#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, robot::RobotState::JointMap >

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

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

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

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

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

std::optional< std::map< Hand, robot::ForceTorque > >	queryForceTorque (const robot::RobotDescription &description, const armem::Time &timestamp) const

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, robot::ForceTorque > > >	queryForceTorques (const robot::RobotDescription &description, const armem::Time &start, const armem::Time &end) const

std::optional< robot::RobotState::Pose >	queryGlobalPose (const robot::RobotDescription &description, const armem::Time &timestamp) const

JointTrajectory	queryJointStates (const robot::RobotDescription &description, const armem::Time &begin, const armem::Time &end) const

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

std::optional< robot::PlatformState >	queryPlatformState (const robot::RobotDescription &description, const armem::Time &timestamp) const

std::optional< armarx::armem::arondto::Proprioception >	queryProprioception (const robot::RobotDescription &description, const armem::Time &timestamp) const

std::optional< robot::RobotState >	queryState (const robot::RobotDescription &description, const armem::Time &timestamp) const

std::optional< std::map< Hand, robot::ToFArray > >	queryToF (const robot::RobotDescription &description, 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::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, robot::RobotState::JointMap>

Definition at line 74 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 34 of file RobotReader.cpp.

◆ ~RobotReader()

virtual ~RobotReader ( )

virtualdefault

Member Function Documentation

◆ connect()

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

virtual

Definition at line 49 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get() [1/2]

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

overridevirtual

Implements ReaderInterface.

Definition at line 82 of file RobotReader.cpp.

Here is the call graph for this function:

◆ get() [2/2]

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

overridevirtual

Implements ReaderInterface.

Definition at line 68 of file RobotReader.cpp.

Here is the call graph for this function:

◆ queryDescription()

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

Definition at line 138 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryDescriptions()

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

Definition at line 837 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryForceTorque()

std::optional< std::map< RobotReader::Hand, robot::ForceTorque > > queryForceTorque	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 511 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryForceTorques()

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, robot::ForceTorque > > > queryForceTorques	(	const robot::RobotDescription &	description,
		const armem::Time &	start,
		const armem::Time &	end
	)		const

Definition at line 553 of file RobotReader.cpp.

Here is the call graph for this function:

◆ queryGlobalPose()

std::optional< robot::RobotState::Pose > queryGlobalPose	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 365 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryJointStates()

RobotReader::JointTrajectory queryJointStates	(	const robot::RobotDescription &	description,
		const armem::Time &	begin,
		const armem::Time &	end
	)		const

Definition at line 282 of file RobotReader.cpp.

Here is the call graph for this function:

◆ queryOdometryPose()

std::optional<::armarx::armem::robot_state::Transform > queryOdometryPose	(	const robot::RobotDescription &	description,
		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<robot::RobotState::Pose>

Definition at line 213 of file RobotReader.cpp.

Here is the call graph for this function:

◆ queryPlatformState()

std::optional< robot::PlatformState > queryPlatformState	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 323 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryProprioception()

std::optional< armarx::armem::arondto::Proprioception > queryProprioception	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 240 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryState()

std::optional< robot::RobotState > queryState	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 186 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ queryToF()

std::optional< std::map< RobotReader::Hand, robot::ToFArray > > queryToF	(	const robot::RobotDescription &	description,
		const armem::Time &	timestamp
	)		const

Definition at line 595 of file RobotReader.cpp.

Here is the call graph for this function:

◆ registerPropertyDefinitions()

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

virtual

Reimplemented in VirtualRobotReader.

Definition at line 43 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ setSleepAfterSyncFailure()

void setSleepAfterSyncFailure ( const armem::Duration & duration )

Definition at line 101 of file RobotReader.cpp.

Here is the call graph for this function:

◆ setSyncTimeout()

void setSyncTimeout ( const armem::Duration & duration )

Definition at line 95 of file RobotReader.cpp.

◆ synchronize()

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

overridevirtual

Implements ReaderInterface.

Definition at line 108 of file RobotReader.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ sleepAfterFailure

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

protected

Definition at line 126 of file RobotReader.h.

◆ syncTimeout

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

protected

Definition at line 125 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()

◆ queryJointStates()

◆ queryOdometryPose()

◆ queryPlatformState()

◆ queryProprioception()

◆ queryState()

◆ queryToF()

◆ registerPropertyDefinitions()

◆ setSleepAfterSyncFailure()

◆ setSyncTimeout()

◆ synchronize()

Member Data Documentation

◆ sleepAfterFailure

◆ syncTimeout