MoveJointsToPosition Class Reference

#include <RobotSkillTemplates/libraries/skill_joint_control/MoveJointsToPosition.h>

+ Inheritance diagram for MoveJointsToPosition:

Public Types

using ArgType = joint_control::arondto::MoveJointsToPositionAcceptedType
 
- Public Types inherited from PeriodicSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
using Base = SpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
 
using StepResult = PeriodicSkill::StepResult
 
- Public Types inherited from SpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
using ParamType = joint_control::arondto::MoveJointsToPositionAcceptedType
 
- Public Types inherited from Skill
using CallbackT = std::function< void(const aron::data::DictPtr &)>
 

Public Member Functions

 MoveJointsToPosition (armem::client::MemoryNameSystem &mns, JointControlSkillContext &context)
 
- Public Member Functions inherited from JointControlSkill
 JointControlSkill (armem::client::MemoryNameSystem &mns, JointControlSkillContext &c)
 
- Public Member Functions inherited from RobotReadingSkillMixin
 RobotReadingSkillMixin (armem::client::MemoryNameSystem &mns)
 
- Public Member Functions inherited from PeriodicSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
SkillID getSkillId () const
 The id of the skill (combination of provider and name must be unique). More...
 
 PeriodicSpecializedSkill ()=delete
 
 PeriodicSpecializedSkill (const SkillDescription &skillDescription, const armarx::Frequency &frequency)
 
StepResult stepOfSkill (const typename Base::SpecializedMainInput &in)
 
- Public Member Functions inherited from SpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
Skill::MainResult executeFullSkill (const SpecializedMainInput &in)
 
Skill::ExitResult exitSkill (const SpecializedExitInput &in)
 
Skill::InitResult initSkill (const SpecializedInitInput &in)
 
bool isSkillAvailable (const SpecializedInitInput &in) const
 
Skill::MainResult mainOfSkill (const SpecializedMainInput &in)
 
 Skill ()=delete
 
 Skill (const SkillDescription &)
 
virtual ~SpecializedSkill ()=default
 
- Public Member Functions inherited from Skill
bool checkWhetherSkillShouldStopASAP () const
 
MainResult executeFullSkill (const MainInput &in)
 Do init, main, exit together. More...
 
ExitResult exitSkill (const ExitInput &in)
 
SkillID getSkillId () const
 The id of the skill (combination of provider and name must be unique). More...
 
InitResult initSkill (const InitInput &in)
 
bool isSkillAvailable (const InitInput &in) const
 
MainResult mainOfSkill (const MainInput &in)
 
void notifySkillToStopASAP ()
 
void resetSkill ()
 
 Skill ()=delete
 
 Skill (const SkillDescription &)
 
void waitForDependenciesOfSkill ()
 
virtual ~Skill ()=default
 
- 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 Attributes

static SkillDescription Description
 

Additional Inherited Members

- Static Public Member Functions inherited from SpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
static armarx::aron::type::ObjectPtr GetAcceptedType ()
 returns the accepted type of the skill More...
 
- Data Fields inherited from RobotReadingSkillMixin
armem::robot_state::VirtualRobotReader robotReader
 
- Data Fields inherited from PeriodicSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >
const SkillDescription description
 The descripion of the skill, which will be available via the provider/manager. More...
 
- Data Fields inherited from Skill
const SkillDescription description
 The descripion of the skill, which will be available via the provider/manager. More...
 
armarx::core::time::DateTime exited = armarx::core::time::DateTime::Invalid()
 
manager::dti::SkillManagerInterfacePrx manager = nullptr
 proxy that called the skills. Will be set from provider and is const afterwards More...
 
std::string providerName = "INVALID PROVIDER NAME"
 the provider that owns this skill. Will be set from provider and is const afterwards More...
 
armarx::core::time::DateTime started = armarx::core::time::DateTime::Invalid()
 running params More...
 
- Protected Member Functions inherited from JointControlSkill
TerminatedSkillStatus stopJointMovement (const std::vector< std::string > &joints)
 
- Protected Member Functions inherited from Skill
void _exit ()
 
void _init ()
 
void _main ()
 
void installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
 install a condition which is frequently checked from the conditionCheckingThread More...
 
void notifyTimeoutReached ()
 
- 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
 
- Static Protected Member Functions inherited from Skill
static MainResult MakeAbortedResult (aron::data::DictPtr data=nullptr)
 
- Protected Attributes inherited from JointControlSkill
JointControlSkillContextcontext
 
armem::client::MemoryNameSystemmns
 
- Protected Attributes inherited from Skill
std::vector< std::pair< std::function< bool()>, std::function< void()> > > callbacks
 active conditions. First is condition (bool return func) More...
 
std::mutex callbacksMutex
 
std::atomic_bool running = false
 Use conditions this way. More...
 
std::atomic_bool stopped = false
 
std::atomic_bool timeoutReached = false
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

Definition at line 31 of file MoveJointsToPosition.h.

Member Typedef Documentation

◆ ArgType

using ArgType = joint_control::arondto::MoveJointsToPositionAcceptedType

Definition at line 37 of file MoveJointsToPosition.h.

Constructor & Destructor Documentation

◆ MoveJointsToPosition()

Field Documentation

◆ Description

SkillDescription Description
static
Initial value:
= skills::SkillDescription{
"MoveJointsToPosition", "Move the joints to position",
joint_control::arondto::MoveJointsToPositionAcceptedType::ToAronType(),
GetDefaultParameterization().toAron()
}

Definition at line 48 of file MoveJointsToPosition.h.


The documentation for this class was generated from the following files:
armarx::core::time::Duration::MilliSeconds
static Duration MilliSeconds(std::int64_t milliSeconds)
Constructs a duration in milliseconds.
Definition: Duration.cpp:55