#include <armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualObjLevelVelController.h>

Inheritance diagram for NJointBimanualObjLevelVelController:

Public Member Functions
Eigen::VectorXf	calcIK (VirtualRobot::DifferentialIKPtr ik, const Eigen::MatrixXf &jacobi, const Eigen::VectorXf &cartesianVel, const Eigen::VectorXf &nullspaceVel)

std::string	getClassName (const Ice::Current &) const

std::vector< float >	getCurrentObjVel (const Ice::Current &)

DoubleSeqSeq	getMPRotWeights (const Ice::Current &)

DoubleSeqSeq	getMPWeights (const Ice::Current &)

double	getVirtualTime (const Ice::Current &)

bool	isFinished (const Ice::Current &)

void	learnDMPFromFiles (const Ice::StringSeq &fileNames, const Ice::Current &)

	NJointBimanualObjLevelVelController (const RobotUnitPtr &, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

void	removeAllViaPoints (const Ice::Current &)

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
	TODO make protected and use attorneys. More...

void	runDMP (const Ice::DoubleSeq &goals, Ice::Double timeDuration, const Ice::Current &)

void	runDMPWithVirtualStart (const Ice::DoubleSeq &starts, const Ice::DoubleSeq &goals, Ice::Double timeDuration, const Ice::Current &)

void	setGoals (const Ice::DoubleSeq &goals, const Ice::Current &)

void	setKdImpedance (const Ice::FloatSeq &value, const Ice::Current &)

void	setKpImpedance (const Ice::FloatSeq &value, const Ice::Current &)

void	setMPRotWeights (const DoubleSeqSeq &weights, const Ice::Current &)

void	setMPWeights (const DoubleSeqSeq &weights, const Ice::Current &)

void	setViaPoints (Ice::Double u, const Ice::DoubleSeq &viapoint, const Ice::Current &)

Eigen::Matrix3f	skew (Eigen::Vector3f vec)

Public Member Functions inherited from NJointControllerWithTripleBuffer< NJointBimanualObjLevelVelControlData >
	NJointControllerWithTripleBuffer (const NJointBimanualObjLevelVelControlData &initialCommands=NJointBimanualObjLevelVelControlData())

void	rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override

Public Member Functions inherited from NJointControllerBase
void	activateController (const Ice::Current &=Ice::emptyCurrent) final override

void	callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override

void	deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override

void	deactivateController (const Ice::Current &=Ice::emptyCurrent) final override

void	deleteController (const Ice::Current &=Ice::emptyCurrent) final override

const std::map< std::string, const JointController * > &	getControlDevicesUsedJointController ()

const std::vector< char > &	getControlDeviceUsedBitmap () const

StringStringDictionary	getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override

const std::vector< std::size_t > &	getControlDeviceUsedIndices () const

NJointControllerDescription	getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerDescriptionWithStatus	getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerStatus	getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override

WidgetDescription::StringWidgetDictionary	getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override

bool	hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override

std::optional< std::vector< char > >	isNotInConflictWith (const NJointControllerBasePtr &other) const

std::optional< std::vector< char > >	isNotInConflictWith (const std::vector< char > &used) const

	NJointControllerBase ()

ConstControlDevicePtr	peekControlDevice (const std::string &deviceName) const
	Get a const ptr to the given ControlDevice. More...

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice. More...

const std::string &	rtGetClassName () const
	Returns the class name. More...

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More...

bool	rtGetErrorState () const
	Sets the error state to true. More...

const std::string &	rtGetInstanceName () const
	Returns the instance name. More...

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices. More...

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys. More...

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More...

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More...

ControlTargetBase *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
T *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *. More...

	~NJointControllerBase () override

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 NJointBimanualObjLevelVelControllerInterface
Ice::FloatSeq	getCurrentObjVel ()

DoubleSeqSeq	getMPRotWeights ()

DoubleSeqSeq	getMPWeights ()

double	getVirtualTime ()

bool	isFinished ()

void	learnDMPFromFiles (Ice::StringSeq trajfiles)

void	removeAllViaPoints ()

void	runDMP (Ice::DoubleSeq goals, double timeDuration)

void	runDMPWithVirtualStart (Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration)

void	setGoals (Ice::DoubleSeq goals)

void	setKdImpedance (Ice::FloatSeq value)

void	setKpImpedance (Ice::FloatSeq value)

void	setMPRotWeights (DoubleSeqSeq weights)

void	setMPWeights (DoubleSeqSeq weights)

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

Protected Member Functions
void	controllerRun ()

void	onDisconnectNJointController ()

void	onInitNJointController ()

virtual void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

void	rtPreActivateController ()
	This function is called before the controller is activated. More...

Protected Member Functions inherited from NJointControllerWithTripleBuffer< NJointBimanualObjLevelVelControlData >
NJointBimanualObjLevelVelControlData &	getWriterControlStruct ()

void	reinitTripleBuffer (const NJointBimanualObjLevelVelControlData &initial)

const NJointBimanualObjLevelVelControlData &	rtGetControlStruct () const

bool	rtUpdateControlStruct ()

void	setControlStruct (const NJointBimanualObjLevelVelControlData &newStruct)

void	writeControlStruct ()

Protected Member Functions inherited from NJointControllerBase
std::string	getDefaultName () const override

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

virtual void	onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	rtPostDeactivateController ()
	This function is called after the controller is deactivated. More...

void	rtSetErrorState ()
	Sets the error state to true. More...

template<typename Task >
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool. More...

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	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

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 Attributes
bool	firstLoop

Protected Attributes inherited from NJointControllerWithTripleBuffer< NJointBimanualObjLevelVelControlData >
MutexType	controlDataMutex

Protected Attributes inherited from NJointControllerBase
std::map< std::string, std::shared_ptr< ThreadPool::Handle > >	threadHandles

std::mutex	threadHandlesMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from NJointControllerWithTripleBuffer< NJointBimanualObjLevelVelControlData >
using	LockGuardType = std::lock_guard< std::recursive_mutex >

using	MutexType = std::recursive_mutex

Public Types inherited from NJointControllerBase
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices)

template<class ConfigPrtType >
using	GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &)

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

Static Public Member Functions inherited from NJointControllerBase
template<class ItT >
static std::optional< std::vector< char > >	AreNotInConflict (ItT first, ItT last)

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)

Static Public Attributes inherited from NJointControllerBase
static const NJointControllerBasePtr	NullPtr {nullptr}

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...

Detailed Description

Definition at line 38 of file NJointBimanualObjLevelVelController.h.

Constructor & Destructor Documentation

◆ NJointBimanualObjLevelVelController()

NJointBimanualObjLevelVelController	(	const RobotUnitPtr &	,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &
	)

Definition at line 16 of file NJointBimanualObjLevelVelController.cpp.

Here is the call graph for this function:

Member Function Documentation

◆ calcIK()

Eigen::VectorXf calcIK	(	VirtualRobot::DifferentialIKPtr	ik,
		const Eigen::MatrixXf &	jacobi,
		const Eigen::VectorXf &	cartesianVel,
		const Eigen::VectorXf &	nullspaceVel
	)