#include <armarx/control/common/mp/MPPool.h>

Inheritance diagram for MPPool:

Public Member Functions
void	createMPs (const MPListConfig &mpListConfig)

DVec	deserialize (const std::string &, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

Ice::Double	getCanVal (const std::string &mpName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

::armarx::aron::data::dto::DictPtr	getMPConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	config More...

bool	getMPEnabled (const Ice::Current &) override

std::string	getNames (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	Interface functions. More...

bool	isFinished (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	isFinishedAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >(), const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	setting More...

void	learnFromTrajs (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

	MPPool ()

void	pause (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	pauseAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	reconfigureMPs (const MPListConfig &mpListConfig)

void	removeAllViaPoint (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	reset (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	resetAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	resetMPs (const ::armarx::aron::data::dto::DictPtr &dto, const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap)

void	resume (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	resumeAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	runMPs (const bool rtSafe)

std::string	serialize (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	serialize More...

void	set (const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleMap &, const ::Ice::Current &iceCurrent=::Ice::emptyCurrent) override

void	setGoal (const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	setStartAndGoal (const DVec &starts, const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	setViaPoint (Ice::Double u, const DVec &viapoint, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	start (const std::string &mpName="all", const DVec &startVec=std::vector< double >(), const DVec &goalVec=std::vector< double >(), Ice::Double timeDuration=-1.0, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	control More...

void	startAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	stop (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	stopAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	trainMP (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	updateMPConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

	~MPPool ()

Public Member Functions inherited from MPPoolInterface
Ice::DoubleSeq	deserialize (string mpAsString)

double	getCanVal (string mpName)
	utilities More...

armarx::aron::data::dto::Dict	getMPConfig ()

bool	getMPEnabled ()

string	getNames ()

bool	isFinished (string mpName)

bool	isFinishedAll ()

void	learnFromCSV (Ice::StringSeq fileNames)
	setting More...

void	learnFromTrajs (armarx::aron::data::dto::Dict config)

void	pause (string mpName)

void	pauseAll ()

void	removeAllViaPoint ()

void	reset (string mpName)

void	resetAll ()

void	resume (string mpName)

void	resumeAll ()

string	serialize ()
	serialze More...

void	set (StringDoubleSeqMap startVec, StringDoubleSeqMap goalVec, StringDoubleMap durationSec)
	control More...

void	setGoal (Ice::DoubleSeq goals)

void	setStartAndGoal (Ice::DoubleSeq starts, Ice::DoubleSeq goals)

void	setViaPoint (double u, Ice::DoubleSeq viapoint)

void	start (string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec, double durationSec)

void	startAll ()

void	stop (string mpName)

void	stopAll ()

void	trainMP ()

void	updateMPConfig (armarx::aron::data::dto::Dict config)
	config More...

Protected Member Functions
void	reInitMPInputOutputData (const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap)

Protected Attributes
std::atomic< bool >	isMPReady {false}

MPListConfig	mpConfig
	this variable is only needed when constructing the MP instances, therefore you don't need to use triple buffers More...

std::map< std::string, MPInputOutput >	mps

std::atomic_bool	mpTaskRunning {false}

std::recursive_mutex	mtx_mps

Detailed Description

Definition at line 47 of file MPPool.h.

Constructor & Destructor Documentation

◆ MPPool()

MPPool ( )

inline

Definition at line 50 of file MPPool.h.

◆ ~MPPool()

~MPPool ( )

inline

Definition at line 51 of file MPPool.h.

Member Function Documentation

◆ createMPs()

void createMPs ( const MPListConfig & mpListConfig )

Definition at line 20 of file MPPool.cpp.

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◆ deserialize()

DVec deserialize	(	const std::string &	,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 464 of file MPPool.cpp.

◆ getCanVal()

Ice::Double getCanVal	(	const std::string &	mpName,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 471 of file MPPool.cpp.

◆ getMPConfig()

armarx::aron::data::dto::DictPtr getMPConfig ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

config

Definition at line 539 of file MPPool.cpp.

◆ getMPEnabled()

bool getMPEnabled ( const Ice::Current & )

override

Definition at line 487 of file MPPool.cpp.

◆ getNames()

std::string getNames ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Interface functions.

Definition at line 95 of file MPPool.cpp.

◆ isFinished()

bool isFinished	(	const std::string &	mpName = `"all"`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 317 of file MPPool.cpp.

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◆ isFinishedAll()

bool isFinishedAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 311 of file MPPool.cpp.

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◆ learnFromCSV()

void learnFromCSV	(	const Ice::StringSeq &	fileNames = `std::vector<std::string>()`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

setting

Definition at line 347 of file MPPool.cpp.

◆ learnFromTrajs()

void learnFromTrajs	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 367 of file MPPool.cpp.

◆ pause()

void pause	(	const std::string &	mpName = `"all"`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 224 of file MPPool.cpp.

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◆ pauseAll()

void pauseAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 218 of file MPPool.cpp.

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◆ reconfigureMPs()

void reconfigureMPs ( const MPListConfig & mpListConfig )

Definition at line 76 of file MPPool.cpp.

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◆ reInitMPInputOutputData()

void reInitMPInputOutputData ( const std::map< std::string, VirtualRobot::RobotNodeSetPtr > & rnsMap )

protected

Definition at line 545 of file MPPool.cpp.

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◆ removeAllViaPoint()

void removeAllViaPoint ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 448 of file MPPool.cpp.

◆ reset()

void reset	(	const std::string &	mpName = `"all"`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 286 of file MPPool.cpp.

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◆ resetAll()

void resetAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 280 of file MPPool.cpp.

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◆ resetMPs()

bool resetMPs	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &	rnsMap
	)

Definition at line 500 of file MPPool.cpp.

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◆ resume()

void resume	(	const std::string &	mpName = `"all"`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 255 of file MPPool.cpp.

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◆ resumeAll()

void resumeAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 249 of file MPPool.cpp.

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◆ runMPs()

void runMPs ( const bool rtSafe )

Definition at line 83 of file MPPool.cpp.

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◆ serialize()

std::string serialize ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

serialize

Definition at line 458 of file MPPool.cpp.

◆ set()

void set	(	const ::armarx::StringDoubleSeqMap &	startVec,
		const ::armarx::StringDoubleSeqMap &	goalVec,
		const ::armarx::StringDoubleMap &	durationSec,
		const ::Ice::Current &	iceCurrent = `::Ice::emptyCurrent`
	)

override

Definition at line 106 of file MPPool.cpp.

◆ setGoal()

void setGoal	(	const DVec &	goals,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 429 of file MPPool.cpp.

◆ setStartAndGoal()

void setStartAndGoal	(	const DVec &	starts,
		const DVec &	goals,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 434 of file MPPool.cpp.

◆ setViaPoint()

void setViaPoint	(	Ice::Double	u,
		const DVec &	viapoint,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 443 of file MPPool.cpp.

◆ start()

void start	(	const std::string &	mpName = `"all"`,
		const DVec &	startVec = `std::vector<double>()`,
		const DVec &	goalVec = `std::vector<double>()`,
		Ice::Double	timeDuration = `-1.0`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

control

Definition at line 142 of file MPPool.cpp.

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◆ startAll()

void startAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 136 of file MPPool.cpp.

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◆ stop()

void stop	(	const std::string &	mpName = `"all"`,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 193 of file MPPool.cpp.

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◆ stopAll()

void stopAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 187 of file MPPool.cpp.

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◆ trainMP()

void trainMP ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 418 of file MPPool.cpp.

◆ updateMPConfig()

void updateMPConfig	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = `Ice::emptyCurrent`
	)

override

Definition at line 493 of file MPPool.cpp.

Member Data Documentation

◆ isMPReady

std::atomic<bool> isMPReady {false}

protected

Definition at line 129 of file MPPool.h.

◆ mpConfig

MPListConfig mpConfig

protected

this variable is only needed when constructing the MP instances, therefore you don't need to use triple buffers

Definition at line 134 of file MPPool.h.

◆ mps

std::map<std::string, MPInputOutput> mps

protected

Definition at line 127 of file MPPool.h.

◆ mpTaskRunning

std::atomic_bool mpTaskRunning {false}

protected

Definition at line 138 of file MPPool.h.

◆ mtx_mps

std::recursive_mutex mtx_mps

mutableprotected

Definition at line 128 of file MPPool.h.

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

armarx/control/common/mp/MPPool.h
armarx/control/common/mp/MPPool.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPPool()

◆ ~MPPool()

Member Function Documentation

◆ createMPs()

◆ deserialize()

◆ getCanVal()

◆ getMPConfig()

◆ getMPEnabled()

◆ getNames()

◆ isFinished()

◆ isFinishedAll()

◆ learnFromCSV()

◆ learnFromTrajs()

◆ pause()

◆ pauseAll()

◆ reconfigureMPs()

◆ reInitMPInputOutputData()

◆ removeAllViaPoint()

◆ reset()

◆ resetAll()

◆ resetMPs()

◆ resume()

◆ resumeAll()

◆ runMPs()

◆ serialize()

◆ set()

◆ setGoal()

◆ setStartAndGoal()

◆ setViaPoint()

◆ start()

◆ startAll()

◆ stop()

◆ stopAll()

◆ trainMP()

◆ updateMPConfig()

Member Data Documentation

◆ isMPReady

◆ mpConfig

◆ mps

◆ mpTaskRunning

◆ mtx_mps