VirtualRobotReader Class Reference
The VirtualRobotReader class. More...
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
Inheritance diagram for VirtualRobotReader:Public Member Functions | |
| VirtualRobot::RobotPtr | getRobot (const std::string &name, const armem::Time ×tamp=armem::Time::Invalid(), const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure) |
| VirtualRobot::RobotPtr | getSynchronizedRobot (const std::string &name, const armem::Time ×tamp, const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure, bool blocking=true) |
| VirtualRobot::RobotPtr | getSynchronizedRobot (const std::string &name, const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure, bool blocking=true) |
| RobotReader ()=default | |
| RobotReader (const RobotReader &) | |
| bool | synchronizeRobot (VirtualRobot::Robot &robot, const armem::Time ×tamp) const |
| bool | synchronizeRobotJoints (VirtualRobot::Robot &robot, const armem::Time ×tamp) const |
| ~VirtualRobotReader () override=default | |
| Public Member Functions inherited from RobotReader | |
| virtual void | connect (armem::client::MemoryNameSystem &memoryNameSystem) |
| Robot | get (const description::RobotDescription &description, const armem::Time ×tamp) const override |
| std::optional< Robot > | get (const std::string &name, const armem::Time ×tamp) const override |
| std::optional< description::RobotDescription > | queryDescription (const std::string &name, const armem::Time ×tamp) const |
| std::vector< description::RobotDescription > | queryDescriptions (const armem::Time ×tamp) const |
| std::optional< std::map< Hand, proprioception::ForceTorque > > | queryForceTorque (const std::string &robotName, const armem::Time ×tamp) 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 ×tamp) const |
| std::optional< RobotState > | queryJointState (const std::string &robotName, const armem::Time ×tamp) 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 ×tamp) const |
| retrieve the robot's pose in the odometry frame. More... | |
| std::optional< PlatformState > | queryPlatformState (const std::string &robotName, const armem::Time ×tamp) const |
| std::optional< armarx::armem::arondto::Proprioception > | queryProprioception (const std::string &robotName, const armem::Time ×tamp) const |
| std::optional< RobotState > | queryState (const std::string &robotName, const armem::Time ×tamp) const |
| std::optional< std::map< Hand, exteroception::ToF > > | queryToF (const std::string &robotName, const armem::Time ×tamp) 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 ×tamp) const override |
| virtual | ~RobotReader ()=default |
| Public Member Functions inherited from ReaderInterface | |
| virtual | ~ReaderInterface ()=default |
Additional Inherited Members | |
| Public Types inherited from RobotReader | |
| enum | Hand { Left, Right } |
| using | JointTrajectory = std::map< armem::Time, RobotState::JointMap > |
| Protected Attributes inherited from RobotReader | |
| armem::Duration | sleepAfterFailure = armem::Duration::MicroSeconds(0) |
| armem::Duration | syncTimeout = armem::Duration::MicroSeconds(0) |
Detailed Description
The VirtualRobotReader class.
robot The aim of this class is to obtain a virtual robot instance and synchronize it with the data (joint positions, global pose, ...) stored in the working memory.
This is only a lightweight wrapper of
- See also
- RobotReader for Simox's VirtualRobot class.
Definition at line 40 of file VirtualRobotReader.h.
Constructor & Destructor Documentation
◆ ~VirtualRobotReader()
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overridedefault |
Member Function Documentation
◆ getRobot()
| VirtualRobot::RobotPtr getRobot | ( | const std::string & | name, |
| const armem::Time & | timestamp = armem::Time::Invalid(), |
||
| const VirtualRobot::RobotIO::RobotDescription & | loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure |
||
| ) |
Definition at line 57 of file VirtualRobotReader.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ getSynchronizedRobot() [1/2]
| VirtualRobot::RobotPtr getSynchronizedRobot | ( | const std::string & | name, |
| const armem::Time & | timestamp, | ||
| const VirtualRobot::RobotIO::RobotDescription & | loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure, |
||
| bool | blocking = true |
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| ) |
Definition at line 96 of file VirtualRobotReader.cpp.
◆ getSynchronizedRobot() [2/2]
| VirtualRobot::RobotPtr getSynchronizedRobot | ( | const std::string & | name, |
| const VirtualRobot::RobotIO::RobotDescription & | loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure, |
||
| bool | blocking = true |
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| ) |
Here is the caller graph for this function:◆ RobotReader() [1/2]
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default |
◆ RobotReader() [2/2]
Definition at line 33 of file RobotReader.cpp.
◆ synchronizeRobot()
| bool synchronizeRobot | ( | VirtualRobot::Robot & | robot, |
| const armem::Time & | timestamp | ||
| ) | const |
Definition at line 20 of file VirtualRobotReader.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ synchronizeRobotJoints()
| bool synchronizeRobotJoints | ( | VirtualRobot::Robot & | robot, |
| const armem::Time & | timestamp | ||
| ) | const |
The documentation for this class was generated from the following files:
- RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
- RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
