#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.

Member Typedef Documentation

◆ JointTrajectory

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

Member Enumeration Documentation

◆ Hand

enum class Hand

strong

Enumerator
Left
Right

Constructor & Destructor Documentation

◆ RobotReader() [1/2]

RobotReader ( )

default

◆ RobotReader() [2/2]

RobotReader ( const RobotReader & r )

◆ ~RobotReader()

virtual ~RobotReader ( )

virtualdefault

Member Function Documentation

◆ connect()

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

virtual

◆ get() [1/2]

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

overridevirtual

Implements ReaderInterface.

◆ get() [2/2]

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

overridevirtual

Implements ReaderInterface.

◆ 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.

◆ queryDescription()

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

◆ queryDescriptions()

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

◆ queryForceTorque()

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

◆ 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

◆ queryGlobalPose()

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

◆ queryJointState()

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

◆ queryJointStates()

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

◆ 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>

◆ queryPlatformState()

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

◆ 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.

◆ queryState()

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

◆ queryToF()

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

◆ registerPropertyDefinitions()

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

virtual

◆ setSleepAfterSyncFailure()

void setSleepAfterSyncFailure ( const armem::Duration & duration )

◆ setSyncTimeout()

void setSyncTimeout ( const armem::Duration & duration )

◆ synchronize()

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

nodiscardoverridevirtual

Implements ReaderInterface.

Member Data Documentation

◆ sleepAfterFailure

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

protected

◆ syncTimeout

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

protected

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