#include <armarx/control/njoint_mp_controller/task_space/Template.h>

Inheritance diagram for TSMPController< TSControllerType, MPInterfaceType >:

Classes
struct	MPDebugData

Public Types
using	MPListConfig = common::mp::arondto::MPListConfig

Public Member Functions
void	additionalTask () override

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

void	rtPreActivateController () override

	TSMPController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

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

Public Member Functions inherited from MPPool
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

Public Attributes
TripleBuffer< MPDebugData >	bufferMPToOnPublish

Additional Inherited Members
Protected Member Functions inherited from MPPool
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 inherited from MPPool
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

template<typename TSControllerType, typename MPInterfaceType>
class armarx::control::njoint_mp_controller::task_space::TSMPController< TSControllerType, MPInterfaceType >

Definition at line 41 of file Template.h.

Member Typedef Documentation

◆ MPListConfig

template<typename TSControllerType, typename MPInterfaceType>

using MPListConfig = common::mp::arondto::MPListConfig

Definition at line 47 of file Template.h.

Constructor & Destructor Documentation

◆ TSMPController()

template<typename TSControllerType, typename MPInterfaceType>

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

Definition at line 82 of file Template.h.

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Member Function Documentation

◆ additionalTask()

template<typename TSControllerType, typename MPInterfaceType>

void additionalTask ( )

override

Update Status from RT and user configuration update

Update Timing calculations

Check Stop Conditions

Prepare Inputs

Handle RT unsafe logging due to descripancy in desired and current pose

The MPs will envolve one step forward if it is the first run or rtTargetSafe is true

Set mp target to nonRT config data structure

Handle coordinator and set/commit non RT targets/buffer

Definition at line 531 of file Template.h.

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◆ onPublish()

template<typename TSControllerType, typename MPInterfaceType>

void onPublish	(	const SensorAndControl &	sac,
		const DebugDrawerInterfacePrx &	interface,
		const DebugObserverInterfacePrx &	debugObs )

override

Definition at line 113 of file Template.h.

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◆ rtPreActivateController()

template<typename TSControllerType, typename MPInterfaceType>

void rtPreActivateController ( )

override

Definition at line 95 of file Template.h.

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◆ updateMPConfig()

template<typename TSControllerType, typename MPInterfaceType>

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

override

Definition at line 134 of file Template.h.

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Member Data Documentation

◆ bufferMPToOnPublish

template<typename TSControllerType, typename MPInterfaceType>

TripleBuffer<MPDebugData> bufferMPToOnPublish

Definition at line 68 of file Template.h.

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

armarx/control/njoint_mp_controller/task_space/Template.h

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MPListConfig

Constructor & Destructor Documentation

◆ TSMPController()

Member Function Documentation

◆ additionalTask()

◆ onPublish()

◆ rtPreActivateController()

◆ updateMPConfig()

Member Data Documentation

◆ bufferMPToOnPublish