VirtualRobotReader Class Reference

The VirtualRobotReader class. More...

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

Inheritance diagram for VirtualRobotReader:

Public Member Functions
void	connect () override
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
bool	synchronizeRobot (VirtualRobot::Robot &robot, const armem::Time &timestamp) const
	VirtualRobotReader (armem::client::MemoryNameSystem &memoryNameSystem)
	~VirtualRobotReader () override=default
Public Member Functions inherited from RobotReader
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 (armem::client::MemoryNameSystem &memoryNameSystem)
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

(

armem::client::MemoryNameSystem &

memoryNameSystem

)

Definition at line 19 of file VirtualRobotReader.cpp.

~VirtualRobotReader()

~VirtualRobotReader ( )

overridedefault

Member Function Documentation

connect()

void connect ( )

overridevirtual

Reimplemented from RobotReader.

Definition at line 24 of file VirtualRobotReader.cpp.

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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 56 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 91 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
	)

queryForceTorque() [1/2]

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

Definition at line 489 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 121 of file VirtualRobotReader.cpp.

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registerPropertyDefinitions()

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

overridevirtual

Reimplemented from RobotReader.

Definition at line 30 of file VirtualRobotReader.cpp.

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synchronizeRobot()

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

Definition at line 35 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