#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_

Constructor & Destructor Documentation

◆ MPPool()

MPPool ( )

default

◆ ~MPPool()

~MPPool ( )

inline

Member Function Documentation

◆ createMPs()

void createMPs ( const MPListConfig & mpListConfig )

◆ deserialize()

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

override

◆ getCanVal()

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

override

◆ getMPConfig()

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

override

config

◆ getMPEnabled()

bool getMPEnabled ( const Ice::Current & )

override

◆ getNames()

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

override

Interface functions.

◆ isFinished()

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

override

◆ isFinishedAll()

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

override

◆ learnFromCSV()

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

override

setting

◆ learnFromTrajs()

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

override

◆ pause()

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

override

◆ pauseAll()

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

override

◆ reconfigureMPs()

void reconfigureMPs ( const MPListConfig & mpListConfig )

◆ reInitMPInputOutputData()

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

protected

◆ reInitMPInputOutputDataV1()

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

protected

◆ reInitMPInputOutputDataV2()

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

protected

◆ removeAllViaPoint()

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

override

◆ requestStop()

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

override

◆ reset()

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

override

◆ resetAll()

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

override

◆ resetMPs()

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

◆ 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 )

◆ resetMPsV2()

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

◆ resume()

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

override

◆ resumeAll()

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

override

◆ 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

◆ serialize()

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

override

serialize

◆ set()

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

override

◆ setGoal()

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

override

◆ setStartAndGoal()

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

override

◆ setViaPoint()

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

override

◆ 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

◆ startAll()

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

override

◆ stop()

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

override

◆ stopAll()

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

override

◆ trainMP()

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

override

◆ updateMPConfig()

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

override

Member Data Documentation

◆ isMPReady

std::atomic<bool> isMPReady {false}

protected

◆ mpConfig

MPListConfig mpConfig

protected

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

◆ mps

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

protected

◆ mpTaskRunning

std::atomic_bool mpTaskRunning {false}

protected

◆ mtx_mps

std::recursive_mutex mtx_mps

mutableprotected

◆ phaseStops_

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

protected

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

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_