The NJointCCDMPController class. More...

#include <armarx/control/deprecated_njoint_mp_controller/task_space/NJointCCDMPController.h>

Inheritance diagram for NJointCCDMPController:

Public Types
using	ConfigPtrT = NJointCCDMPControllerConfigPtr

Public Types inherited from NJointControllerWithTripleBuffer< NJointCCDMPControllerControlData >
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)> >>

Public Member Functions
std::string	getClassName (const Ice::Current &) const override

bool	isFinished (const Ice::Current &) override

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

	NJointCCDMPController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

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

void	runDMP (const Ice::Current &) override

void	setControllerTarget (Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current &) override

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

void	setNullspaceJointVelocities (const StringFloatDictionary &nullspaceJointVelocities, const Ice::Current &) override

void	setTemporalFactor (int dmpId, Ice::Double tau, const Ice::Current &) override

void	setTorqueKp (const StringFloatDictionary &torqueKp, const Ice::Current &) override

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

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

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 NJointCCDMPControllerInterface
bool	isFinished ()

void	learnDMPFromFiles (int dmpId, Ice::StringSeq trajfiles)

void	runDMP ()

void	setControllerTarget (float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode)

void	setGoals (int dmpId, Ice::DoubleSeq goals)

void	setNullspaceJointVelocities (StringFloatDictionary nullspaceJointVelocities)

void	setTemporalFactor (int dmpId, double tau)

void	setTorqueKp (StringFloatDictionary torqueKp)

void	setViaPoints (int dmpId, double canVal, Ice::DoubleSeq point)

Protected Member Functions
void	controllerRun ()

VirtualRobot::IKSolver::CartesianSelection	ModeFromIce (const NJointTaskSpaceDMPControllerMode::CartesianSelection mode)

void	onDisconnectNJointController () override

void	onInitNJointController () override

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

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

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

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

void	reinitTripleBuffer (const NJointCCDMPControllerControlData &initial)

const NJointCCDMPControllerControlData &	rtGetControlStruct () const

bool	rtUpdateControlStruct ()

void	setControlStruct (const NJointCCDMPControllerControlData &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 &)

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

Additional Inherited Members
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...

Protected Attributes inherited from NJointControllerWithTripleBuffer< NJointCCDMPControllerControlData >
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

Detailed Description

The NJointCCDMPController class.

Definition at line 46 of file NJointCCDMPController.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = NJointCCDMPControllerConfigPtr

Definition at line 64 of file NJointCCDMPController.h.

Constructor & Destructor Documentation

◆ NJointCCDMPController()

NJointCCDMPController	(	const RobotUnitPtr &	robotUnit,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &
	)

Definition at line 9 of file NJointCCDMPController.cpp.

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Member Function Documentation

◆ controllerRun()

void controllerRun ( )

protected

Definition at line 126 of file NJointCCDMPController.cpp.

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◆ getClassName()

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

overridevirtual

Implements NJointControllerBase.

Definition at line 120 of file NJointCCDMPController.cpp.

◆ isFinished()

bool isFinished ( const Ice::Current & )

inlineoverride

Definition at line 76 of file NJointCCDMPController.h.

◆ learnDMPFromFiles()

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

override

Definition at line 374 of file NJointCCDMPController.cpp.

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◆ ModeFromIce()

VirtualRobot::IKSolver::CartesianSelection ModeFromIce ( const NJointTaskSpaceDMPControllerMode::CartesianSelection mode )

protected

Definition at line 498 of file NJointCCDMPController.cpp.

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◆ onDisconnectNJointController()

void onDisconnectNJointController ( )

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 624 of file NJointCCDMPController.cpp.

◆ onInitNJointController()

void onInitNJointController ( )

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 616 of file NJointCCDMPController.cpp.

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◆ onPublish()

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

overrideprotectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 580 of file NJointCCDMPController.cpp.

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◆ rtPostDeactivateController()

void rtPostDeactivateController ( )

overrideprotectedvirtual

This function is called after the controller is deactivated.

You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Definition at line 575 of file NJointCCDMPController.cpp.

◆ rtPreActivateController()

void rtPreActivateController ( )

overrideprotectedvirtual

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 570 of file NJointCCDMPController.cpp.

◆ rtRun()

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

overridevirtual

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Definition at line 347 of file NJointCCDMPController.cpp.

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◆ runDMP()

void runDMP ( const Ice::Current & )

override

Definition at line 545 of file NJointCCDMPController.cpp.

◆ setControllerTarget()

void setControllerTarget	(	Ice::Float	avoidJointLimitsKp,
		NJointTaskSpaceDMPControllerMode::CartesianSelection	mode,
		const Ice::Current &
	)

override

Definition at line 486 of file NJointCCDMPController.cpp.

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◆ setGoals()

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

override

Definition at line 480 of file NJointCCDMPController.cpp.

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◆ setNullspaceJointVelocities()

void setNullspaceJointVelocities	(	const StringFloatDictionary &	nullspaceJointVelocities,
		const Ice::Current &
	)

override

Definition at line 531 of file NJointCCDMPController.cpp.

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◆ setTemporalFactor()

void setTemporalFactor	(	int	dmpId,
		Ice::Double	tau,
		const Ice::Current &
	)

override

Definition at line 563 of file NJointCCDMPController.cpp.

◆ setTorqueKp()

void setTorqueKp	(	const StringFloatDictionary &	torqueKp,
		const Ice::Current &
	)

override

Definition at line 519 of file NJointCCDMPController.cpp.

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◆ setViaPoints()

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

override

Definition at line 469 of file NJointCCDMPController.cpp.

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

armarx/control/deprecated_njoint_mp_controller/task_space/NJointCCDMPController.h
armarx/control/deprecated_njoint_mp_controller/task_space/NJointCCDMPController.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConfigPtrT

Constructor & Destructor Documentation

◆ NJointCCDMPController()

Member Function Documentation

◆ controllerRun()

◆ getClassName()

◆ isFinished()

◆ learnDMPFromFiles()

◆ ModeFromIce()

◆ onDisconnectNJointController()

◆ onInitNJointController()

◆ onPublish()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtRun()

◆ runDMP()

◆ setControllerTarget()

◆ setGoals()

◆ setNullspaceJointVelocities()

◆ setTemporalFactor()

◆ setTorqueKp()

◆ setViaPoints()