MoveJointsToNamedConfiguration-skill to move joints to a named configuartion in the robot model. More...

#include <armarx/control/skills/skills/MoveJointsToNamedConfiguration.h>

Inheritance diagram for MoveJointsToNamedConfiguration:

Classes
struct	Services

Public Member Functions
	MoveJointsToNamedConfiguration (const Services &remote)

Public Member Functions inherited from SpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >
arondto::MoveJointsToNamedConfigurationParams	getParameters () const
	Overwrite getter for parameters. Shadow Skill::getParameters() More...

void	setParameters (const arondto::MoveJointsToNamedConfigurationParams &d)

	Skill ()=delete
	We completely remove the default constructor! A skill without a desciption cannot exist. More...

	Skill (const SkillDescription &)
	Constructor of a skill for inheritance. Every skill must have a skill description. More...

virtual	~SpecializedSkill ()=default

Public Member Functions inherited from Skill
ExitResult	exitSkill ()
	Exit method of a skill. More...

aron::data::DictPtr	getParameters () const
	Get the parameters of a skill that have been set so far. More...

SkillDescription	getSkillDescription () const
	Get the description of a skill. More...

SkillID	getSkillId () const
	Get the id of the skill. More...

InitResult	initSkill ()
	Initialization of a skill. More...

MainResult	mainOfSkill ()
	Main method of a skill. More...

void	notifySkillToStop ()
	Notify the skill from extern to stop. More...

PrepareResult	prepareSkill ()
	Prepare a skill once. More...

void	setCallback (const CallbackT &callback)

void	setExecutorName (const std::string &executorName)

void	setManager (const manager::dti::SkillManagerInterfacePrx &manager)

void	setParameters (const aron::data::DictPtr &d)
	Hard set the parameters, ignoring everything that has been set or merged before. More...

void	setProviderId (const skills::ProviderID &pid)
	Set the provider id of the description of the skill. More...

bool	shouldSkillTerminate () const
	Returns whether the skill should terminate as soon as possible. More...

	Skill ()=delete
	We completely remove the default constructor! A skill without a desciption cannot exist. More...

	Skill (const SkillDescription &)
	Constructor of a skill for inheritance. Every skill must have a skill description. More...

void	updateParameters (const aron::data::DictPtr &d)
	Merge parameters to the local parameters of the skill. More...

virtual	~Skill ()
	Virtual destructor of a skill. More...

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 ()

Static Public Member Functions
::armarx::skills::SkillDescription	GetSkillDescription ()

Static Public Member Functions inherited from SpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >
static armarx::aron::type::ObjectPtr	GetAcceptedType ()
	returns the accepted type of the skill More...

Additional Inherited Members
Public Types inherited from SimpleSpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >
using	Base = SpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >

using	Base = Skill

using	ParamType = arondto::MoveJointsToNamedConfigurationParams

Public Types inherited from SpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >
using	Base = Skill

using	ParamType = arondto::MoveJointsToNamedConfigurationParams

Public Types inherited from Skill
using	CallbackT = std::function< void(const SkillStatus s, const armarx::aron::data::DictPtr &)>

Public Attributes inherited from Skill
armarx::core::time::DateTime	exited = armarx::core::time::DateTime::Invalid()

armarx::core::time::DateTime	started = armarx::core::time::DateTime::Now()

Protected Member Functions inherited from SimpleSpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >
Skill::ExitResult	exit () final
	Override this method with the actual implementation. More...

virtual Skill::ExitResult	exit (const SpecializedExitInput &in)

Skill::InitResult	init () final
	Override this method with the actual implementation. More...

virtual Skill::InitResult	init (const SpecializedInitInput &in)

Skill::MainResult	main () final
	Override this method with the actual implementation. The callback is for status updates to the calling instance. More...

Protected Member Functions inherited from Skill
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId)
	Call a subskill with the given ID and its default parameters. More...

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const aron::data::DictPtr &parameters)
	Call a subskill with the given ID and parameters. More...

template<class ParameterT >
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const ParameterT &parameters)
	Call a subskill with the given ID and parameters. More...

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters. More...

template<class ParameterT >
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters. More...

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy)
	Call a subskill with default parameters and block until the subskill terminates. More...

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
	Call a subskill with given parameters and block until the subskill terminates. More...

skills::SkillExecutionID	callSubskillAsync (const skills::SkillProxy &proxy)
	Similar to callSubskill but non-blocking. More...

skills::SkillExecutionID	callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
	Similar to callSubskill but non-blocking. More...

void	installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
	install a condition which is frequently checked from the conditionCheckingThread More...

void	notifyTimeoutReached ()

virtual void	onStopRequested ()

virtual void	onTimeoutReached ()
	Override these methods if you want to do something special when notification comes. More...

virtual PrepareResult	prepare ()
	Override this method with the actual implementation. More...

void	throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="")

void	throwIfSkillShouldTerminate (const std::string &abortedMessage="")

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

Static Protected Member Functions inherited from Skill
static MainResult	MakeAbortedResult ()

static MainResult	MakeFailedResult ()

static MainResult	MakeSucceededResult (aron::data::DictPtr data=nullptr)

Protected Attributes inherited from Skill
CallbackT	callback = CallbackT()

std::atomic_bool	constructing = true

SkillDescription	description

std::string	executorName = ""

std::atomic_bool	exiting = false

std::atomic_bool	finished = false

std::atomic_bool	initializing = false

manager::dti::SkillManagerInterfacePrx	manager = nullptr

armarx::aron::data::DictPtr	parameters = nullptr

std::mutex	parametersMutex

std::atomic_bool	preparing = false

std::atomic_bool	running = false

std::atomic_bool	stopped = false

std::atomic_bool	timeoutReached = false

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

MoveJointsToNamedConfiguration-skill to move joints to a named configuartion in the robot model.

Move joints to the values specified in the robot model for the given configuration. Parts of the robot (e.g. LeftArm ...) can be enabled/disabled in the params.

Definition at line 18 of file MoveJointsToNamedConfiguration.h.