armarx::view_selection::skills Namespace Reference

This file is part of ArmarX. More...

Namespaces
namespace	constants
	This file is part of ArmarX.
namespace	direction
namespace	skill_ids

Classes
class	LookAhead
class	LookAt
class	LookAtArticulatedObjectFrame
class	LookAtHumanFace
class	LookAtHumanHand
class	LookAtObject
class	LookDirection
class	LookDown
class	LookDownstraight
	This direction forces to look down in the middle. More...
class	LookForObjects
class	LookLeft
class	LookRight
class	LookUp
class	ResetGazeTargets
class	ScanLocation
class	ScanLocationsForObject
class	SetCustomGazeTarget

Functions
::armarx::skills::Skill::MainResult	commitAndMaybeWait (client::ViewSelection &viewSelection, const gaze_targets::GazeTarget &target, bool waitUntilReached, std::int64_t waitTimeout_ms, const std::function< bool()> &shouldAbort)
	Commit a gaze target, optionally blocking until the robot's gaze is fixed on it.

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Fabian Reister ( fabian dot reister at kit dot edu )

Date

2023

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Function Documentation

commitAndMaybeWait()

armarx::skills::Skill::MainResult commitAndMaybeWait	(	client::ViewSelection &	viewSelection,
		const gaze_targets::GazeTarget &	target,
		bool	waitUntilReached,
		std::int64_t	waitTimeout_ms,
		const std::function< bool()> &	shouldAbort )

Commit a gaze target, optionally blocking until the robot's gaze is fixed on it.

Shared by the skills that offer the opt-in blocking mode, so they agree on what counts as success and on what to do when it does not happen.

The verdict is "was this target reached at some point", not "is it still the active one": a target that settled and was then superseded by something more important did what the caller asked for, and reporting that as a failure would be wrong.

Parameters

waitTimeout_ms	Non-positive waits indefinitely.
shouldAbort	Polled while waiting; pass the skill's shouldSkillTerminate().

Definition at line 16 of file commit_and_wait.cpp.

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