Brief description of class TrajectoryPlayer. More...

#include <RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.h>

Inheritance diagram for TrajectoryPlayer:

Public Member Functions
void	considerConstraints (bool, const Ice::Current &) override

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

double	getCurrentTime (const Ice::Current &) override

std::string	getDefaultName () const override

double	getEndTime (const Ice::Current &) override

double	getTrajEndTime (const Ice::Current &) override

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

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

bool	pauseTrajectoryPlayer (const Ice::Current &) 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 &angles, 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 &) override

void	setEndTime (double end, const Ice::Current &) override

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

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

bool	setJointsInUse (const std::string &jointName, bool inUse, const Ice::Current &) override

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

void	setOffset (const Eigen::Matrix4f &offset, const Ice::Current &) override

bool	startTrajectoryPlayer (const Ice::Current &) override

bool	stopTrajectoryPlayer (const Ice::Current &) override

void	updateTargetValues ()

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< 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

Protected Member Functions
bool	checkJointsLimit ()

bool	checkSelfCollision ()

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

void	run ()

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 LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::string	armarxProject

::armarx::TrajectoryPtr	basePoseTraj

double	currentTime

DebugDrawerInterfacePrx	debugDrawer

DebugObserverInterfacePrx	debugObserver

int	direction

double	endTime

bool	isPreview

bool	isVelocityControl

Ice::StringSeq	jointNames

std::map< std::string, bool >	jointNamesUsed

NameValueMap	jointOffets

::armarx::TrajectoryPtr	jointTraj

KinematicUnitInterfacePrx	kinematicUnit

std::map< std::string, bool >	limitlessMap

VirtualRobot::RobotPtr	localModel

bool	loopPlayback

float	maxVel

std::string	modelFileName

IceUtil::Time	motionStartTime

NameValueMap	nullVelocities

Eigen::Matrix4f	offset

std::map< std::string, PIDControllerPtr >	PIDs

bool	robotPoseUnitEnabled

double	runningTime

IceUtil::Time	startTime

NameValueMap	targetPositionValues

PosePtr	targetRobotPose

NameValueMap	targetVelocityValues

PeriodicTask< TrajectoryPlayer >::pointer_type	task

double	timeOffset

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

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...

Detailed Description

Brief description of class TrajectoryPlayer.

Detailed description of class TrajectoryPlayer.

Definition at line 96 of file TrajectoryPlayer.h.

Member Function Documentation

◆ checkJointsLimit()

bool checkJointsLimit ( )

protected

Definition at line 733 of file TrajectoryPlayer.cpp.

◆ checkSelfCollision()

bool checkSelfCollision ( )

protected

Definition at line 782 of file TrajectoryPlayer.cpp.

◆ considerConstraints()

void considerConstraints	(	bool	,
		const Ice::Current &
	)

inlineoverride

Definition at line 174 of file TrajectoryPlayer.h.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 452 of file TrajectoryPlayer.cpp.

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◆ enableRobotPoseUnit()

void enableRobotPoseUnit	(	bool	isRobotPose,
		const Ice::Current &
	)

inlineoverride

Definition at line 169 of file TrajectoryPlayer.h.

◆ getCurrentTime()

double getCurrentTime ( const Ice::Current & )

inlineoverride

Definition at line 136 of file TrajectoryPlayer.h.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 105 of file TrajectoryPlayer.h.

◆ getEndTime()

double getEndTime ( const Ice::Current & )

inlineoverride

Definition at line 141 of file TrajectoryPlayer.h.

◆ getTrajEndTime()

double getTrajEndTime ( const Ice::Current & )

inlineoverride

Definition at line 159 of file TrajectoryPlayer.h.

◆ loadBasePoseTraj()

void loadBasePoseTraj	(	const TrajectoryBasePtr &	trajs,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 354 of file TrajectoryPlayer.cpp.

◆ loadJointTraj()

void loadJointTraj	(	const TrajectoryBasePtr &	trajs,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 241 of file TrajectoryPlayer.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

Definition at line 423 of file TrajectoryPlayer.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 441 of file TrajectoryPlayer.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 447 of file TrajectoryPlayer.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

Definition at line 406 of file TrajectoryPlayer.cpp.

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◆ pauseTrajectoryPlayer()

bool pauseTrajectoryPlayer ( const Ice::Current & )

override

Definition at line 70 of file TrajectoryPlayer.cpp.

◆ reportControlModeChanged()

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

inlineoverride

Definition at line 181 of file TrajectoryPlayer.h.

◆ reportJointAccelerations()

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

inlineoverride

Definition at line 185 of file TrajectoryPlayer.h.

◆ reportJointAngles()

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

override

Definition at line 399 of file TrajectoryPlayer.cpp.

◆ reportJointCurrents()

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

inlineoverride

Definition at line 186 of file TrajectoryPlayer.h.

◆ reportJointMotorTemperatures()

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

inlineoverride

Definition at line 187 of file TrajectoryPlayer.h.

◆ reportJointStatuses()

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

inlineoverride

Definition at line 188 of file TrajectoryPlayer.h.

◆ reportJointTorques()

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

inlineoverride

Definition at line 184 of file TrajectoryPlayer.h.

◆ reportJointVelocities()

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

inlineoverride

Definition at line 183 of file TrajectoryPlayer.h.

◆ resetTrajectoryPlayer()

bool resetTrajectoryPlayer	(	bool	moveToFrameZeroPose,
		const Ice::Current &
	)

override

Definition at line 219 of file TrajectoryPlayer.cpp.

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◆ run()

void run ( )

protected

Definition at line 458 of file TrajectoryPlayer.cpp.

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◆ setEndTime()

void setEndTime	(	double	end,
		const Ice::Current &
	)

inlineoverride

Definition at line 146 of file TrajectoryPlayer.h.

◆ setIsPreview()

void setIsPreview	(	bool	isPreview,
		const Ice::Current &
	)

inlineoverride

Definition at line 164 of file TrajectoryPlayer.h.

◆ setIsVelocityControl()

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

override

Definition at line 367 of file TrajectoryPlayer.cpp.

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◆ setJointsInUse()

bool setJointsInUse	(	const std::string &	jointName,
		bool	inUse,
		const Ice::Current &
	)

override

Definition at line 233 of file TrajectoryPlayer.cpp.

◆ setLoopPlayback()

void setLoopPlayback	(	bool	loop,
		const Ice::Current &
	)

override

Definition at line 361 of file TrajectoryPlayer.cpp.

◆ setOffset()

void setOffset	(	const Eigen::Matrix4f &	offset,
		const Ice::Current &
	)

inlineoverride

Definition at line 190 of file TrajectoryPlayer.h.

◆ startTrajectoryPlayer()

bool startTrajectoryPlayer ( const Ice::Current & )

override

Definition at line 35 of file TrajectoryPlayer.cpp.

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◆ stopTrajectoryPlayer()

bool stopTrajectoryPlayer ( const Ice::Current & )

override

Definition at line 89 of file TrajectoryPlayer.cpp.

◆ updateTargetValues()

void updateTargetValues ( )

Definition at line 125 of file TrajectoryPlayer.cpp.

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Member Data Documentation

◆ armarxProject

std::string armarxProject

protected

Definition at line 231 of file TrajectoryPlayer.h.

◆ basePoseTraj

::armarx::TrajectoryPtr basePoseTraj

protected

Definition at line 224 of file TrajectoryPlayer.h.

◆ currentTime

double currentTime

protected

Definition at line 243 of file TrajectoryPlayer.h.

◆ debugDrawer

DebugDrawerInterfacePrx debugDrawer

protected

Definition at line 229 of file TrajectoryPlayer.h.

◆ debugObserver

DebugObserverInterfacePrx debugObserver

protected

Definition at line 228 of file TrajectoryPlayer.h.

◆ direction

int direction

protected

Definition at line 258 of file TrajectoryPlayer.h.

◆ endTime

double endTime

protected

Definition at line 247 of file TrajectoryPlayer.h.

◆ isPreview

bool isPreview

protected

Definition at line 250 of file TrajectoryPlayer.h.

◆ isVelocityControl

bool isVelocityControl

protected

Definition at line 241 of file TrajectoryPlayer.h.

◆ jointNames

Ice::StringSeq jointNames

protected

Definition at line 237 of file TrajectoryPlayer.h.

◆ jointNamesUsed

std::map<std::string, bool> jointNamesUsed

protected

Definition at line 238 of file TrajectoryPlayer.h.

◆ jointOffets

NameValueMap jointOffets

protected

Definition at line 259 of file TrajectoryPlayer.h.

◆ jointTraj

::armarx::TrajectoryPtr jointTraj

protected

Definition at line 223 of file TrajectoryPlayer.h.

◆ kinematicUnit

KinematicUnitInterfacePrx kinematicUnit

protected

Definition at line 227 of file TrajectoryPlayer.h.

◆ limitlessMap

std::map<std::string, bool> limitlessMap

protected

Definition at line 239 of file TrajectoryPlayer.h.

◆ localModel

VirtualRobot::RobotPtr localModel

protected

Definition at line 269 of file TrajectoryPlayer.h.

◆ loopPlayback

bool loopPlayback

protected

Definition at line 249 of file TrajectoryPlayer.h.

◆ maxVel

float maxVel

protected

Definition at line 260 of file TrajectoryPlayer.h.

◆ modelFileName

std::string modelFileName

protected

Definition at line 262 of file TrajectoryPlayer.h.

◆ motionStartTime

IceUtil::Time motionStartTime

protected

Definition at line 256 of file TrajectoryPlayer.h.

◆ nullVelocities

NameValueMap nullVelocities

protected

Definition at line 255 of file TrajectoryPlayer.h.

◆ offset

Eigen::Matrix4f offset

protected

Definition at line 234 of file TrajectoryPlayer.h.

◆ PIDs

std::map<std::string, PIDControllerPtr> PIDs

protected

Definition at line 251 of file TrajectoryPlayer.h.

◆ robotPoseUnitEnabled

bool robotPoseUnitEnabled

protected

Definition at line 232 of file TrajectoryPlayer.h.

◆ runningTime

double runningTime

protected

Definition at line 244 of file TrajectoryPlayer.h.

◆ startTime

IceUtil::Time startTime

protected

Definition at line 245 of file TrajectoryPlayer.h.

◆ targetPositionValues

NameValueMap targetPositionValues

protected

Definition at line 252 of file TrajectoryPlayer.h.

◆ targetRobotPose

PosePtr targetRobotPose

protected

Definition at line 254 of file TrajectoryPlayer.h.

◆ targetVelocityValues

NameValueMap targetVelocityValues

protected

Definition at line 253 of file TrajectoryPlayer.h.

◆ task

PeriodicTask<TrajectoryPlayer>::pointer_type task

protected

Definition at line 236 of file TrajectoryPlayer.h.

◆ timeOffset

double timeOffset

protected

Definition at line 246 of file TrajectoryPlayer.h.

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

RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.h
RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ checkJointsLimit()

◆ checkSelfCollision()

◆ considerConstraints()

◆ createPropertyDefinitions()

◆ enableRobotPoseUnit()

◆ getCurrentTime()

◆ getDefaultName()

◆ getEndTime()

◆ getTrajEndTime()

◆ loadBasePoseTraj()

◆ loadJointTraj()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ pauseTrajectoryPlayer()

◆ reportControlModeChanged()

◆ reportJointAccelerations()

◆ reportJointAngles()

◆ reportJointCurrents()

◆ reportJointMotorTemperatures()

◆ reportJointStatuses()

◆ reportJointTorques()

◆ reportJointVelocities()

◆ resetTrajectoryPlayer()

◆ run()

◆ setEndTime()

◆ setIsPreview()

◆ setIsVelocityControl()

◆ setJointsInUse()

◆ setLoopPlayback()

◆ setOffset()

◆ startTrajectoryPlayer()

◆ stopTrajectoryPlayer()

◆ updateTargetValues()

Member Data Documentation

◆ armarxProject

◆ basePoseTraj

◆ currentTime

◆ debugDrawer

◆ debugObserver

◆ direction

◆ endTime

◆ isPreview

◆ isVelocityControl

◆ jointNames

◆ jointNamesUsed

◆ jointOffets

◆ jointTraj

◆ kinematicUnit

◆ limitlessMap

◆ localModel

◆ loopPlayback

◆ maxVel

◆ modelFileName

◆ motionStartTime

◆ nullVelocities

◆ offset

◆ PIDs

◆ robotPoseUnitEnabled

◆ runningTime

◆ startTime

◆ targetPositionValues

◆ targetRobotPose

◆ targetVelocityValues

◆ task

◆ timeOffset