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RobotStatePredictionClient Class Reference

#include <RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.h>

Classes

struct  Remote
 
struct  WholeBodyPrediction
 

Public Member Functions

std::optional< Eigen::Affine3f > lookupGlobalPose (const std::vector< armem::PredictionResult > &localizationPredictionResults, const std::vector< armem::MemoryID > &localizationEntityIDs, armem::Time predictedTime)
 
std::optional< std::map< std::string, float > > lookupJointPositions (const std::vector< armem::PredictionResult > &proprioceptionPredictionResults, const std::string &robotName)
 
std::vector< armem::PredictionRequest > makePredictionRequests (const std::vector< armem::MemoryID > &entityIDs, armem::Time predictedTime, const std::string &engineID="Linear")
 
std::vector< armem::PredictionResult > predict (const std::vector< armem::MemoryID > &entityIDs, armem::Time predictedTime, const std::string &engineID="Linear")
 
std::vector< armem::PredictionResult > predict (const std::vector< armem::PredictionRequest > &requests)
 
std::optional< Eigen::Affine3f > predictGlobalPose (const std::vector< armem::MemoryID > &entityIDs, armem::Time predictedTime, const std::string &engineID="Linear")
 
std::optional< std::map< std::string, float > > predictJointPositions (const std::vector< armem::MemoryID > &entityIDs, armem::Time predictedTime, const std::string &robotName, const std::string &engineID="Linear")
 
WholeBodyPrediction predictWholeBody (const std::vector< armem::MemoryID > &localizationEntityIDs, const std::vector< armem::MemoryID > &proprioceptionEntityIDs, armem::Time predictedTime, const std::string &robotName, const std::string &engineID="Linear")
 
std::vector< armem::MemoryID > queryLocalizationEntityIDs ()
 
std::vector< armem::MemoryID > queryProprioceptionEntityIDs ()
 
 RobotStatePredictionClient ()
 

Public Attributes

Remote remote
 

Detailed Description

Definition at line 39 of file RobotStatePredictionClient.h.

Constructor & Destructor Documentation

◆ RobotStatePredictionClient()

RobotStatePredictionClient ( )

Definition at line 45 of file RobotStatePredictionClient.cpp.

Member Function Documentation

◆ lookupGlobalPose()

std::optional< Eigen::Affine3f > lookupGlobalPose ( const std::vector< armem::PredictionResult > &  localizationPredictionResults,
const std::vector< armem::MemoryID > &  localizationEntityIDs,
armem::Time  predictedTime 
)

Definition at line 129 of file RobotStatePredictionClient.cpp.

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◆ lookupJointPositions()

std::optional< std::map< std::string, float > > lookupJointPositions ( const std::vector< armem::PredictionResult > &  proprioceptionPredictionResults,
const std::string &  robotName 
)

Definition at line 203 of file RobotStatePredictionClient.cpp.

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◆ makePredictionRequests()

std::vector< armem::PredictionRequest > makePredictionRequests ( const std::vector< armem::MemoryID > &  entityIDs,
armem::Time  predictedTime,
const std::string &  engineID = "Linear" 
)

Definition at line 90 of file RobotStatePredictionClient.cpp.

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◆ predict() [1/2]

std::vector< PredictionResult > predict ( const std::vector< armem::MemoryID > &  entityIDs,
armem::Time  predictedTime,
const std::string &  engineID = "Linear" 
)

Definition at line 109 of file RobotStatePredictionClient.cpp.

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◆ predict() [2/2]

std::vector< PredictionResult > predict ( const std::vector< armem::PredictionRequest > &  requests)

Definition at line 120 of file RobotStatePredictionClient.cpp.

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◆ predictGlobalPose()

std::optional< Eigen::Affine3f > predictGlobalPose ( const std::vector< armem::MemoryID > &  entityIDs,
armem::Time  predictedTime,
const std::string &  engineID = "Linear" 
)

Definition at line 225 of file RobotStatePredictionClient.cpp.

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◆ predictJointPositions()

std::optional< std::map< std::string, float > > predictJointPositions ( const std::vector< armem::MemoryID > &  entityIDs,
armem::Time  predictedTime,
const std::string &  robotName,
const std::string &  engineID = "Linear" 
)

Definition at line 236 of file RobotStatePredictionClient.cpp.

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◆ predictWholeBody()

RobotStatePredictionClient::WholeBodyPrediction predictWholeBody ( const std::vector< armem::MemoryID > &  localizationEntityIDs,
const std::vector< armem::MemoryID > &  proprioceptionEntityIDs,
armem::Time  predictedTime,
const std::string &  robotName,
const std::string &  engineID = "Linear" 
)

Definition at line 247 of file RobotStatePredictionClient.cpp.

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◆ queryLocalizationEntityIDs()

std::vector< armem::MemoryID > queryLocalizationEntityIDs ( )

Definition at line 51 of file RobotStatePredictionClient.cpp.

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◆ queryProprioceptionEntityIDs()

std::vector< MemoryID > queryProprioceptionEntityIDs ( )

Definition at line 58 of file RobotStatePredictionClient.cpp.

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Member Data Documentation

◆ remote

Remote remote

Definition at line 103 of file RobotStatePredictionClient.h.

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