#include <RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h>

Inheritance diagram for RobotReader:

Public Types
enum	Hand { Left, Right }

using	JointTrajectory = std::map< armem::Time, RobotState::JointMap >

Public Member Functions
virtual void	connect (armem::client::MemoryNameSystem &memoryNameSystem)

Robot	get (const description::RobotDescription &description, const armem::Time &timestamp) const override

std::optional< Robot >	get (const std::string &name, const armem::Time &timestamp) const override

std::optional< description::RobotDescription >	queryDescription (const std::string &name, const armem::Time &timestamp) const

std::vector< description::RobotDescription >	queryDescriptions (const armem::Time &timestamp) const

std::optional< std::map< Hand, proprioception::ForceTorque > >	queryForceTorque (const std::string &robotName, const armem::Time &timestamp) const

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, proprioception::ForceTorque > > >	queryForceTorques (const std::string &robotName, const armem::Time &start, const armem::Time &end) const

std::optional< RobotState::Pose >	queryGlobalPose (const std::string &robotName, const armem::Time &timestamp) const

std::optional< RobotState >	queryJointState (const std::string &robotName, const armem::Time &timestamp) const

JointTrajectory	queryJointStates (const std::string &robotName, const armem::Time &begin, const armem::Time &end) const

std::optional<::armarx::armem::robot_state::localization::Transform >	queryOdometryPose (const std::string &robotName, const armem::Time &timestamp) const
	retrieve the robot's pose in the odometry frame. More...

std::optional< PlatformState >	queryPlatformState (const std::string &robotName, const armem::Time &timestamp) const

std::optional< armarx::armem::arondto::Proprioception >	queryProprioception (const std::string &robotName, const armem::Time &timestamp) const

std::optional< RobotState >	queryState (const std::string &robotName, const armem::Time &timestamp) const

std::optional< std::map< Hand, exteroception::ToF > >	queryToF (const std::string &robotName, const armem::Time &timestamp) const

virtual void	registerPropertyDefinitions (::armarx::PropertyDefinitionsPtr &def)

	RobotReader ()=default

	RobotReader (const RobotReader &)

void	setSleepAfterSyncFailure (const armem::Duration &duration)

void	setSyncTimeout (const armem::Duration &duration)

bool	synchronize (Robot &obj, const armem::Time &timestamp) const override

virtual	~RobotReader ()=default

Public Member Functions inherited from ReaderInterface
virtual	~ReaderInterface ()=default

Protected Attributes
armem::Duration	sleepAfterFailure = armem::Duration::MicroSeconds(0)

armem::Duration	syncTimeout = armem::Duration::MicroSeconds(0)

Detailed Description

The RobotReader class.

The purpose of this class is to synchronize the armem data structure armem::Robot with the memory.

Definition at line 43 of file RobotReader.h.

Member Typedef Documentation

◆ JointTrajectory

using JointTrajectory = std::map<armem::Time, RobotState::JointMap>

Definition at line 76 of file RobotReader.h.

Member Enumeration Documentation

◆ Hand

enum Hand

strong

Enumerator
Left
Right

Definition at line 91 of file RobotReader.h.

Constructor & Destructor Documentation

◆ RobotReader() [1/2]

RobotReader ( )

default

◆ RobotReader() [2/2]

RobotReader ( const RobotReader & r )

Definition at line 33 of file RobotReader.cpp.

◆ ~RobotReader()

virtual ~RobotReader ( )

virtualdefault

Member Function Documentation

◆ connect()

void connect ( armem::client::MemoryNameSystem & memoryNameSystem )

virtual

Definition at line 48 of file RobotReader.cpp.

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◆ get() [1/2]

Robot get	(	const description::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

overridevirtual

Implements ReaderInterface.

Definition at line 81 of file RobotReader.cpp.

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◆ get() [2/2]

std::optional< Robot > get	(	const std::string &	name,
		const armem::Time &	timestamp
	)		const

overridevirtual

Implements ReaderInterface.

Definition at line 67 of file RobotReader.cpp.

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◆ queryDescription()

std::optional< description::RobotDescription > queryDescription	(	const std::string &	name,
		const armem::Time &	timestamp
	)		const

Definition at line 138 of file RobotReader.cpp.

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◆ queryDescriptions()

std::vector< description::RobotDescription > queryDescriptions ( const armem::Time & timestamp ) const

Definition at line 850 of file RobotReader.cpp.

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◆ queryForceTorque()

std::optional< std::map< RobotReader::Hand, proprioception::ForceTorque > > queryForceTorque	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 524 of file RobotReader.cpp.

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◆ queryForceTorques()

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, proprioception::ForceTorque > > > queryForceTorques	(	const std::string &	robotName,
		const armem::Time &	start,
		const armem::Time &	end
	)		const

Definition at line 566 of file RobotReader.cpp.

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◆ queryGlobalPose()

std::optional< RobotState::Pose > queryGlobalPose	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 378 of file RobotReader.cpp.

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◆ queryJointState()

std::optional< RobotState > queryJointState	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 206 of file RobotReader.cpp.

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◆ queryJointStates()

RobotReader::JointTrajectory queryJointStates	(	const std::string &	robotName,
		const armem::Time &	begin,
		const armem::Time &	end
	)		const

Definition at line 295 of file RobotReader.cpp.

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◆ queryOdometryPose()

std::optional<::armarx::armem::robot_state::localization::Transform > queryOdometryPose	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

retrieve the robot's pose in the odometry frame.

This pose is an integration of the robot's platform velocity and undergoes a significant drift.

Parameters

description
timestamp

Returns: std::optional<RobotState::Pose>

Definition at line 226 of file RobotReader.cpp.

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◆ queryPlatformState()

std::optional< PlatformState > queryPlatformState	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 336 of file RobotReader.cpp.

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◆ queryProprioception()

std::optional< armarx::armem::arondto::Proprioception > queryProprioception	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 253 of file RobotReader.cpp.

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◆ queryState()

std::optional< RobotState > queryState	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 186 of file RobotReader.cpp.

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◆ queryToF()

std::optional< std::map< RobotReader::Hand, exteroception::ToF > > queryToF	(	const std::string &	robotName,
		const armem::Time &	timestamp
	)		const

Definition at line 608 of file RobotReader.cpp.

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◆ registerPropertyDefinitions()

void registerPropertyDefinitions ( ::armarx::PropertyDefinitionsPtr & def )

virtual

Definition at line 42 of file RobotReader.cpp.

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◆ setSleepAfterSyncFailure()

void setSleepAfterSyncFailure ( const armem::Duration & duration )

Definition at line 101 of file RobotReader.cpp.

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◆ setSyncTimeout()

void setSyncTimeout ( const armem::Duration & duration )

Definition at line 95 of file RobotReader.cpp.

◆ synchronize()

bool synchronize	(	Robot &	obj,
		const armem::Time &	timestamp
	)		const

overridevirtual

Implements ReaderInterface.

Definition at line 108 of file RobotReader.cpp.

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Member Data Documentation

◆ sleepAfterFailure

armem::Duration sleepAfterFailure = armem::Duration::MicroSeconds(0)

protected

Definition at line 125 of file RobotReader.h.

◆ syncTimeout

armem::Duration syncTimeout = armem::Duration::MicroSeconds(0)

protected

Definition at line 124 of file RobotReader.h.

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

RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ JointTrajectory

Member Enumeration Documentation

◆ Hand

Constructor & Destructor Documentation

◆ RobotReader() [1/2]

◆ RobotReader() [2/2]

◆ ~RobotReader()

Member Function Documentation

◆ connect()

◆ get() [1/2]

◆ get() [2/2]

◆ queryDescription()

◆ queryDescriptions()

◆ queryForceTorque()

◆ queryForceTorques()

◆ queryGlobalPose()

◆ queryJointState()

◆ queryJointStates()

◆ queryOdometryPose()

◆ queryPlatformState()

◆ queryProprioception()

◆ queryState()

◆ queryToF()

◆ registerPropertyDefinitions()

◆ setSleepAfterSyncFailure()

◆ setSyncTimeout()

◆ synchronize()

Member Data Documentation

◆ sleepAfterFailure

◆ syncTimeout