TrajectoryControllerSubUnit Class Reference

#include <RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h>

+ Inheritance diagram for TrajectoryControllerSubUnit:

Public Member Functions

virtual void componentPropertiesUpdated (const std::set< std::string > &changedProperties) override
 Implement this function if you would like to react to changes in the properties. More...
 
void considerConstraints (bool, const Ice::Current &=Ice::emptyCurrent) override
 
void enableRobotPoseUnit (bool, const Ice::Current &=Ice::emptyCurrent) override
 
Ice::Double getCurrentTime (const Ice::Current &=Ice::emptyCurrent) override
 
Ice::Double getEndTime (const Ice::Current &=Ice::emptyCurrent) override
 
Ice::Double getTrajEndTime (const Ice::Current &=Ice::emptyCurrent) override
 
void loadBasePoseTraj (const TrajectoryBasePtr &basePoseTraj, const Ice::Current &=Ice::emptyCurrent) override
 
void loadJointTraj (const TrajectoryBasePtr &jointTraj, const Ice::Current &=Ice::emptyCurrent) override
 
bool pauseTrajectoryPlayer (const Ice::Current &=Ice::emptyCurrent) override
 
void reportControlModeChanged (const NameControlModeMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointAccelerations (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointAngles (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointCurrents (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointMotorTemperatures (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointStatuses (const NameStatusMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointTorques (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
void reportJointVelocities (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
 
bool resetTrajectoryPlayer (bool moveToFrameZeroPose, const Ice::Current &=Ice::emptyCurrent) override
 
void setEndTime (Ice::Double, const Ice::Current &=Ice::emptyCurrent) override
 
void setIsPreview (bool, const Ice::Current &=Ice::emptyCurrent) override
 
void setIsVelocityControl (bool, const Ice::Current &=Ice::emptyCurrent) override
 
bool setJointsInUse (const std::string &, bool, const Ice::Current &=Ice::emptyCurrent) override
 
void setLoopPlayback (bool loop, const Ice::Current &=Ice::emptyCurrent) override
 
void setOffset (const ::Eigen::Matrix4f &, const ::Ice::Current &=::Ice::emptyCurrent) override
 
void setup (RobotUnit *rUnit)
 
bool startTrajectoryPlayer (const Ice::Current &=Ice::emptyCurrent) override
 
bool stopTrajectoryPlayer (const Ice::Current &=Ice::emptyCurrent) override
 
void update (const SensorAndControl &sc, const JointAndNJointControllers &c) override
 
- 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 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< 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 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
 

Protected Member Functions

armarx::PropertyDefinitionsPtr createPropertyDefinitions () override
 
std::string getDefaultName () const override
 Retrieve default name of component. More...
 
void onConnectComponent () override
 Pure virtual hook for the subclass. More...
 
void onDisconnectComponent () override
 Hook for subclass. More...
 
void onInitComponent () override
 Pure virtual hook for the subclass. 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 onExitComponent ()
 Hook for subclass. 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 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 ()
 

Additional Inherited Members

- Public Types inherited from ManagedIceObject
using PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>
 
- 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 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 Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr NullPtr
 A nullptr to be used when a const ref to a nullptr is required. More...
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 80 of file TrajectoryControllerSubUnit.h.

Member Function Documentation

◆ componentPropertiesUpdated()

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

Implement this function if you would like to react to changes in the properties.

Parameters
changedPropertiesSet of changed properties. Retrieve the values with getProperty()

Reimplemented from Component.

Definition at line 526 of file TrajectoryControllerSubUnit.cpp.

◆ considerConstraints()

void considerConstraints ( bool  consider,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 393 of file TrajectoryControllerSubUnit.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )
inlineoverrideprotectedvirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 190 of file TrajectoryControllerSubUnit.h.

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◆ enableRobotPoseUnit()

void enableRobotPoseUnit ( bool  isRobotPose,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 382 of file TrajectoryControllerSubUnit.cpp.

◆ getCurrentTime()

double getCurrentTime ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 269 of file TrajectoryControllerSubUnit.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const
inlineoverrideprotectedvirtual

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")

Implements ManagedIceObject.

Definition at line 181 of file TrajectoryControllerSubUnit.h.

◆ getEndTime()

double getEndTime ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 257 of file TrajectoryControllerSubUnit.cpp.

◆ getTrajEndTime()

double getTrajEndTime ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 263 of file TrajectoryControllerSubUnit.cpp.

◆ loadBasePoseTraj()

void loadBasePoseTraj ( const TrajectoryBasePtr &  basePoseTraj,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 237 of file TrajectoryControllerSubUnit.cpp.

◆ loadJointTraj()

void loadJointTraj ( const TrajectoryBasePtr &  jointTraj,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 180 of file TrajectoryControllerSubUnit.cpp.

◆ onConnectComponent()

void onConnectComponent ( )
overrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also
onDisconnectComponent()

Implements ManagedIceObject.

Definition at line 45 of file TrajectoryControllerSubUnit.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )
overrideprotectedvirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also
onConnectComponent

Reimplemented from ManagedIceObject.

Definition at line 52 of file TrajectoryControllerSubUnit.cpp.

◆ onInitComponent()

void onInitComponent ( )
overrideprotectedvirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

Definition at line 28 of file TrajectoryControllerSubUnit.cpp.

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◆ pauseTrajectoryPlayer()

bool pauseTrajectoryPlayer ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 94 of file TrajectoryControllerSubUnit.cpp.

◆ reportControlModeChanged()

void reportControlModeChanged ( const NameControlModeMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 124 of file TrajectoryControllerSubUnit.h.

◆ reportJointAccelerations()

void reportJointAccelerations ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 147 of file TrajectoryControllerSubUnit.h.

◆ reportJointAngles()

void reportJointAngles ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 132 of file TrajectoryControllerSubUnit.h.

◆ reportJointCurrents()

void reportJointCurrents ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 152 of file TrajectoryControllerSubUnit.h.

◆ reportJointMotorTemperatures()

void reportJointMotorTemperatures ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 157 of file TrajectoryControllerSubUnit.h.

◆ reportJointStatuses()

void reportJointStatuses ( const NameStatusMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 165 of file TrajectoryControllerSubUnit.h.

◆ reportJointTorques()

void reportJointTorques ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 142 of file TrajectoryControllerSubUnit.h.

◆ reportJointVelocities()

void reportJointVelocities ( const NameValueMap &  ,
Ice::Long  ,
bool  ,
const Ice::Current &   
)
inlineoverride

Definition at line 137 of file TrajectoryControllerSubUnit.h.

◆ resetTrajectoryPlayer()

bool resetTrajectoryPlayer ( bool  moveToFrameZeroPose,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 135 of file TrajectoryControllerSubUnit.cpp.

◆ setEndTime()

void setEndTime ( Ice::Double  end,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 282 of file TrajectoryControllerSubUnit.cpp.

◆ setIsPreview()

void setIsPreview ( bool  isPreview,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 323 of file TrajectoryControllerSubUnit.cpp.

◆ setIsVelocityControl()

void setIsVelocityControl ( bool  ,
const Ice::Current &  = Ice::emptyCurrent 
)
inlineoverride

Definition at line 106 of file TrajectoryControllerSubUnit.h.

◆ setJointsInUse()

bool setJointsInUse ( const std::string &  jointName,
bool  isInUse,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 341 of file TrajectoryControllerSubUnit.cpp.

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◆ setLoopPlayback()

void setLoopPlayback ( bool  loop,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 244 of file TrajectoryControllerSubUnit.cpp.

◆ setOffset()

void setOffset ( const ::Eigen::Matrix4f &  ,
const ::Ice::Current &  = ::Ice::emptyCurrent 
)
inlineoverride

Definition at line 170 of file TrajectoryControllerSubUnit.h.

◆ setup()

void setup ( RobotUnit rUnit)

Definition at line 518 of file TrajectoryControllerSubUnit.cpp.

◆ startTrajectoryPlayer()

bool startTrajectoryPlayer ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 58 of file TrajectoryControllerSubUnit.cpp.

◆ stopTrajectoryPlayer()

bool stopTrajectoryPlayer ( const Ice::Current &  c = Ice::emptyCurrent)
override

Definition at line 113 of file TrajectoryControllerSubUnit.cpp.

◆ update()

void update ( const SensorAndControl sc,
const JointAndNJointControllers c 
)
overridevirtual

Implements RobotUnitSubUnit.

Definition at line 388 of file TrajectoryControllerSubUnit.cpp.


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