NJointBimanualObjLevelVelController Class Reference

#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< floatgetCurrentObjVel (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::RobotPtrrtGetRobot ()
 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...
 
ControlTargetBaseuseControlTarget (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 >
TuseControlTarget (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 TuseSensorValue (const std::string &deviceName) const
 Get a const ptr to the given SensorDevice's SensorValue. More...
 
const SensorValueBaseuseSensorValue (const std::string &sensorDeviceName) const
 Get a const ptr to the given SensorDevice's SensorValue. More...
 
const VirtualRobot::RobotPtruseSynchronizedRtRobot (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 LogSenderPtrgetLogSender () 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 
)

Definition at line 323 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the caller graph for this function:

◆ controllerRun()

void controllerRun ( )
protected

Definition at line 292 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ getClassName()

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

Implements NJointControllerBase.

Definition at line 286 of file NJointBimanualObjLevelVelController.cpp.

◆ getCurrentObjVel()

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

Definition at line 728 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ getMPRotWeights()

DoubleSeqSeq getMPRotWeights ( const Ice::Current &  )

Definition at line 251 of file NJointBimanualObjLevelVelController.cpp.

◆ getMPWeights()

DoubleSeqSeq getMPWeights ( const Ice::Current &  )

Definition at line 226 of file NJointBimanualObjLevelVelController.cpp.

◆ getVirtualTime()

double getVirtualTime ( const Ice::Current &  )
inline

Definition at line 79 of file NJointBimanualObjLevelVelController.h.

◆ isFinished()

bool isFinished ( const Ice::Current &  )
inline

Definition at line 55 of file NJointBimanualObjLevelVelController.h.

◆ learnDMPFromFiles()

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

Definition at line 584 of file NJointBimanualObjLevelVelController.cpp.

◆ onDisconnectNJointController()

void onDisconnectNJointController ( )
protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 827 of file NJointBimanualObjLevelVelController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )
protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 805 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ onPublish()

void onPublish ( const SensorAndControl ,
const DebugDrawerInterfacePrx ,
const DebugObserverInterfacePrx debugObs 
)
protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 737 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ removeAllViaPoints()

void removeAllViaPoints ( const Ice::Current &  )

Definition at line 684 of file NJointBimanualObjLevelVelController.cpp.

◆ rtPreActivateController()

void rtPreActivateController ( )
protectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Definition at line 269 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ rtRun()

void rtRun ( const IceUtil::Time &  sensorValuesTimestamp,
const IceUtil::Time &  timeSinceLastIteration 
)
virtual

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Definition at line 350 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ runDMP()

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

Definition at line 605 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ runDMPWithVirtualStart()

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

Definition at line 647 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ setGoals()

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

Definition at line 592 of file NJointBimanualObjLevelVelController.cpp.

◆ setKdImpedance()

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

Definition at line 709 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ setKpImpedance()

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

Definition at line 690 of file NJointBimanualObjLevelVelController.cpp.

+ Here is the call graph for this function:

◆ setMPRotWeights()

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

Definition at line 244 of file NJointBimanualObjLevelVelController.cpp.

◆ setMPWeights()

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

Definition at line 219 of file NJointBimanualObjLevelVelController.cpp.

◆ setViaPoints()

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

Definition at line 674 of file NJointBimanualObjLevelVelController.cpp.

◆ skew()

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

Definition at line 59 of file NJointBimanualObjLevelVelController.h.

+ Here is the caller graph for this function:

Member Data Documentation

◆ firstLoop

bool firstLoop
protected

Definition at line 247 of file NJointBimanualObjLevelVelController.h.


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