#include <armarx/control/client/ControllerBuilder.h>

Public Types
using	AronDTO = typename ControllerDescriptionType::AronDTO

using	ControllerDescriptionType = ControllerDescription< T >

using	CtrlProxy = detail::proxy::ProxyType_t< ControllerDescriptionType >

Public Member Functions
ControllerBuilder &	allowReuse (const bool allowReuse)

AronDTO &	config ()

	ControllerBuilder (const armarx::RobotUnitInterfacePrx &controllerCreator, const memory::config::Reader &configProvider, const memory::config::Writer &configWriter, const std::string &controllerNamePrefix)

std::unique_ptr< ControllerWrapper< T > >	create ()
	Creates the controller with the default name. More...

std::unique_ptr< ControllerWrapper< T > >	create (const std::string &name)

CtrlProxy	createGetTSComplianceMPCtrl (const std::string &namePrefix, const ::armarx::aron::data::dto::DictPtr &mpConfigDict, const ::armarx::aron::data::dto::DictPtr &configDict=nullptr, const std::string &configFilename="", bool flagActivate=true, bool flagAllowReuse=true, bool flagFromMemory=false, bool flagStart=true)

std::unique_ptr< ControllerWrapper< T > >	createTSComplianceCtrl (const std::string &namePrefix="", const ::armarx::aron::data::dto::DictPtr &configDict=nullptr, const std::string &configFilename="", bool flagActivate=true, bool flagAllowReuse=true, bool flagFromMemory=false)

std::unique_ptr< ControllerWrapper< T > >	createTSComplianceMPCtrl (const std::string &namePrefix, const ::armarx::aron::data::dto::DictPtr &mpConfigDict, const ::armarx::aron::data::dto::DictPtr &configDict=nullptr, const std::string &configFilename="", bool flagActivate=true, bool flagAllowReuse=true, bool flagFromMemory=false, bool flagStart=true)

ControllerBuilder &	daemonize ()

std::string	getControllerName ()

bool	getReusing ()

ControllerBuilder &	withConfig (const ::armarx::aron::data::dto::DictPtr &configDict)

ControllerBuilder &	withConfig (const armarx::armem::MemoryID &memoryId)

ControllerBuilder &	withConfig (const AronDTO &dto)

ControllerBuilder &	withConfig (const std::filesystem::path &filename)

ControllerBuilder &	withDefaultConfig (const std::string &name="default")

ControllerBuilder &	withDefaultConfigFile (const std::string &name="default", const std::string &robotNameSuffix="", const std::string &appendix="")

ControllerBuilder &	withNamePrefix (const std::string &namePrefix)

ControllerBuilder &	withNodeSet (const std::string &nodeSetName)

Static Public Attributes
static constexpr const char *	ctrlConfigClassName

Detailed Description

template<auto T>
class armarx::control::client::ControllerBuilder< T >

Definition at line 52 of file ControllerBuilder.h.

Member Typedef Documentation

◆ AronDTO

using AronDTO = typename ControllerDescriptionType::AronDTO

Definition at line 65 of file ControllerBuilder.h.

◆ ControllerDescriptionType

using ControllerDescriptionType = ControllerDescription<T>

Definition at line 55 of file ControllerBuilder.h.

◆ CtrlProxy

using CtrlProxy = detail::proxy::ProxyType_t<ControllerDescriptionType>

Definition at line 58 of file ControllerBuilder.h.

Constructor & Destructor Documentation

◆ ControllerBuilder()

ControllerBuilder	(	const armarx::RobotUnitInterfacePrx &	controllerCreator,
		const memory::config::Reader &	configProvider,
		const memory::config::Writer &	configWriter,
		const std::string &	controllerNamePrefix
	)

inline

Definition at line 71 of file ControllerBuilder.h.

Member Function Documentation

◆ allowReuse()

ControllerBuilder& allowReuse ( const bool allowReuse )

inline

Definition at line 543 of file ControllerBuilder.h.

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◆ config()

AronDTO& config ( )

inline

Definition at line 165 of file ControllerBuilder.h.

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◆ create() [1/2]

std::unique_ptr<ControllerWrapper<T> > create ( )

inline

Creates the controller with the default name.

Returns: std::optional<ControllerWrapper<AronDTO, ct>>

Definition at line 203 of file ControllerBuilder.h.

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◆ create() [2/2]

std::unique_ptr<ControllerWrapper<T> > create ( const std::string & name )

inline

Definition at line 210 of file ControllerBuilder.h.

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◆ createGetTSComplianceMPCtrl()

CtrlProxy createGetTSComplianceMPCtrl	(	const std::string &	namePrefix,
		const ::armarx::aron::data::dto::DictPtr &	mpConfigDict,
		const ::armarx::aron::data::dto::DictPtr &	configDict = `nullptr`,
		const std::string &	configFilename = `""`,
		bool	flagActivate = `true`,
		bool	flagAllowReuse = `true`,
		bool	flagFromMemory = `false`,
		bool	flagStart = `true`
	)

inline

Definition at line 513 of file ControllerBuilder.h.

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◆ createTSComplianceCtrl()

std::unique_ptr<ControllerWrapper<T> > createTSComplianceCtrl	(	const std::string &	namePrefix = `""`,
		const ::armarx::aron::data::dto::DictPtr &	configDict = `nullptr`,
		const std::string &	configFilename = `""`,
		bool	flagActivate = `true`,
		bool	flagAllowReuse = `true`,
		bool	flagFromMemory = `false`
	)

inline

load predefined config from file or use the configFilename provided by the user

get up-to-date controller configs and update the copy of it in wrapper with the null space target from the controller

Definition at line 361 of file ControllerBuilder.h.

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◆ createTSComplianceMPCtrl()

std::unique_ptr<ControllerWrapper<T> > createTSComplianceMPCtrl	(	const std::string &	namePrefix,
		const ::armarx::aron::data::dto::DictPtr &	mpConfigDict,
		const ::armarx::aron::data::dto::DictPtr &	configDict = `nullptr`,
		const std::string &	configFilename = `""`,
		bool	flagActivate = `true`,
		bool	flagAllowReuse = `true`,
		bool	flagFromMemory = `false`,
		bool	flagStart = `true`
	)

inline

Definition at line 484 of file ControllerBuilder.h.

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◆ daemonize()

ControllerBuilder& daemonize ( )

inline

Definition at line 191 of file ControllerBuilder.h.

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◆ getControllerName()

std::string getControllerName ( )

inline

Definition at line 556 of file ControllerBuilder.h.

◆ getReusing()

bool getReusing ( )

inline

Definition at line 550 of file ControllerBuilder.h.

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◆ withConfig() [1/4]

ControllerBuilder& withConfig ( const ::armarx::aron::data::dto::DictPtr & configDict )

inline

Definition at line 124 of file ControllerBuilder.h.

◆ withConfig() [2/4]

ControllerBuilder& withConfig ( const armarx::armem::MemoryID & memoryId )

inline

Definition at line 115 of file ControllerBuilder.h.

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◆ withConfig() [3/4]

ControllerBuilder& withConfig ( const AronDTO & dto )

inline

Definition at line 158 of file ControllerBuilder.h.

◆ withConfig() [4/4]

ControllerBuilder& withConfig ( const std::filesystem::path & filename )

inline

Definition at line 131 of file ControllerBuilder.h.

◆ withDefaultConfig()

ControllerBuilder& withDefaultConfig ( const std::string & name = "default" )

inline

Definition at line 86 of file ControllerBuilder.h.

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◆ withDefaultConfigFile()

ControllerBuilder& withDefaultConfigFile	(	const std::string &	name = `"default"`,
		const std::string &	robotNameSuffix = `""`,
		const std::string &	appendix = `""`
	)

inline

Definition at line 101 of file ControllerBuilder.h.

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◆ withNamePrefix()

ControllerBuilder& withNamePrefix ( const std::string & namePrefix )

inline

Definition at line 180 of file ControllerBuilder.h.

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◆ withNodeSet()

ControllerBuilder& withNodeSet ( const std::string & nodeSetName )

inline

Definition at line 173 of file ControllerBuilder.h.

Member Data Documentation

◆ ctrlConfigClassName

constexpr const char* ctrlConfigClassName

staticconstexpr

Initial value:

=

detail::ctrl_class_name::CtrlConfigClassName_v<ControllerDescriptionType>

Definition at line 61 of file ControllerBuilder.h.

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

armarx/control/client/ControllerBuilder.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<auto T> class armarx::control::client::ControllerBuilder< T >

Member Typedef Documentation

◆ AronDTO

◆ ControllerDescriptionType

◆ CtrlProxy

Constructor & Destructor Documentation

◆ ControllerBuilder()

Member Function Documentation

◆ allowReuse()

◆ config()

◆ create() [1/2]

◆ create() [2/2]

◆ createGetTSComplianceMPCtrl()

◆ createTSComplianceCtrl()

◆ createTSComplianceMPCtrl()

◆ daemonize()

◆ getControllerName()

◆ getReusing()

◆ withConfig() [1/4]

◆ withConfig() [2/4]

◆ withConfig() [3/4]

◆ withConfig() [4/4]

◆ withDefaultConfig()

◆ withDefaultConfigFile()

◆ withNamePrefix()

◆ withNodeSet()

Member Data Documentation

◆ ctrlConfigClassName

template<auto T>
class armarx::control::client::ControllerBuilder< T >