#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 &timestamp=armem::Time::Invalid(), const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure)

VirtualRobot::RobotPtr	getSynchronizedRobot (const std::string &name, const armem::Time &timestamp, 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)

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

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

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

	RobotReader ()=default

	RobotReader (const RobotReader &)

bool	synchronizeRobot (VirtualRobot::Robot &robot, const armem::Time &timestamp) const

	~VirtualRobotReader () override=default

Public Member Functions inherited from RobotReader
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

	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

Additional Inherited Members
Public Types inherited from RobotReader
enum	Hand { Left, Right }

using	JointTrajectory = std::map< armem::Time, robot::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.

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()

~VirtualRobotReader ( )

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 51 of file VirtualRobotReader.cpp.

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◆ 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`
	)

Definition at line 90 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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◆ queryForceTorque() [1/2]

std::optional< std::map< RobotReader::Hand, robot::ForceTorque > > queryForceTorque

Definition at line 511 of file RobotReader.cpp.

◆ queryForceTorque() [2/2]

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

Definition at line 125 of file VirtualRobotReader.cpp.

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◆ registerPropertyDefinitions()

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

overridevirtual

Reimplemented from RobotReader.

Definition at line 20 of file VirtualRobotReader.cpp.

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◆ RobotReader() [1/2]

RobotReader

default

◆ RobotReader() [2/2]

RobotReader

Definition at line 34 of file RobotReader.cpp.

◆ synchronizeRobot()

bool synchronizeRobot	(	VirtualRobot::Robot &	robot,
		const armem::Time &	timestamp
	)		const

Definition at line 26 of file VirtualRobotReader.cpp.

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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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~VirtualRobotReader()

Member Function Documentation

◆ getRobot()

◆ getSynchronizedRobot() [1/2]

◆ getSynchronizedRobot() [2/2]

◆ queryForceTorque() [1/2]

◆ queryForceTorque() [2/2]

◆ registerPropertyDefinitions()

◆ RobotReader() [1/2]

◆ RobotReader() [2/2]

◆ synchronizeRobot()