#include <armarx/control/common/mp/MPPool.h>

Inheritance diagram for MPPool:

Public Member Functions
void	createMPs (const MPListConfig &mpListConfig)

DVec	deserialize (const std::string &, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

Ice::Double	getCanVal (const std::string &mpName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

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

bool	getMPEnabled (const Ice::Current &) override

std::string	getNames (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	Interface functions.

bool	isFinished (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	isFinishedAll (const Ice::Current &=Ice::emptyCurrent) override

void	learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >(), const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	setting

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

	MPPool ()=default

void	pause (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	pauseAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	reconfigureMPs (const MPListConfig &mpListConfig)

void	removeAllViaPoint (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	requestStop (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	reset (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	resetAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	resetMPs (const ::armarx::aron::data::dto::DictPtr &dto, const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap)

bool	resetMPsV1 (const ::armarx::aron::data::dto::DictPtr &dto, const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap, const std::shared_ptr< common::coordination::Coordination > &coordinator)

bool	resetMPsV2 (const ::armarx::aron::data::dto::DictPtr &dto, const std::map< std::string, MPReInitData > &data)

void	resume (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	resumeAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	runMPs (bool rtSafe)

std::string	serialize (const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	serialize

void	set (const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleSeqMap &, const ::armarx::StringDoubleMap &, const ::Ice::Current &iceCurrent=::Ice::emptyCurrent) override

void	setGoal (const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	setStartAndGoal (const DVec &starts, const DVec &goals, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	setViaPoint (Ice::Double u, const DVec &viapoint, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	start (const std::string &mpName="all", const DVec &startVec=std::vector< double >(), const DVec &goalVec=std::vector< double >(), Ice::Double timeDuration=-1.0, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	control

void	startAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	stop (const std::string &mpName="all", const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	stopAll (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	trainMP (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

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

	~MPPool ()

Public Member Functions inherited from MPPoolInterface
Ice::DoubleSeq	deserialize (string mpAsString)

double	getCanVal (string mpName)
	utilities

armarx::aron::data::dto::Dict	getMPConfig ()

bool	getMPEnabled ()

string	getNames ()

bool	isFinished (string mpName)

bool	isFinishedAll ()

void	learnFromCSV (Ice::StringSeq fileNames)
	setting

void	learnFromTrajs (armarx::aron::data::dto::Dict config)

void	pause (string mpName)

void	pauseAll ()

void	removeAllViaPoint ()

void	requestStop (string mpName)

void	reset (string mpName)

void	resetAll ()

void	resume (string mpName)

void	resumeAll ()

string	serialize ()
	serialze

void	set (StringDoubleSeqMap startVec, StringDoubleSeqMap goalVec, StringDoubleMap durationSec)
	control

void	setGoal (Ice::DoubleSeq goals)

void	setStartAndGoal (Ice::DoubleSeq starts, Ice::DoubleSeq goals)

void	setViaPoint (double u, Ice::DoubleSeq viapoint)

void	start (string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec, double durationSec)

void	startAll ()

void	stop (string mpName)

void	stopAll ()

void	trainMP ()

void	updateMPConfig (armarx::aron::data::dto::Dict config)
	config

Protected Member Functions
void	reInitMPInputOutputData (const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap)

void	reInitMPInputOutputDataV1 (const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &rnsMap, const std::shared_ptr< common::coordination::Coordination > &coordinator)

void	reInitMPInputOutputDataV2 (const std::map< std::string, MPReInitData > &data)

Protected Attributes
std::atomic< bool >	isMPReady {false}

MPListConfig	mpConfig
	this variable is only needed when constructing the MP instances, therefore you don't need to use triple buffers

std::map< std::string, MPInputOutput >	mps

std::atomic_bool	mpTaskRunning {false}

std::recursive_mutex	mtx_mps

std::map< arondto::MPGroup, PhaseStopResult >	phaseStops_

Detailed Description

Definition at line 59 of file MPPool.h.

Constructor & Destructor Documentation

◆ MPPool()

MPPool ( )

default

Here is the caller graph for this function:

◆ ~MPPool()

~MPPool ( )

inline

Definition at line 63 of file MPPool.h.

Member Function Documentation

◆ createMPs()

void createMPs ( const MPListConfig & mpListConfig )

Definition at line 23 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ deserialize()

DVec deserialize	(	const std::string &	,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 532 of file MPPool.cpp.

◆ getCanVal()

Ice::Double getCanVal	(	const std::string &	mpName,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 539 of file MPPool.cpp.

◆ getMPConfig()

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

override

config

Definition at line 705 of file MPPool.cpp.

◆ getMPEnabled()

bool getMPEnabled ( const Ice::Current & )

override

Definition at line 551 of file MPPool.cpp.

◆ getNames()

std::string getNames ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Interface functions.

Definition at line 132 of file MPPool.cpp.

◆ isFinished()

bool isFinished	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 386 of file MPPool.cpp.

Here is the caller graph for this function:

◆ isFinishedAll()

bool isFinishedAll ( const Ice::Current & = Ice::emptyCurrent )

override

Definition at line 380 of file MPPool.cpp.

Here is the call graph for this function:

◆ learnFromCSV()

void learnFromCSV	(	const Ice::StringSeq &	fileNames = std::vector<std::string>(),
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

setting

Definition at line 406 of file MPPool.cpp.

◆ learnFromTrajs()

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

override

Definition at line 426 of file MPPool.cpp.

Here is the call graph for this function:

◆ pause()

void pause	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 293 of file MPPool.cpp.

Here is the caller graph for this function:

◆ pauseAll()

void pauseAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 287 of file MPPool.cpp.

Here is the call graph for this function:

◆ reconfigureMPs()

void reconfigureMPs ( const MPListConfig & mpListConfig )

Definition at line 97 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reInitMPInputOutputData()

void reInitMPInputOutputData ( const std::map< std::string, VirtualRobot::RobotNodeSetPtr > & rnsMap )

protected

Definition at line 760 of file MPPool.cpp.

Here is the caller graph for this function:

◆ reInitMPInputOutputDataV1()

void reInitMPInputOutputDataV1	(	const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &	rnsMap,
		const std::shared_ptr< common::coordination::Coordination > &	coordinator )

protected

Definition at line 815 of file MPPool.cpp.

Here is the caller graph for this function:

◆ reInitMPInputOutputDataV2()

void reInitMPInputOutputDataV2 ( const std::map< std::string, MPReInitData > & data )

protected

Definition at line 711 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ removeAllViaPoint()

void removeAllViaPoint ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 516 of file MPPool.cpp.

◆ requestStop()

void requestStop	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 237 of file MPPool.cpp.

Here is the caller graph for this function:

◆ reset()

void reset	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 355 of file MPPool.cpp.

◆ resetAll()

void resetAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 349 of file MPPool.cpp.

◆ resetMPs()

bool resetMPs	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &	rnsMap )

Definition at line 565 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ resetMPsV1()

bool resetMPsV1	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const std::map< std::string, VirtualRobot::RobotNodeSetPtr > &	rnsMap,
		const std::shared_ptr< common::coordination::Coordination > &	coordinator )

Definition at line 604 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ resetMPsV2()

bool resetMPsV2	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const std::map< std::string, MPReInitData > &	data )

Definition at line 666 of file MPPool.cpp.

Here is the call graph for this function:

◆ resume()

void resume	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 324 of file MPPool.cpp.

Here is the caller graph for this function:

◆ resumeAll()

void resumeAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 318 of file MPPool.cpp.

Here is the call graph for this function:

◆ runMPs()

void runMPs ( bool rtSafe )

Since there may be MPs for TCP, posture and fingers, we group those for one arm to use the same phase stop signal, usually it is a good choice to use the Task Space MP to compute the phase stop signal and propagate this to other mps in the same group Compute phase stop

propagate phase top to other mps

Definition at line 104 of file MPPool.cpp.

Here is the caller graph for this function:

◆ serialize()

std::string serialize ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

serialize

Definition at line 526 of file MPPool.cpp.

◆ set()

void set	(	const ::armarx::StringDoubleSeqMap &	startVec,
		const ::armarx::StringDoubleSeqMap &	goalVec,
		const ::armarx::StringDoubleMap &	durationSec,
		const ::Ice::Current &	iceCurrent = ::Ice::emptyCurrent )

override

Definition at line 147 of file MPPool.cpp.

◆ setGoal()

void setGoal	(	const DVec &	goals,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 493 of file MPPool.cpp.

◆ setStartAndGoal()

void setStartAndGoal	(	const DVec &	starts,
		const DVec &	goals,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 498 of file MPPool.cpp.

◆ setViaPoint()

void setViaPoint	(	Ice::Double	u,
		const DVec &	viapoint,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 509 of file MPPool.cpp.

◆ start()

void start	(	const std::string &	mpName = "all",
		const DVec &	startVec = std::vector<double>(),
		const DVec &	goalVec = std::vector<double>(),
		Ice::Double	timeDuration = -1.0,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

control

Definition at line 183 of file MPPool.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ startAll()

void startAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 177 of file MPPool.cpp.

Here is the call graph for this function:

◆ stop()

void stop	(	const std::string &	mpName = "all",
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 262 of file MPPool.cpp.

Here is the caller graph for this function:

◆ stopAll()

void stopAll ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 231 of file MPPool.cpp.

Here is the call graph for this function:

◆ trainMP()

void trainMP ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 480 of file MPPool.cpp.

Here is the call graph for this function:

◆ updateMPConfig()

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

override

Definition at line 557 of file MPPool.cpp.

Member Data Documentation

◆ isMPReady

std::atomic<bool> isMPReady {false}

protected

Definition at line 148 of file MPPool.h.

◆ mpConfig

MPListConfig mpConfig

protected

this variable is only needed when constructing the MP instances, therefore you don't need to use triple buffers

Definition at line 153 of file MPPool.h.

◆ mps

std::map<std::string, MPInputOutput> mps

protected

Definition at line 146 of file MPPool.h.

◆ mpTaskRunning

std::atomic_bool mpTaskRunning {false}

protected

Definition at line 161 of file MPPool.h.

◆ mtx_mps

std::recursive_mutex mtx_mps

mutableprotected

Definition at line 147 of file MPPool.h.

◆ phaseStops_

std::map<arondto::MPGroup, PhaseStopResult> phaseStops_

protected

Definition at line 162 of file MPPool.h.

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

armarx/control/common/mp/MPPool.h
armarx/control/common/mp/MPPool.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPPool()

◆ ~MPPool()

Member Function Documentation

◆ createMPs()

◆ deserialize()

◆ getCanVal()

◆ getMPConfig()

◆ getMPEnabled()

◆ getNames()

◆ isFinished()

◆ isFinishedAll()

◆ learnFromCSV()

◆ learnFromTrajs()

◆ pause()

◆ pauseAll()

◆ reconfigureMPs()

◆ reInitMPInputOutputData()

◆ reInitMPInputOutputDataV1()

◆ reInitMPInputOutputDataV2()

◆ removeAllViaPoint()

◆ requestStop()

◆ reset()

◆ resetAll()

◆ resetMPs()

◆ resetMPsV1()

◆ resetMPsV2()

◆ resume()

◆ resumeAll()

◆ runMPs()

◆ serialize()

◆ set()

◆ setGoal()

◆ setStartAndGoal()

◆ setViaPoint()

◆ start()

◆ startAll()

◆ stop()

◆ stopAll()

◆ trainMP()

◆ updateMPConfig()

Member Data Documentation

◆ isMPReady

◆ mpConfig

◆ mps

◆ mpTaskRunning

◆ mtx_mps

◆ phaseStops_