DSRTBimanualController Class Reference

Brief description of class DSRTBimanualController. More...

#include <armarx/control/ds_controller/DSRTBimanualController.h>

+ Inheritance diagram for DSRTBimanualController:

Public Types

using ConfigPtrT = DSRTBimanualControllerConfigPtr
 
- Public Types inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData >
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

 DSRTBimanualController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)
 
std::string getClassName (const Ice::Current &) const
 
void rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 TODO make protected and use attorneys. More...
 
void setToDefaultTarget (const Ice::Current &)
 
- Public Member Functions inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData >
 NJointControllerWithTripleBuffer (const DSRTBimanualControllerControlData &initialCommands=DSRTBimanualControllerControlData())
 
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 DSBimanualControllerInterface
void setToDefaultTarget ()
 

Protected Member Functions

void controllerRun ()
 
void onDisconnectNJointController ()
 
void onInitNJointController ()
 
void onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)
 
void rtPostDeactivateController ()
 This function is called after the controller is deactivated. More...
 
void rtPreActivateController ()
 This function is called before the controller is activated. More...
 
- Protected Member Functions inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData >
DSRTBimanualControllerControlData & getWriterControlStruct ()
 
void reinitTripleBuffer (const DSRTBimanualControllerControlData &initial)
 
const DSRTBimanualControllerControlData & rtGetControlStruct () const
 
bool rtUpdateControlStruct ()
 
void setControlStruct (const DSRTBimanualControllerControlData &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 LogSenderPtrgetLogSender () 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< DSRTBimanualControllerControlData >
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

Brief description of class DSRTBimanualController.

Detailed description of class DSRTBimanualController.

Definition at line 309 of file DSRTBimanualController.h.

Member Typedef Documentation

◆ ConfigPtrT

using ConfigPtrT = DSRTBimanualControllerConfigPtr

Definition at line 324 of file DSRTBimanualController.h.

Constructor & Destructor Documentation

◆ DSRTBimanualController()

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

Definition at line 69 of file DSRTBimanualController.cpp.

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Member Function Documentation

◆ controllerRun()

void controllerRun ( )
protected

Definition at line 327 of file DSRTBimanualController.cpp.

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◆ getClassName()

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

Implements NJointControllerBase.

Definition at line 329 of file DSRTBimanualController.h.

◆ onDisconnectNJointController()

void onDisconnectNJointController ( )
protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 57 of file DSRTBimanualController.cpp.

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◆ onInitNJointController()

void onInitNJointController ( )
protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 32 of file DSRTBimanualController.cpp.

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◆ onPublish()

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

Reimplemented from NJointControllerBase.

Definition at line 866 of file DSRTBimanualController.cpp.

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◆ rtPostDeactivateController()

void rtPostDeactivateController ( )
protectedvirtual

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 993 of file DSRTBimanualController.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 947 of file DSRTBimanualController.cpp.

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◆ rtRun()

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

TODO make protected and use attorneys.

measure the sesor data, update robot status for the other threads

writing into the bufffer for other threads

computing the task-specific forces

computing coupling forces

computing for contact forces

compose the task space desired force and torque

calculate the null-spcae torque

filtering the desried joint torques, clip to torque limit and then set target to actuator.

Implements SynchronousNJointController.

Definition at line 498 of file DSRTBimanualController.cpp.

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◆ setToDefaultTarget()

void setToDefaultTarget ( const Ice::Current &  )

Definition at line 998 of file DSRTBimanualController.cpp.


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