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| PropertyDefinitionsPtr | createPropertyDefinitions () override |
| |
| std::optional< Eigen::Affine3f > | globalPoseFromLongTermMemory () const |
| |
| void | onConnectComponent () override |
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| void | onDisconnectComponent () override |
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| void | onExitComponent () override |
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| void | onInitComponent () override |
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| void | onReconnectComponent () |
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| void | publishSelfLocalization (const PoseStamped &map_T_robot) |
| |
| | SelfLocalization () |
| |
| virtual | ~SelfLocalization () |
| |
| 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...
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| |
| 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...
|
| |
| 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) |
| |
| 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 () |
| |
| 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 |
| |
| MemoryNameSystem & | memoryNameSystem () |
| |
| const MemoryNameSystem & | memoryNameSystem () const |
| |
|
| const std::string & | getAgentName () const noexcept |
| |
| const std::shared_ptr< VirtualRobot::Robot > & | getRobot () const noexcept |
| |
| const std::string & | getRobotRootFrame () const noexcept |
| |
| const armem::robot_state::client::localization::TransformReaderInterface & | getTransformReader () const |
| |
| armem::robot_state::client::localization::TransformWriterInterface & | getTransformWriter () const |
| |
| virtual Eigen::Isometry3f | worldToMapTransform () const =0 |
| | static transformation from world to map More...
|
| |
| 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 () |
| |
| 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 |
| |
| bool | checkLogLevel (MessageTypeT level) const |
| |
| const LogSenderPtr & | getLogSender () const |
| | Retrieve log sender. More...
|
| |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
| |
| | ListeningPluginUser () |
| |
| virtual void | memoryUpdated (const std::vector< data::MemoryID > &updatedSnapshotIDs, const Ice::Current &) override |
| |
| virtual | ~ListeningPluginUser () override |
| |
| | PluginUser () |
| |
| virtual | ~PluginUser () override |
| |
The SelfLocalization class.
This class serves as a base class for all self-localization implementations. The global pose is sent to a multitude of topics, written to ArMem and to MemoryX short and longterm memory, which is all done by this class.
All you have to do, is to
Hint: If your component which is derived from SelfLocalization implements its own interface, make sure that it also extends the MemoryListenerInterface (RobotAPI/interface/armem/client/MemoryListenerInterface.ice).
Definition at line 84 of file SelfLocalization.h.
Inheritance diagram for SelfLocalization: