#include <RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h>

Inheritance diagram for RobotReader:

Public Types
enum class	Hand { Left , Right }

using	JointTrajectory = std::map<armem::Time, RobotState::JointMap>

Public Member Functions
virtual void	connect (armem::client::MemoryNameSystem &memoryNameSystem)

Robot	get (const description::RobotDescription &description, const armem::Time &timestamp) const override

std::optional< Robot >	get (const std::string &name, const armem::Time &timestamp) const override

std::optional< description::RobotDescription >	queryDescription (const std::string &name, const armem::Time &timestamp) const

std::vector< description::RobotDescription >	queryDescriptions (const armem::Time &timestamp) const

std::optional< std::map< Hand, proprioception::ForceTorque > >	queryForceTorque (const std::string &robotName, const armem::Time &timestamp) const

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, proprioception::ForceTorque > > >	queryForceTorques (const std::string &robotName, const armem::Time &start, const armem::Time &end) const

std::optional< RobotState::Pose >	queryGlobalPose (const std::string &robotName, const armem::Time &timestamp) const

std::optional< RobotState >	queryJointState (const std::string &robotName, const armem::Time &timestamp) const

JointTrajectory	queryJointStates (const std::string &robotName, const armem::Time &begin, const armem::Time &end) const

std::optional<::armarx::armem::robot_state::localization::Transform >	queryOdometryPose (const std::string &robotName, const armem::Time &timestamp) const
	retrieve the robot's pose in the odometry frame.

std::optional< PlatformState >	queryPlatformState (const std::string &robotName, const armem::Time &timestamp) const

std::optional< armarx::armem::arondto::Proprioception >	queryProprioception (const std::string &robotName, const armem::Time &timestamp, armem::Time *referencedTime=nullptr) const

std::optional< RobotState >	queryState (const std::string &robotName, const armem::Time &timestamp) const

std::optional< std::map< Hand, exteroception::ToF > >	queryToF (const std::string &robotName, const armem::Time &timestamp) const

virtual void	registerPropertyDefinitions (::armarx::PropertyDefinitionsPtr &def)

	RobotReader ()=default

	RobotReader (const RobotReader &)

void	setSleepAfterSyncFailure (const armem::Duration &duration)

void	setSyncTimeout (const armem::Duration &duration)

bool	synchronize (Robot &obj, const armem::Time &timestamp) const override

virtual	~RobotReader ()=default

Public Member Functions inherited from ReaderInterface
virtual	~ReaderInterface ()=default

Protected Member Functions
std::optional< armarx::armem::arondto::Proprioception >	getRobotProprioception (const armarx::armem::wm::Memory &memory, const std::string &name, armem::Time *referencedTime=nullptr) const
	Protected rather than private so the referenced-time reporting can be exercised directly: everything above it needs a live memory server, this needs only a wm::Memory.

Protected Attributes
armem::Duration	sleepAfterFailure = armem::Duration::MicroSeconds(0)

armem::Duration	syncTimeout = armem::Duration::MicroSeconds(0)

Detailed Description

The RobotReader class.

The purpose of this class is to synchronize the armem data structure armem::Robot with the memory.

Definition at line 43 of file RobotReader.h.

Member Typedef Documentation

◆ JointTrajectory

using JointTrajectory = std::map<armem::Time, RobotState::JointMap>

Definition at line 83 of file RobotReader.h.

Member Enumeration Documentation

◆ Hand

enum class Hand

strong

Enumerator
Left
Right

Definition at line 98 of file RobotReader.h.

Constructor & Destructor Documentation

◆ RobotReader() [1/2]

RobotReader ( )

default

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◆ RobotReader() [2/2]

RobotReader ( const RobotReader & r )

Definition at line 34 of file RobotReader.cpp.

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◆ ~RobotReader()

virtual ~RobotReader ( )

virtualdefault

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Member Function Documentation

◆ connect()

void connect ( armem::client::MemoryNameSystem & memoryNameSystem )

virtual

Definition at line 49 of file RobotReader.cpp.

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◆ get() [1/2]

Robot get	(	const description::RobotDescription &	description,
		const armem::Time &	timestamp ) const

overridevirtual

Implements ReaderInterface.

Definition at line 85 of file RobotReader.cpp.

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◆ get() [2/2]

std::optional< Robot > get	(	const std::string &	name,
		const armem::Time &	timestamp ) const

overridevirtual

Implements ReaderInterface.

Definition at line 71 of file RobotReader.cpp.

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◆ getRobotProprioception()

std::optional< armarx::armem::arondto::Proprioception > getRobotProprioception	(	const armarx::armem::wm::Memory &	memory,
		const std::string &	name,
		armem::Time *	referencedTime = nullptr ) const

protected

Protected rather than private so the referenced-time reporting can be exercised directly: everything above it needs a live memory server, this needs only a wm::Memory.

Definition at line 466 of file RobotReader.cpp.

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◆ queryDescription()

std::optional< description::RobotDescription > queryDescription	(	const std::string &	name,
		const armem::Time &	timestamp ) const

Definition at line 146 of file RobotReader.cpp.

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◆ queryDescriptions()

std::vector< description::RobotDescription > queryDescriptions ( const armem::Time & timestamp ) const

Definition at line 866 of file RobotReader.cpp.

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◆ queryForceTorque()

std::optional< std::map< RobotReader::Hand, proprioception::ForceTorque > > queryForceTorque	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 541 of file RobotReader.cpp.

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◆ queryForceTorques()

std::optional< std::map< RobotReader::Hand, std::map< armem::Time, proprioception::ForceTorque > > > queryForceTorques	(	const std::string &	robotName,
		const armem::Time &	start,
		const armem::Time &	end ) const

Definition at line 582 of file RobotReader.cpp.

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◆ queryGlobalPose()

std::optional< RobotState::Pose > queryGlobalPose	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 389 of file RobotReader.cpp.

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◆ queryJointState()

std::optional< RobotState > queryJointState	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 213 of file RobotReader.cpp.

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◆ queryJointStates()

RobotReader::JointTrajectory queryJointStates	(	const std::string &	robotName,
		const armem::Time &	begin,
		const armem::Time &	end ) const

Definition at line 306 of file RobotReader.cpp.

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◆ queryOdometryPose()

std::optional<::armarx::armem::robot_state::localization::Transform > queryOdometryPose	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

retrieve the robot's pose in the odometry frame.

This pose is an integration of the robot's platform velocity and undergoes a significant drift.

Parameters

description
timestamp

Returns: std::optional<RobotState::Pose>

Definition at line 237 of file RobotReader.cpp.

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◆ queryPlatformState()

std::optional< PlatformState > queryPlatformState	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 347 of file RobotReader.cpp.

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◆ queryProprioception()

std::optional< armarx::armem::arondto::Proprioception > queryProprioception	(	const std::string &	robotName,
		const armem::Time &	timestamp,
		armem::Time *	referencedTime = nullptr ) const

Parameters

referencedTime If given, receives the time the returned data actually refers to, which is the newest snapshot at or before timestamp and may be arbitrarily older than it.

Definition at line 263 of file RobotReader.cpp.

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◆ queryState()

std::optional< RobotState > queryState	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 194 of file RobotReader.cpp.

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◆ queryToF()

std::optional< std::map< RobotReader::Hand, exteroception::ToF > > queryToF	(	const std::string &	robotName,
		const armem::Time &	timestamp ) const

Definition at line 624 of file RobotReader.cpp.

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◆ registerPropertyDefinitions()

void registerPropertyDefinitions ( ::armarx::PropertyDefinitionsPtr & def )

virtual

Definition at line 43 of file RobotReader.cpp.

◆ setSleepAfterSyncFailure()

void setSleepAfterSyncFailure ( const armem::Duration & duration )

Definition at line 105 of file RobotReader.cpp.

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◆ setSyncTimeout()

void setSyncTimeout ( const armem::Duration & duration )

Definition at line 99 of file RobotReader.cpp.

◆ synchronize()

bool synchronize	(	Robot &	obj,
		const armem::Time &	timestamp ) const

nodiscardoverridevirtual

Implements ReaderInterface.

Definition at line 112 of file RobotReader.cpp.

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Member Data Documentation

◆ sleepAfterFailure

armem::Duration sleepAfterFailure = armem::Duration::MicroSeconds(0)

protected

Definition at line 132 of file RobotReader.h.

◆ syncTimeout

armem::Duration syncTimeout = armem::Duration::MicroSeconds(0)

protected

Definition at line 131 of file RobotReader.h.

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

RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ JointTrajectory

Member Enumeration Documentation

◆ Hand

Constructor & Destructor Documentation

◆ RobotReader() [1/2]

◆ RobotReader() [2/2]

◆ ~RobotReader()

Member Function Documentation

◆ connect()

◆ get() [1/2]

◆ get() [2/2]

◆ getRobotProprioception()

◆ queryDescription()

◆ queryDescriptions()

◆ queryForceTorque()

◆ queryForceTorques()

◆ queryGlobalPose()

◆ queryJointState()

◆ queryJointStates()

◆ queryOdometryPose()

◆ queryPlatformState()

◆ queryProprioception()

◆ queryState()

◆ queryToF()

◆ registerPropertyDefinitions()

◆ setSleepAfterSyncFailure()

◆ setSyncTimeout()

◆ synchronize()

Member Data Documentation

◆ sleepAfterFailure

◆ syncTimeout