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

Inheritance diagram for NJointSharedMemoryTaskspaceController< NJointTaskspaceController >:

Public Member Functions
void	additionalTask () final

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const

std::string	getClassName (const Ice::Current &) const final

void	init ()

	NJointSharedMemoryTaskspaceController (const armarx::RobotUnitPtr &robotUnit, const armarx::NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &robot)

void	readAdditonalDataFromSM (const FromSharedMemory &readData, typename NJointTaskspaceController::Config &config, unsigned int index) const

void	readAdditonalDataFromSM (const FromSharedMemory &readData, typename NJointTaskspaceController::Config &config, unsigned int index) const

void	readCoordinatorDataFromSM (const FromSharedMemory &readData)

void	readCoordinatorDataFromSM (const FromSharedMemory &readData)

void	writeAdditonalDataToSM (ToSharedMemory &writeData, const typename NJointTaskspaceController::Config &config, unsigned int index) const

void	writeAdditonalDataToSM (ToSharedMemory &writeData, const typename NJointTaskspaceController::Config &config, unsigned int index) const

void	writeConfig ()

void	writeCoordinatorDataToSM (ToSharedMemory &writeData) const

void	writeCoordinatorDataToSM (ToSharedMemory &writeData) const

Public Member Functions inherited from NJointTaskspaceController< NJointTaskspaceControllerType >
void	calibrateFTSensor (const Ice::Current &) override
	ft sensor

void	createLimbs ()

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

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

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

Ice::DoubleSeq	getCurrentTCPPose (const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

::armarx::aron::data::dto::DictPtr	getRTStatus (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
	-----------------------------— Other interaces ----------------------------------------—

	NJointTaskspaceController (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.

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

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

void	useCoordinator (const std::string &type, const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

bool	wasNotSafeForceTorque (const std::string &nodeSetName, const Ice::Current &iceCurrent=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) 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) 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.

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice.

const std::string &	rtGetClassName () const
	Returns the class name.

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for.

bool	rtGetErrorState () const
	Sets the error state to true.

const std::string &	rtGetInstanceName () const
	Returns the instance name.

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices.

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys.

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun.

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice.

ControlTargetBase *	useControlTarget (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.

template<class T>
T *	useControlTarget (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.

template<class T>
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue.

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue.

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *.

	~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)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

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.

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`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

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).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

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.

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.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from TSCtrlInterface
void	calibrateFTSensor ()
	ft sensor

void	disableCoordinator ()

void	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)

Ice::DoubleSeq	getCurrentTCPPose (string nodeSetName)

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

Ice::FloatSeq	getTCPVel (string rns)

bool	isSafeForceTorque (string nodeSetName)

bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)

void	useCoordinator (string type, armarx::aron::data::dto::Dict dto)

bool	wasNotSafeForceTorque (string nodeSetName)

Public Member Functions inherited from ArVizComponentPluginUser
	ArVizComponentPluginUser ()

armarx::viz::Client	createArVizClient ()

armarx::viz::Client &	getArvizClient ()

Protected Attributes
std::unique_ptr< SharedMemoryReader< FromSharedMemory > >	reader

std::unique_ptr< SharedMemoryWriter< ToSharedMemory > >	writer

Protected Attributes inherited from NJointTaskspaceController< NJointTaskspaceControllerType >
std::map< std::string, VirtualRobot::RobotNodeSetPtr >	controllableNodeSets

std::shared_ptr< common::coordination::SyncCoordination >	coordinator = nullptr

std::atomic_bool	coordinatorEnabled = false
	coordinator

std::map< std::string, common::coordination::InputData >	coordinatorInputData

core::HandControlPtr	hands = nullptr

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

VirtualRobot::RobotPtr	nonRtRobot

RobotUnitPtr	robotUnit

std::optional< viz::ScopedClient >	scopedArviz = std::nullopt

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
Public Types inherited from NJointTaskspaceController< NJointTaskspaceControllerType >
using	ArmPtr = std::unique_ptr<ArmData>

using	Config = typename NJointTaskspaceControllerType::Config

using	ConfigDict = typename NJointTaskspaceControllerType::ConfigDict

using	ConfigPtrT = ConfigurableNJointControllerConfigPtr

using	ControlType = NJointTaskspaceControllerType

using	PoseFrameMode = armarx::control::common::arondto::PoseFrameMode

using	RtStatus = armarx::control::common::control_law::TSCtrlRtStatus

Public Types inherited from NJointControllerBase
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature

template<class ConfigPrtType>
using	GenerateConfigFromVariantsFunctionSignature

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Static Public Member Functions inherited from NJointTaskspaceController< NJointTaskspaceControllerType >
static WidgetDescription::WidgetPtr	GenerateConfigDescription (const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &)
	--------------------------------— GUI Widget ------------------------------------------—

static ConfigPtrT	GenerateConfigFromVariants (const StringVariantBaseMap &values)

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.

static std::string	GetObjectStateAsString (int state)

Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client	arviz

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.

Protected Member Functions inherited from NJointTaskspaceController< NJointTaskspaceControllerType >
void	activateController (const Ice::Current &current=Ice::emptyCurrent) final
	NJointControllerBase interface.

void	additionalTaskSetTarget ()

std::tuple< bool, bool >	additionalTaskUpdateStatus ()

virtual void	collectArviz (viz::StagedCommit &stage) const

void	commitArviz ()

void	deactivateController (const Ice::Current &current=Ice::emptyCurrent) final

void	handleRTNotSafeInNonRT ()

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

void	limbNonRT (ArmPtr &arm)

void	limbPublish (ArmPtr &arm, const DebugObserverInterfacePrx &debugObs)

virtual void	limbPublishConfig (StringVariantBaseMap &datafields, ArmPtr &arm)=0

void	limbReInit (ArmPtr &arm)

void	limbRT (ArmPtr &arm, const double deltaT)

void	limbRTSetTarget (ArmPtr &arm, const size_t nDoFTorque, const size_t nDoFVelocity, const Eigen::VectorXf &targetTorque, const Eigen::VectorXf &targetVelocity)

void	limbRTUpdateStatus (ArmPtr &arm, const double deltaT)
	-----------------------------— Real time cotnrol --------------------------------------—

void	onInitNJointController () override

void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override

void	onPublishCoordinator (const DebugObserverInterfacePrx &debugObs)

bool	rtGetDesiredPoseSafeStatus ()

bool	rtGetDesiredPoseSafeStatusOnActivation ()

void	rtPostDeactivateController () override
	This function is called after the controller is deactivated.

void	rtPreActivateController () override
	This function is called before the controller is activated.

void	rtRunCoordinator (double deltaT)
	coordinator

void	updateInputData (const std::string &key, const Eigen::Matrix4f &targetPose, const PoseFrameMode &targetPoseMode, const Eigen::Matrix4f &pose, const Eigen::Vector6f &vel, const Eigen::Vector6f &ft, const Eigen::Vector6f &stiffness)
	some method for coordinator

void	validateConfigData (Config &config, ArmPtr &arm)

virtual void	validateConfigDataCheckSize (Config &configData, ArmPtr &arm)=0

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.

template<typename Task>
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool.

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.

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.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Detailed Description

template<typename NJointTaskspaceController>
class armarx::control::njoint_controller::task_space::NJointSharedMemoryTaskspaceController< NJointTaskspaceController >

Definition at line 122 of file SharedMemoryController.h.

Constructor & Destructor Documentation

◆ NJointSharedMemoryTaskspaceController()

template<typename NJointTaskspaceController>

NJointSharedMemoryTaskspaceController	(	const armarx::RobotUnitPtr &	robotUnit,
		const armarx::NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &	robot )