#include <armarx/control/components/controller_creator/Component.h>

Inheritance diagram for Component:

Public Member Functions
	Component ()

template<control::common::ControllerType T>
std::string	createComplianceController (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)

template<control::common::ControllerType T>
std::string	createComplianceController (const std::string &namePrefix, const aron::data::dto::DictPtr &configDict, const std::string &configFilename, bool flagActivate, bool flagAllowReuse, bool flagFromMemory)

std::string	createController (const std::string &namePrefix, const std::string &controllerType, const aron::data::dto::DictPtr &configDict=nullptr, const std::string &configFilename="", bool activate=false, bool allowReuse=true, bool cfgFromMemory=false, const Ice::Current &=Ice::emptyCurrent) override

void	enableVelocityMode (const Ice::Current &=Ice::emptyCurrent) override

std::string	getDefaultName () const override

Ice::FloatSeq	getPoseInGlobalFrame (const std::string &nodeName, const Ice::Current &=Ice::emptyCurrent) override

Ice::FloatSeq	getPoseInRootFrame (const std::string &nodeName, const Ice::Current &=Ice::emptyCurrent) override

std::string	kinestheticTeaching (const std::string &kinematicChainName, const std::string &side, const std::string &fileName, const Ice::Current &=Ice::emptyCurrent) override

	~Component () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Member Functions inherited from ComponentInterface
string	createController (string namePrefix, string controllerType, armarx::aron::data::dto::Dict configDict, string configFilename, bool activate, bool allowReuse, bool cfgFromMemory)

void	enableVelocityMode ()

Ice::FloatSeq	getPoseInGlobalFrame (string node_name)

Ice::FloatSeq	getPoseInRootFrame (string node_name)

string	kinestheticTeaching (string kinematicChainName, string side, string fileName)

Public Member Functions inherited from RobotStateComponentPluginUser
template<class... Ts>
VirtualRobot::RobotPtr	addOrGetRobot (const std::string &id, Ts &&...ts)

VirtualRobot::RobotPtr	addRobot (const std::string &id, const std::string &filename, const Ice::StringSeq packages, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")

VirtualRobot::RobotPtr	addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const std::string &rnsName, const std::string &nodeName="")

VirtualRobot::RobotPtr	addRobot (const std::string &id, const VirtualRobot::RobotPtr &robot, const VirtualRobot::RobotNodeSetPtr &rns={}, const VirtualRobot::RobotNodePtr &node={})

VirtualRobot::RobotPtr	addRobot (const std::string &id, VirtualRobot::RobotIO::RobotDescription loadMode, const std::string &rnsName="", const std::string &nodeName="")

SimpleDiffIK::Result	calculateRobotDiffIK (const std::string &id, const Eigen::Matrix4f &targetPose, const SimpleDiffIK::Parameters &params={})

SimpleDiffIK::Reachability	calculateRobotReachability (const std::string &id, const std::vector< Eigen::Matrix4f > targets, const Eigen::VectorXf &initialJV, const SimpleDiffIK::Parameters &params={})

VirtualRobot::RobotPtr	getRobot (const std::string &id) const

RobotStateComponentPlugin::RobotData	getRobotData (const std::string &id) const

RobotNameHelperPtr	getRobotNameHelper () const

RobotStateComponentInterfacePrx	getRobotStateComponent ()

const RobotStateComponentInterfacePrx &	getRobotStateComponent () const

RobotStateComponentPlugin &	getRobotStateComponentPlugin ()

const RobotStateComponentPlugin &	getRobotStateComponentPlugin () const

bool	hasRobot (const std::string &id) const

	RobotStateComponentPluginUser ()

void	setRobotRNSAndNode (const std::string &id, const std::string &rnsName, const std::string &nodeName)

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata) const

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const RobotStateComponentPlugin::RobotData &rdata, Ice::Long timestamp) const

bool	synchronizeLocalClone (const std::string &id) const

bool	synchronizeLocalClone (const std::string &id, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const std::string &id, Ice::Long timestamp) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, const RobotStateConfig &state) const

bool	synchronizeLocalClone (const VirtualRobot::RobotPtr &robot, Ice::Long timestamp) const

Public Member Functions inherited from ComponentPluginUser
	ComponentPluginUser ()

template<auto T>
auto	controllerBuilder ()

ComponentPlugin &	getControlComponentPlugin ()

	~ComponentPluginUser () override

Public Member Functions inherited from PluginUser
MemoryNameSystem &	memoryNameSystem ()

const MemoryNameSystem &	memoryNameSystem () const

Static Public Member Functions
static std::string	GetDefaultName ()
	Get the component's default name. More...

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Member Functions inherited from ListeningPluginUser
	ListeningPluginUser ()

virtual void	memoryUpdated (const std::vector< data::MemoryID > &updatedSnapshotIDs, const Ice::Current &) override

virtual	~ListeningPluginUser () override

Protected Member Functions inherited from PluginUser
	PluginUser ()

virtual	~PluginUser () override

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Public Types inherited from RobotStateComponentPluginUser
using	RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Definition at line 57 of file Component.h.

Constructor & Destructor Documentation

◆ Component()

Component ( )

Definition at line 57 of file Component.cpp.

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◆ ~Component()

~Component ( )

overridedefault

Member Function Documentation

◆ createComplianceController() [1/2]

std::string createComplianceController	(	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`
	)

◆ createComplianceController() [2/2]

std::string createComplianceController	(	const std::string &	namePrefix,
		const aron::data::dto::DictPtr &	configDict,
		const std::string &	configFilename,
		bool	flagActivate,
		bool	flagAllowReuse,
		bool	flagFromMemory
	)

Definition at line 448 of file Component.cpp.

◆ createController()

std::string createController	(	const std::string &	namePrefix,
		const std::string &	controllerType,
		const aron::data::dto::DictPtr &	configDict = `nullptr`,
		const std::string &	configFilename = `""`,
		bool	activate = `false`,
		bool	allowReuse = `true`,
		bool	cfgFromMemory = `false`,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

---------------------------------— controllers --------------------------------—

--------------------------------— MP controllers ------------------------------—

Definition at line 462 of file Component.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 65 of file Component.cpp.

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◆ enableVelocityMode()

void enableVelocityMode ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 1142 of file Component.cpp.

◆ GetDefaultName()

std::string GetDefaultName ( )

static

Get the component's default name.

Definition at line 1214 of file Component.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 1208 of file Component.cpp.

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◆ getPoseInGlobalFrame()

Ice::FloatSeq getPoseInGlobalFrame	(	const std::string &	nodeName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1191 of file Component.cpp.

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◆ getPoseInRootFrame()

Ice::FloatSeq getPoseInRootFrame	(	const std::string &	nodeName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 1174 of file Component.cpp.

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◆ kinestheticTeaching()

std::string kinestheticTeaching	(	const std::string &	kinematicChainName,
		const std::string &	side,
		const std::string &	fileName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

-------------------------------— creating zero torque controller -------------------------------—

-------------------------------— prepare data containers -------------------------------— recording data

init data

joint space

task space

write task space data to RobotControllers Data dir

write joint space data to RobotControllers Data dir

Definition at line 704 of file Component.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

Definition at line 113 of file Component.cpp.

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◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 175 of file Component.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 180 of file Component.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

Definition at line 103 of file Component.cpp.

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

armarx/control/components/controller_creator/Component.h
armarx/control/components/controller_creator/Component.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Component()

◆ ~Component()

Member Function Documentation

◆ createComplianceController() [1/2]

◆ createComplianceController() [2/2]

◆ createController()

◆ createPropertyDefinitions()

◆ enableVelocityMode()

◆ GetDefaultName()

◆ getDefaultName()

◆ getPoseInGlobalFrame()

◆ getPoseInRootFrame()

◆ kinestheticTeaching()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()