NJointTaskspaceAdmittanceController Class Reference

Brief description of class NJointTaskspaceAdmittanceController. More...

#include <armarx/control/njoint_controller/task_space/AdmittanceController.h>

+ Inheritance diagram for NJointTaskspaceAdmittanceController:

Classes

struct  ArmData
 

Public Types

using ArmPtr = std::unique_ptr< ArmData >
 
using Config = law::TaskspaceAdmittanceController::Config
 
using ConfigDict = law::TaskspaceAdmittanceController::ConfigDict
 
using ConfigPtrT = ConfigurableNJointControllerConfigPtr
 
using RtStatus = law::TaskspaceAdmittanceController::RtStatus
 
- 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

void calibrateFTSensor (const Ice::Current &) override
 
void enableSafeGuardForceTorque (const std::string &nodeSetName, const bool forceGuard, const bool torqueGuard, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 
std::string getClassName (const Ice::Current &=Ice::emptyCurrent) const override
 
::armarx::aron::data::dto::DictPtr getConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 
Ice::FloatSeq getTCPVel (const std::string &rns, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 
bool isSafeForceTorque (const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 
 NJointTaskspaceAdmittanceController (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 toggleGravityCompensation (const bool toggle, const Ice::Current &) override
 ft sensor More...
 
void updateConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
 NJointController interface. More...
 
bool updateTargetPose (const TargetPoseMap &targetPoseMap, const TargetNullspaceMap &targetNullspaceMap, const Ice::Current &=Ice::emptyCurrent) override
 
- Public Member Functions inherited from SynchronousNJointController
virtual void rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)
 
- 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 NJointTaskspaceAdmittanceControllerInterface
void calibrateFTSensor ()
 
void enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)
 
Ice::FloatSeq getTCPVel (string rns)
 
bool isSafeForceTorque (string nodeSetName)
 
void toggleGravityCompensation (bool toggle)
 ft sensor More...
 
bool updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)
 

Protected Member Functions

virtual void additionalTask ()
 
void limbInit (const std::string nodeSetName, ArmPtr &arm, Config &cfg, VirtualRobot::RobotPtr &nonRtRobotPtr)
 
void limbNonRT (ArmPtr &arm)
 
void limbPublish (ArmPtr &arm, const DebugObserverInterfacePrx &debugObs)
 
void limbReInit (ArmPtr &arm)
 
void limbRT (ArmPtr &arm, const double deltaT)
 
void onInitNJointController () override
 NJointControllerBase interface. More...
 
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...
 
void validateConfigData (Config &config, ArmPtr &arm)
 
- Protected Member Functions inherited from NJointControllerBase
std::string getDefaultName () const override
 
ThreadPoolPtr getThreadPool () const
 
void onConnectComponent () final
 
virtual void onConnectNJointController ()
 
void onDisconnectComponent () final
 
virtual void onDisconnectNJointController ()
 
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
 

Protected Attributes

std::map< std::string, ArmPtrlimb
 
std::string limbName
 
VirtualRobot::RobotPtr nonRtRobot
 
RobotUnitPtr robotUnit
 
ConfigDict userConfig
 
- 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

- 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

Brief description of class NJointTaskspaceAdmittanceController.

Detailed description of class NJointTaskspaceAdmittanceController.

Definition at line 52 of file AdmittanceController.h.

Member Typedef Documentation

◆ ArmPtr

using ArmPtr = std::unique_ptr<ArmData>

Definition at line 98 of file AdmittanceController.h.

◆ Config

using Config = law::TaskspaceAdmittanceController::Config

Definition at line 58 of file AdmittanceController.h.

◆ ConfigDict

using ConfigDict = law::TaskspaceAdmittanceController::ConfigDict

Definition at line 59 of file AdmittanceController.h.

◆ ConfigPtrT

using ConfigPtrT = ConfigurableNJointControllerConfigPtr

Definition at line 57 of file AdmittanceController.h.

◆ RtStatus

using RtStatus = law::TaskspaceAdmittanceController::RtStatus

Definition at line 60 of file AdmittanceController.h.

Constructor & Destructor Documentation

◆ NJointTaskspaceAdmittanceController()

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

Definition at line 98 of file AdmittanceController.cpp.

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Member Function Documentation

◆ additionalTask()

void additionalTask ( )
protectedvirtual

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 162 of file AdmittanceController.cpp.

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◆ calibrateFTSensor()

void calibrateFTSensor ( const Ice::Current &  )
override

Definition at line 431 of file AdmittanceController.cpp.

◆ enableSafeGuardForceTorque()

void enableSafeGuardForceTorque ( const std::string &  nodeSetName,
const bool  forceGuard,
const bool  torqueGuard,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

Definition at line 267 of file AdmittanceController.cpp.

◆ getClassName()

std::string getClassName ( const Ice::Current &  = Ice::emptyCurrent) const
overridevirtual

Implements NJointControllerBase.

Reimplemented in NJointTSAdmittanceMPController.

Definition at line 122 of file AdmittanceController.cpp.

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◆ getConfig()

armarx::aron::data::dto::DictPtr getConfig ( const Ice::Current &  iceCurrent = Ice::emptyCurrent)
override

Definition at line 341 of file AdmittanceController.cpp.

◆ getTCPVel()

Ice::FloatSeq getTCPVel ( const std::string &  rns,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

Definition at line 240 of file AdmittanceController.cpp.

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◆ isSafeForceTorque()

bool isSafeForceTorque ( const std::string &  nodeSetName,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

Definition at line 292 of file AdmittanceController.cpp.

◆ limbInit()

void limbInit ( const std::string  nodeSetName,
ArmPtr arm,
Config cfg,
VirtualRobot::RobotPtr nonRtRobotPtr 
)
protected

Definition at line 40 of file AdmittanceController.cpp.

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◆ limbNonRT()

void limbNonRT ( ArmPtr arm)
protected

Definition at line 154 of file AdmittanceController.cpp.

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◆ limbPublish()

void limbPublish ( ArmPtr arm,
const DebugObserverInterfacePrx debugObs 
)
protected

Definition at line 395 of file AdmittanceController.cpp.

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◆ limbReInit()

void limbReInit ( ArmPtr arm)
protected

Definition at line 450 of file AdmittanceController.cpp.

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◆ limbRT()

void limbRT ( ArmPtr arm,
const double  deltaT 
)
protected

Definition at line 172 of file AdmittanceController.cpp.

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◆ onInitNJointController()

void onInitNJointController ( )
overrideprotectedvirtual

NJointControllerBase interface.

Reimplemented from NJointControllerBase.

Definition at line 128 of file AdmittanceController.cpp.

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◆ onPublish()

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

Reimplemented from NJointControllerBase.

Definition at line 420 of file AdmittanceController.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 531 of file AdmittanceController.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 520 of file AdmittanceController.cpp.

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◆ rtRun()

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

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Definition at line 229 of file AdmittanceController.cpp.

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◆ toggleGravityCompensation()

void toggleGravityCompensation ( const bool  toggle,
const Ice::Current &   
)
override

ft sensor

Definition at line 440 of file AdmittanceController.cpp.

◆ updateConfig()

void updateConfig ( const ::armarx::aron::data::dto::DictPtr &  dto,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

NJointController interface.

Definition at line 254 of file AdmittanceController.cpp.

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◆ updateTargetPose()

bool updateTargetPose ( const TargetPoseMap targetPoseMap,
const TargetNullspaceMap targetNullspaceMap,
const Ice::Current &  iceCurrent = Ice::emptyCurrent 
)
override

Definition at line 309 of file AdmittanceController.cpp.

◆ validateConfigData()

void validateConfigData ( Config config,
ArmPtr arm 
)
protected

Definition at line 352 of file AdmittanceController.cpp.

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Member Data Documentation

◆ limb

std::map<std::string, ArmPtr> limb
protected

Definition at line 149 of file AdmittanceController.h.

◆ limbName

std::string limbName
protected

Definition at line 150 of file AdmittanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot
protected

Definition at line 151 of file AdmittanceController.h.

◆ robotUnit

RobotUnitPtr robotUnit
protected

Definition at line 152 of file AdmittanceController.h.

◆ userConfig

ConfigDict userConfig
protected

Definition at line 153 of file AdmittanceController.h.


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