnectRobotUnit ()
	called in onDisconnecComponent More...

virtual void	onExitRobotUnit ()
	called in onExitComponent before calling finishRunning More...

virtual void	onInitRobotUnit ()
	called in onInitComponent More...

void	shutDown ()
	Requests the RobotUnit to shut down. More...

void	throwIfDevicesNotReady (const std::string &fnc) const
	Throws if the Devices are not ready. More...

void	throwIfInControlThread (const std::string &fnc) const
	Throws if the current thread is the ControlThread. More...

void	throwIfStateIs (const std::set< RobotUnitState > &stateSet, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is in. More...

void	throwIfStateIs (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is. More...

void	throwIfStateIsNot (const std::set< RobotUnitState > &stateSet, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is not in. More...

void	throwIfStateIsNot (RobotUnitState s, const std::string &fnc, bool onlyWarn=false) const
	Throws an exception if the current state is not. More...

Public Member Functions inherited from Component
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

Static Public Member Functions
static Units &	Instance ()
	Returns the singleton instance of this class. More...

Static Public Member Functions inherited from ModuleBase
static ModuleBase &	Instance ()
	Returns the singleton instance of this class. More...

template<class T >
static T &	Instance ()
	Returns the singleton instance of the given class. More...

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)

Protected Member Functions
void	addUnit (ManagedIceObjectPtr unit)
	Registers a unit for management (the Unit is added and removed to the ArmarXManager and updated with new values. More...

ManagedIceObjectPtr	createKinematicSubUnit (const Ice::PropertiesPtr &properties, const std::string &positionControlMode=ControlModes::Position1DoF, const std::string &velocityControlMode=ControlModes::Velocity1DoF, const std::string &torqueControlMode=ControlModes::Torque1DoF, const std::string &pwmControlMode=ControlModes::PWM1DoF)
	Create the KinematicUnit (this function should be called in initializeKinematicUnit) More...

virtual void	initializeDefaultUnits ()
	Calls all init hooks for all managed Units. More...

virtual void	initializeDiagnosticsUnit ()
	Initialize the diagnostics unit. More...

virtual void	initializeForceTorqueUnit ()
	Initializes the ForceTorqueUnit. More...

virtual void	initializeInertialMeasurementUnit ()
	Initializes the InertialMeasurementUnit. More...

virtual void	initializeKinematicUnit ()
	Initializes the KinematicUnit. More...

virtual void	initializeLocalizationUnit ()
	Initializes the TcpControllerUnit. More...

virtual void	initializePlatformUnit ()
	Initializes the PlatformUnit. More...

virtual void	initializeTcpControllerUnit ()
	Initializes the TcpControllerUnit. More...

virtual void	initializeTrajectoryControllerUnit ()
	Initializes the TrajectoryControllerUnit. More...

Protected Member Functions inherited from ModuleBase
void	_componentPropertiesUpdated (const std::set< std::string > &)
	Hook for deriving RobotUnitModules called in componentPropertiesUpdated. More...

void	_icePropertiesInitialized ()
	Hook for deriving RobotUnitModules called in icePropertiesInitialized. More...

void	_postFinishComponentInitialization ()
	Hook for deriving RobotUnitModules called in finishComponentInitialization (called after the state has changed) More...

void	_postFinishControlThreadInitialization ()
	Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called after the state has changed) More...

void	_postFinishDeviceInitialization ()
	Hook for deriving RobotUnitModules called in finishDeviceInitialization (called after the state has changed) More...

void	_postFinishRunning ()
	Hook for deriving RobotUnitModules called in finishRunning (called after the state has changed) More...

void	_postFinishUnitInitialization ()
	Hook for deriving RobotUnitModules called in finishUnitInitialization (called after the state has changed) More...

void	_postOnConnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onConnectComponent (called after onConnectRobotUnit was called) More...

void	_postOnDisconnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onDisconnectComponent (called after onDisconnectRobotUnit was called) More...

void	_postOnExitRobotUnit ()
	Hook for deriving RobotUnitModules called in onExitComponent (called after onExitRobotUnit was called) More...

void	_postOnInitRobotUnit ()
	Hook for deriving RobotUnitModules called in onInitComponent (called after onInitRobotUnit was called) More...

void	_preFinishComponentInitialization ()
	Hook for deriving RobotUnitModules called in finishComponentInitialization (called before the state has changed) More...

void	_preFinishControlThreadInitialization ()
	Hook for deriving RobotUnitModules called in finishControlThreadInitialization (called before the state has changed) More...

void	_preFinishDeviceInitialization ()
	Hook for deriving RobotUnitModules called in finishDeviceInitialization (called before the state has changed) More...

void	_preFinishRunning ()
	Hook for deriving RobotUnitModules called in finishRunning (called before the state has changed) More...

void	_preFinishUnitInitialization ()
	Hook for deriving RobotUnitModules called in finishUnitInitialization (called before the state has changed) More...

void	_preOnConnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onConnectComponent (called before onConnectRobotUnit was called) More...

void	_preOnDisconnectRobotUnit ()
	Hook for deriving RobotUnitModules called in onDisconnectComponent (called before onDisconnectRobotUnit was called) More...

void	_preOnExitRobotUnit ()
	Hook for deriving RobotUnitModules called in onExitComponent (called before onExitRobotUnit was called) More...

void	_preOnInitRobotUnit ()
	Hook for deriving RobotUnitModules called in onInitComponent (called before onInitRobotUnit was called) More...

void	checkDerivedClasses () const
	Checks whether the implementing class derives all modules. More...

void	componentPropertiesUpdated (const std::set< std::string > &changedProperties) override

virtual void	finishComponentInitialization ()
	Transition RobotUnitState::InitializingComponent -> RobotUnitState::InitializingDevices. More...

virtual void	finishControlThreadInitialization ()
	Transition RobotUnitState::InitializingControlThread -> RobotUnitState::Running. More...

virtual void	finishDeviceInitialization ()
	Transition RobotUnitState::InitializingDevices -> RobotUnitState::InitializingUnits. More...

virtual void	finishRunning ()
	Transition RobotUnitState::Running -> RobotUnitState::Exiting. More...

virtual void	finishUnitInitialization ()
	Transition RobotUnitState::InitializingUnits -> RobotUnitState::WaitingForRTThreadInitialization. More...

std::string	getDefaultName () const override

GuardType	getGuard () const
	Returns a guard to the RobotUnits mutex. More...

void	icePropertiesInitialized () override

	ModuleBase ()
	Ctor. More...

void	onConnectComponent () final override

void	onDisconnectComponent () final override

void	onExitComponent () final override

void	onInitComponent () final override

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...

PropertyDefinitionsPtr	createPropertyDefinitions () override

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...

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

Friends
class	ModuleBase

class	UnitsAttorneyForPublisher
	This class allows minimal access to private members of Units in a sane fashion for Publisher. More...

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

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 Types inherited from ModuleBase
using	ClockType = std::chrono::high_resolution_clock

using	GuardType = std::unique_lock< MutexType >

using	MutexType = std::recursive_timed_mutex
	The type of recursive_mutex used in this class. More...

using	TimePointType = std::chrono::high_resolution_clock::time_point

Static Protected Member Functions inherited from ModuleBase
static constexpr std::size_t	IndexSentinel ()
	Returns a sentinel value for an index (std::numeric_limits<std::size_t>::max()) More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

This Module manages all Units of a RobotUnit.

These are the managed Units:

See also: ModuleBase

Definition at line 125 of file RobotUnitModuleUnits.h.

Member Function Documentation

◆ addUnit()

void addUnit ( ManagedIceObjectPtr unit )

protected

Registers a unit for management (the Unit is added and removed to the ArmarXManager and updated with new values.

Parameters

unit	The Unit to add.

Definition at line 854 of file RobotUnitModuleUnits.cpp.

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◆ createKinematicSubUnit()

ManagedIceObjectPtr createKinematicSubUnit	(	const Ice::PropertiesPtr &	properties,
		const std::string &	positionControlMode = `ControlModes::Position1DoF`,
		const std::string &	velocityControlMode = `ControlModes::Velocity1DoF`,
		const std::string &	torqueControlMode = `ControlModes::Torque1DoF`,
		const std::string &	pwmControlMode = `ControlModes::PWM1DoF`
	)

protected

Create the KinematicUnit (this function should be called in initializeKinematicUnit)

TODO move init code to Kinematic sub unit

Definition at line 319 of file RobotUnitModuleUnits.cpp.

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◆ getEmergencyStopMaster()

const EmergencyStopMasterInterfacePtr & getEmergencyStopMaster ( ) const

Returns a pointer to the EmergencyStopMaster.

Returns: A pointer to the EmergencyStopMaster

Definition at line 194 of file RobotUnitModuleUnits.cpp.

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◆ getForceTorqueUnit() [1/2]

ForceTorqueUnitInterfacePtr getForceTorqueUnit ( ) const

inline

Returns a pointer to the ForceTorqueUnit.

Returns: A pointer to the ForceTorqueUnit

Definition at line 84 of file RobotUnitModuleUnits.ipp.

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◆ getForceTorqueUnit() [2/2]

ForceTorqueUnitInterfacePrx getForceTorqueUnit ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the ForceTorqueUnit.

Returns: A proxy to the ForceTorqueUnit

Definition at line 39 of file RobotUnitModuleUnits.ipp.

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◆ getInertialMeasurementUnit() [1/2]

InertialMeasurementUnitInterfacePtr getInertialMeasurementUnit ( ) const

inline

Returns a pointer to the InertialMeasurementUnit.

Returns: A pointer to the InertialMeasurementUnit

Definition at line 89 of file RobotUnitModuleUnits.ipp.

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◆ getInertialMeasurementUnit() [2/2]

InertialMeasurementUnitInterfacePrx getInertialMeasurementUnit ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the InertialMeasurementUnit.

Returns: A proxy to the InertialMeasurementUnit

Definition at line 44 of file RobotUnitModuleUnits.ipp.

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◆ getKinematicUnit() [1/2]

KinematicUnitInterfacePtr getKinematicUnit ( ) const

inline

Returns a pointer to the KinematicUnit.

Returns: A pointer to the KinematicUnit

Definition at line 79 of file RobotUnitModuleUnits.ipp.

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◆ getKinematicUnit() [2/2]

KinematicUnitInterfacePrx getKinematicUnit ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the KinematicUnit.

Returns: A proxy to the KinematicUnit

Definition at line 34 of file RobotUnitModuleUnits.ipp.

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◆ getPlatformUnit() [1/2]

PlatformUnitInterfacePtr getPlatformUnit ( ) const

inline

Returns a pointer to the PlatformUnit.

Returns: A pointer to the PlatformUnit

Definition at line 94 of file RobotUnitModuleUnits.ipp.

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◆ getPlatformUnit() [2/2]

PlatformUnitInterfacePrx getPlatformUnit ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the PlatformUnit.

Returns: A proxy to the PlatformUnit

Definition at line 49 of file RobotUnitModuleUnits.ipp.

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◆ getTCPControlUnit() [1/2]

TCPControlUnitInterfacePtr getTCPControlUnit ( ) const

inline

Returns a pointer to the TCPControlUnit.

Returns: A pointer to the TCPControlUnit

Definition at line 99 of file RobotUnitModuleUnits.ipp.

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◆ getTCPControlUnit() [2/2]

TCPControlUnitInterfacePrx getTCPControlUnit ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the TCPControlUnit.

Returns: A proxy to the TCPControlUnit

Definition at line 54 of file RobotUnitModuleUnits.ipp.

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◆ getTrajectoryPlayer() [1/2]

TrajectoryPlayerInterfacePtr getTrajectoryPlayer ( ) const

inline

Returns a pointer to the TrajectoryPlayer.

Returns: A pointer to the TrajectoryPlayer

Definition at line 104 of file RobotUnitModuleUnits.ipp.

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◆ getTrajectoryPlayer() [2/2]

TrajectoryPlayerInterfacePrx getTrajectoryPlayer ( const Ice::Current & ) const

inlineoverride

Returns a proxy to the TrajectoryPlayer.

Returns: A proxy to the TrajectoryPlayer

Definition at line 59 of file RobotUnitModuleUnits.ipp.

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◆ getUnit() [1/3]

T::PointerType getUnit

inline

Returns a pointer to the Unit for the given type (or null if there is none)

Returns: A pointer to the Unit for the given type (or null if there is none)

Definition at line 66 of file RobotUnitModuleUnits.ipp.

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◆ getUnit() [2/3]

const ManagedIceObjectPtr & getUnit ( const std::string & staticIceId ) const

Returns a pointer to the Unit with the given ice id (or null if there is none)

Parameters

staticIceId The Unit's ice id

Returns: A pointer to the Unit with the given ice id (or null if there is none)

Definition at line 969 of file RobotUnitModuleUnits.cpp.

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◆ getUnit() [3/3]

Ice::ObjectPrx getUnit	(	const std::string &	staticIceId,
		const Ice::Current &
	)		const

override

Returns a proxy to the Unit with the given ice id (or null if there is none)

Parameters

staticIceId The Unit's ice id

Returns: A proxy to the Unit with the given ice id (or null if there is none)

Definition at line 181 of file RobotUnitModuleUnits.cpp.

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◆ getUnitPrx()

T::ProxyType getUnitPrx

inline

Returns a proxy to the Unit for the given type (or null if there is none)

Returns: A proxy to the Unit for the given type (or null if there is none)

Definition at line 73 of file RobotUnitModuleUnits.ipp.

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◆ getUnits()

Ice::ObjectProxySeq getUnits ( const Ice::Current & ) const

override

Returns proxies to all units.

Returns: Proxies to all units

Definition at line 162 of file RobotUnitModuleUnits.cpp.

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◆ initializeDefaultUnits()

void initializeDefaultUnits ( )

protectedvirtual

Calls all init hooks for all managed Units.

The called hooks are

Definition at line 201 of file RobotUnitModuleUnits.cpp.

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◆ initializeDiagnosticsUnit()

void initializeDiagnosticsUnit ( )

protectedvirtual

Initialize the diagnostics unit.

Definition at line 261 of file RobotUnitModuleUnits.cpp.

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◆ initializeForceTorqueUnit()

void initializeForceTorqueUnit ( )

protectedvirtual

Initializes the ForceTorqueUnit.

Definition at line 699 of file RobotUnitModuleUnits.cpp.

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◆ initializeInertialMeasurementUnit()

void initializeInertialMeasurementUnit ( )

protectedvirtual

Initializes the InertialMeasurementUnit.

Definition at line 762 of file RobotUnitModuleUnits.cpp.

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◆ initializeKinematicUnit()

void initializeKinematicUnit ( )

protectedvirtual

Initializes the KinematicUnit.

Reimplemented in RTUnit.

Definition at line 298 of file RobotUnitModuleUnits.cpp.

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◆ initializeLocalizationUnit()

void initializeLocalizationUnit ( )

protectedvirtual

Initializes the TcpControllerUnit.

Definition at line 625 of file RobotUnitModuleUnits.cpp.

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◆ initializePlatformUnit()

void initializePlatformUnit ( )

protectedvirtual

Initializes the PlatformUnit.

Definition at line 472 of file RobotUnitModuleUnits.cpp.

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◆ initializeTcpControllerUnit()

void initializeTcpControllerUnit ( )

protectedvirtual

Initializes the TcpControllerUnit.

Definition at line 830 of file RobotUnitModuleUnits.cpp.

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◆ initializeTrajectoryControllerUnit()

void initializeTrajectoryControllerUnit ( )

protectedvirtual

Initializes the TrajectoryControllerUnit.

Definition at line 807 of file RobotUnitModuleUnits.cpp.

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◆ Instance()

Units & Instance ( )

inlinestatic

Returns the singleton instance of this class.

Returns: The singleton instance of this class

Definition at line 29 of file RobotUnitModuleUnits.ipp.

Friends And Related Function Documentation

◆ ModuleBase

friend class ModuleBase

friend

Definition at line 127 of file RobotUnitModuleUnits.h.

◆ UnitsAttorneyForPublisher

friend class UnitsAttorneyForPublisher

friend

This class allows minimal access to private members of Units in a sane fashion for Publisher.

Warning: !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!

Definition at line 328 of file RobotUnitModuleUnits.h.

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

RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addUnit()

◆ createKinematicSubUnit()

◆ getEmergencyStopMaster()

◆ getForceTorqueUnit() [1/2]

◆ getForceTorqueUnit() [2/2]

◆ getInertialMeasurementUnit() [1/2]

◆ getInertialMeasurementUnit() [2/2]

◆ getKinematicUnit() [1/2]

◆ getKinematicUnit() [2/2]

◆ getPlatformUnit() [1/2]

◆ getPlatformUnit() [2/2]

◆ getTCPControlUnit() [1/2]

◆ getTCPControlUnit() [2/2]

◆ getTrajectoryPlayer() [1/2]

◆ getTrajectoryPlayer() [2/2]

◆ getUnit() [1/3]

◆ getUnit() [2/3]

◆ getUnit() [3/3]

◆ getUnitPrx()

◆ getUnits()

◆ initializeDefaultUnits()

◆ initializeDiagnosticsUnit()

◆ initializeForceTorqueUnit()

◆ initializeInertialMeasurementUnit()

◆ initializeKinematicUnit()

◆ initializeLocalizationUnit()

◆ initializePlatformUnit()

◆ initializeTcpControllerUnit()

◆ initializeTrajectoryControllerUnit()

◆ Instance()

Friends And Related Function Documentation

◆ ModuleBase

◆ UnitsAttorneyForPublisher