Mimics the behaviour of the VirtualRobot::Robot class while redirecting everything to an Ice proxy. More...

#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>

Inheritance diagram for RemoteRobot:

Public Member Functions
VirtualRobot::RobotPtr	createLocalClone ()
	Clones the structure of this remote robot to a local instance. More...

Eigen::Matrix4f	getGlobalPose () const override

std::string	getName () const override

VirtualRobot::RobotNodePtr	getRobotNode (const std::string &robotNodeName) const override

void	getRobotNodes (std::vector< VirtualRobot::RobotNodePtr > &storeNodes, bool clearVector=true) const override

VirtualRobot::RobotNodeSetPtr	getRobotNodeSet (const std::string &nodeSetName) const override

void	getRobotNodeSets (std::vector< VirtualRobot::RobotNodeSetPtr > &storeNodeSet) const override

VirtualRobot::RobotNodePtr	getRootNode () const override

float	getScaling ()

SharedRobotInterfacePrx	getSharedRobot () const
	Use this method to share the robot instance over Ice. More...

bool	hasRobotNode (const std::string &robotNodeName) const override

bool	hasRobotNode (VirtualRobot::RobotNodePtr) const override

bool	hasRobotNodeSet (const std::string &name) const override

	RemoteRobot (SharedRobotInterfacePrx robot)

	~RemoteRobot () override

Static Public Member Functions
static VirtualRobot::RobotPtr	createLocalClone (RobotStateComponentInterfacePrx robotStatePrx, const std::string &filename=std::string(), const Ice::StringSeq packages=Ice::StringSeq(), VirtualRobot::RobotIO::RobotDescription loadMode=VirtualRobot::RobotIO::eFull)

static VirtualRobot::RobotPtr	createLocalClone (SharedRobotInterfacePrx sharedRobotPrx, std::string filename=std::string(), float scaling=1.0f, const Ice::StringSeq packages=Ice::StringSeq(), VirtualRobot::RobotIO::RobotDescription loadMode=VirtualRobot::RobotIO::eFull)

static VirtualRobot::RobotPtr	createLocalCloneFromFile (RobotStateComponentInterfacePrx robotStatePrx, VirtualRobot::RobotIO::RobotDescription loadMode=VirtualRobot::RobotIO::eFull)
	This is a convenience function for createLocalClone, which automatically gets the filename from the RobotStateComponent, loads robot from the file and syncs it once. More...

static bool	synchronizeLocalClone (VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx)

static bool	synchronizeLocalClone (VirtualRobot::RobotPtr robot, SharedRobotInterfacePrx sharedRobotPrx)

static bool	synchronizeLocalCloneToState (VirtualRobot::RobotPtr robot, RobotStateConfig const &state)

static bool	synchronizeLocalCloneToTimestamp (VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx, Ice::Long timestamp)
	Synchronizes a local robot to a robot state at timestamp. More...

Protected Member Functions
VirtualRobot::RobotNodePtr	createLocalNode (SharedRobotNodeInterfacePrx remoteNode, std::vector< VirtualRobot::RobotNodePtr > &allNodes, std::map< VirtualRobot::RobotNodePtr, std::vector< std::string >> &childrenMap, VirtualRobot::RobotPtr robo)

void	deregisterRobotNode (VirtualRobot::RobotNodePtr node) override
	Not implemented yet. More...

void	deregisterRobotNodeSet (VirtualRobot::RobotNodeSetPtr nodeSet) override
	Not implemented yet. More...

VirtualRobot::EndEffectorPtr	getEndEffector (const std::string &endEffectorName) const override
	Not implemented yet. More...

void	getEndEffectors (std::vector< VirtualRobot::EndEffectorPtr > &storeEEF) const override
	Not implemented yet. More...

bool	hasEndEffector (const std::string &endEffectorName) const override
	Not implemented yet. More...

void	registerEndEffector (VirtualRobot::EndEffectorPtr endEffector) override
	Not implemented yet. More...

void	registerRobotNode (VirtualRobot::RobotNodePtr node) override
	Not implemented yet. More...

void	registerRobotNodeSet (VirtualRobot::RobotNodeSetPtr nodeSet) override
	Not implemented yet. More...

void	setGlobalPose (const Eigen::Matrix4f &globalPose, bool applyValues=true) override
	Sets the global pose of the robot. More...

void	setRootNode (VirtualRobot::RobotNodePtr node) override
	Not implemented yet. More...

Static Protected Member Functions
static VirtualRobot::RobotNodePtr	createRemoteRobotNode (SharedRobotNodeInterfacePrx, VirtualRobot::RobotPtr)

Protected Attributes
std::map< std::string, VirtualRobot::RobotNodePtr >	_cachedNodes

SharedRobotInterfacePrx	_robot

VirtualRobot::RobotNodePtr	_root

Static Protected Attributes
static std::recursive_mutex	m

Detailed Description

Mimics the behaviour of the VirtualRobot::Robot class while redirecting everything to an Ice proxy.

For a description of the members please refer to the Simox documentation (VirtualRobot::Robot). Note that not the complete interface has been made available yet. These functions are marked as protected.

Definition at line 144 of file RemoteRobot.h.

Constructor & Destructor Documentation

◆ RemoteRobot()

RemoteRobot ( SharedRobotInterfacePrx robot )

Definition at line 63 of file RemoteRobot.cpp.

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◆ ~RemoteRobot()

~RemoteRobot ( )

override

Definition at line 68 of file RemoteRobot.cpp.

Member Function Documentation

◆ createLocalClone() [1/3]

VirtualRobot::RobotPtr createLocalClone ( )

Clones the structure of this remote robot to a local instance.

Definition at line 381 of file RemoteRobot.cpp.

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◆ createLocalClone() [2/3]

VirtualRobot::RobotPtr createLocalClone	(	RobotStateComponentInterfacePrx	robotStatePrx,
		const std::string &	filename = `std::string()`,
		const Ice::StringSeq	packages = `Ice::StringSeq()`,
		VirtualRobot::RobotIO::RobotDescription	loadMode = `VirtualRobot::RobotIO::eFull`
	)

static

Creates a local robot that is synchronized once but not updated any more. You can use the synchronizeLocalClone method to update the joint values. Note that only the kinematic structure is cloned, but the visualization files, collision models, end effectors, etc are not copied. This means you can use this model for kinematic computations (e.g. coordinate transformations) but not for advanced features like collision detection. In order to get a fully featured robot model you can pass a filename to VirtualRobot::Robot, but then you need to make sure that the loaded model is identical to the model of the remote robot (otherwise errors will occur). In the packages parameter you can pass in ArmarX packages, in which the robot file model might be in. The loadMode specifies in which mode the model should be loaded. Refer to simox for more information (only matters if filename was passed in).

See also: createLocalCloneFromFile(), synchronizeLocalClone()

Definition at line 422 of file RemoteRobot.cpp.

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◆ createLocalClone() [3/3]

RobotPtr createLocalClone	(	SharedRobotInterfacePrx	sharedRobotPrx,
		std::string	filename = `std::string()`,
		float	scaling = `1.0f`,
		const Ice::StringSeq	packages = `Ice::StringSeq()`,
		VirtualRobot::RobotIO::RobotDescription	loadMode = `VirtualRobot::RobotIO::eFull`
	)

static

Definition at line 435 of file RemoteRobot.cpp.

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◆ createLocalCloneFromFile()

RobotPtr createLocalCloneFromFile	(	RobotStateComponentInterfacePrx	robotStatePrx,
		VirtualRobot::RobotIO::RobotDescription	loadMode = `VirtualRobot::RobotIO::eFull`
	)

static

This is a convenience function for createLocalClone, which automatically gets the filename from the RobotStateComponent, loads robot from the file and syncs it once.

Parameters

robotStatePrx	Proxy to the RobotStateComponent
loadMode	The loadMode specifies in which mode the model should be loaded. Refer to simox for more information.

Returns: new robot clone

See also: createLocalClone(), synchronizeLocalClone()

Definition at line 512 of file RemoteRobot.cpp.

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◆ createLocalNode()

VirtualRobot::RobotNodePtr createLocalNode	(	SharedRobotNodeInterfacePrx	remoteNode,
		std::vector< VirtualRobot::RobotNodePtr > &	allNodes,
		std::map< VirtualRobot::RobotNodePtr, std::vector< std::string >> &	childrenMap,
		VirtualRobot::RobotPtr	robo
	)

protected

Definition at line 218 of file RemoteRobot.cpp.

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◆ createRemoteRobotNode()

RobotNodePtr createRemoteRobotNode	(	SharedRobotNodeInterfacePrx	node,
		VirtualRobot::RobotPtr	robot
	)

staticprotected

Definition at line 43 of file RemoteRobotNode.cpp.

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◆ deregisterRobotNode()

void deregisterRobotNode ( VirtualRobot::RobotNodePtr node )

overrideprotected

Not implemented yet.

Definition at line 640 of file RemoteRobot.cpp.

◆ deregisterRobotNodeSet()

void deregisterRobotNodeSet ( VirtualRobot::RobotNodeSetPtr nodeSet )

overrideprotected

Not implemented yet.

Definition at line 650 of file RemoteRobot.cpp.

◆ getEndEffector()

EndEffectorPtr getEndEffector ( const std::string & endEffectorName ) const

overrideprotected

Not implemented yet.

Definition at line 619 of file RemoteRobot.cpp.

◆ getEndEffectors()

void getEndEffectors ( std::vector< VirtualRobot::EndEffectorPtr > & storeEEF ) const

overrideprotected

Not implemented yet.

Definition at line 625 of file RemoteRobot.cpp.

◆ getGlobalPose()

Matrix4f getGlobalPose ( ) const

override

Returns: Global pose of the robot

Definition at line 193 of file RemoteRobot.cpp.

◆ getName()

std::string getName ( ) const

override

Definition at line 212 of file RemoteRobot.cpp.

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◆ getRobotNode()

RobotNodePtr getRobotNode ( const std::string & robotNodeName ) const

override

Definition at line 133 of file RemoteRobot.cpp.

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◆ getRobotNodes()

void getRobotNodes	(	std::vector< VirtualRobot::RobotNodePtr > &	storeNodes,
		bool	clearVector = `true`
	)		const

override

Definition at line 152 of file RemoteRobot.cpp.

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◆ getRobotNodeSet()

RobotNodeSetPtr getRobotNodeSet ( const std::string & nodeSetName ) const

override

Definition at line 173 of file RemoteRobot.cpp.

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◆ getRobotNodeSets()

void getRobotNodeSets ( std::vector< VirtualRobot::RobotNodeSetPtr > & storeNodeSet ) const

override

Definition at line 182 of file RemoteRobot.cpp.

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◆ getRootNode()

RobotNodePtr getRootNode ( ) const

override

Definition at line 85 of file RemoteRobot.cpp.

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◆ getScaling()

float getScaling ( )

Definition at line 200 of file RemoteRobot.cpp.

◆ getSharedRobot()

SharedRobotInterfacePrx getSharedRobot ( ) const

Use this method to share the robot instance over Ice.

Definition at line 206 of file RemoteRobot.cpp.

◆ hasEndEffector()

bool hasEndEffector ( const std::string & endEffectorName ) const

overrideprotected

Not implemented yet.

Definition at line 613 of file RemoteRobot.cpp.

◆ hasRobotNode() [1/2]

bool hasRobotNode ( const std::string & robotNodeName ) const

override

Definition at line 96 of file RemoteRobot.cpp.

◆ hasRobotNode() [2/2]

bool hasRobotNode ( VirtualRobot::RobotNodePtr ) const

override

◆ hasRobotNodeSet()

bool hasRobotNodeSet ( const std::string & name ) const

override

Definition at line 167 of file RemoteRobot.cpp.

◆ registerEndEffector()

void registerEndEffector ( VirtualRobot::EndEffectorPtr endEffector )

overrideprotected

Not implemented yet.

Definition at line 655 of file RemoteRobot.cpp.

◆ registerRobotNode()

void registerRobotNode ( VirtualRobot::RobotNodePtr node )

overrideprotected

Not implemented yet.

Definition at line 635 of file RemoteRobot.cpp.

◆ registerRobotNodeSet()

void registerRobotNodeSet ( VirtualRobot::RobotNodeSetPtr nodeSet )

overrideprotected

Not implemented yet.

Definition at line 645 of file RemoteRobot.cpp.

◆ setGlobalPose()

void setGlobalPose	(	const Eigen::Matrix4f &	globalPose,
		bool	applyValues = `true`
	)

overrideprotected

Sets the global pose of the robot.

Parameters

globalPose	new global pose
applyValues	No effect. Will be always applied.

Definition at line 660 of file RemoteRobot.cpp.

◆ setRootNode()

void setRootNode ( VirtualRobot::RobotNodePtr node )

overrideprotected

Not implemented yet.

Definition at line 630 of file RemoteRobot.cpp.

◆ synchronizeLocalClone() [1/2]

bool synchronizeLocalClone	(	VirtualRobot::RobotPtr	robot,
		RobotStateComponentInterfacePrx	robotStatePrx
	)

static

Use this method to synchronize (i.e. copy the joint values) from the remote robot to the local clone. The local clone must have the identical structure as the remote robot model, otherwise an error will be reported. This is the fastest way to get update a local robot.

Definition at line 522 of file RemoteRobot.cpp.

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◆ synchronizeLocalClone() [2/2]

bool synchronizeLocalClone	(	VirtualRobot::RobotPtr	robot,
		SharedRobotInterfacePrx	sharedRobotPrx
	)

static

Definition at line 529 of file RemoteRobot.cpp.

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◆ synchronizeLocalCloneToState()

bool synchronizeLocalCloneToState	(	VirtualRobot::RobotPtr	robot,
		RobotStateConfig const &	state
	)

static

Definition at line 579 of file RemoteRobot.cpp.

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◆ synchronizeLocalCloneToTimestamp()

bool synchronizeLocalCloneToTimestamp	(	VirtualRobot::RobotPtr	robot,
		RobotStateComponentInterfacePrx	robotStatePrx,
		Ice::Long	timestamp
	)

static

Synchronizes a local robot to a robot state at timestamp.

Parameters

robot	Local robot that should be updated
robotStatePrx	Proxy to the RobotStateComponent
timestamp	Timestamp to which the local robot should be sychronized. Must be in range of the state history of the RobotStateComponent.

Returns: True if successfully synced.

Definition at line 566 of file RemoteRobot.cpp.

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Member Data Documentation

◆ _cachedNodes

std::map<std::string, VirtualRobot::RobotNodePtr> _cachedNodes

mutableprotected

Definition at line 282 of file RemoteRobot.h.

◆ _robot

SharedRobotInterfacePrx _robot

protected

Definition at line 281 of file RemoteRobot.h.

◆ _root

VirtualRobot::RobotNodePtr _root

mutableprotected

Definition at line 283 of file RemoteRobot.h.

◆ m

std::recursive_mutex m

staticprotected

Definition at line 285 of file RemoteRobot.h.

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

RobotAPI/libraries/core/remoterobot/RemoteRobot.h
RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RemoteRobot()

◆ ~RemoteRobot()

Member Function Documentation

◆ createLocalClone() [1/3]

◆ createLocalClone() [2/3]

◆ createLocalClone() [3/3]

◆ createLocalCloneFromFile()

◆ createLocalNode()

◆ createRemoteRobotNode()

◆ deregisterRobotNode()

◆ deregisterRobotNodeSet()

◆ getEndEffector()

◆ getEndEffectors()

◆ getGlobalPose()

◆ getName()

◆ getRobotNode()

◆ getRobotNodes()

◆ getRobotNodeSet()

◆ getRobotNodeSets()

◆ getRootNode()

◆ getScaling()

◆ getSharedRobot()

◆ hasEndEffector()

◆ hasRobotNode() [1/2]

◆ hasRobotNode() [2/2]

◆ hasRobotNodeSet()

◆ registerEndEffector()

◆ registerRobotNode()

◆ registerRobotNodeSet()

◆ setGlobalPose()

◆ setRootNode()

◆ synchronizeLocalClone() [1/2]

◆ synchronizeLocalClone() [2/2]

◆ synchronizeLocalCloneToState()

◆ synchronizeLocalCloneToTimestamp()

Member Data Documentation

◆ _cachedNodes

◆ _robot

◆ _root

◆ m