GazeTargetReachedMonitor Class Reference

Debounces the low-level controller's residual into a "reached" / "unreachable" decision for one control target. More...

#include <armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h>

Public Member Functions
	GazeTargetReachedMonitor (const GazeReachedConfig &config)
bool	reached () const
	Whether the gaze has been on target for filterCount consecutive reports.
void	reset (std::int64_t targetId)
	Begin monitoring another control target, dropping all state about the previous one.
gaze_controller::GazeResidual	residual () const
	Residual of the most recently accepted report.
bool	unreachable () const
	Whether the target was outside the joint range for filterCount consecutive reports.
void	update (std::int64_t targetId, const gaze_controller::GazeResidual &residual, bool targetReachable)
	Feed one controller report. Reports about a different target are ignored.

Detailed Description

Debounces the low-level controller's residual into a "reached" / "unreachable" decision for one control target.

Modelled on navigation's server::GoalReachedMonitor. Reports about any other target are dropped, so a residual still in flight for a superseded target can never be misattributed.

Thread-safe: reports arrive on the topic listener thread, the verdict is read by the scheduler's periodic task.

Constructor & Destructor Documentation

GazeTargetReachedMonitor()

GazeTargetReachedMonitor ( const GazeReachedConfig & config )

explicit

Member Function Documentation

reached()

bool reached

(

)

const

Whether the gaze has been on target for filterCount consecutive reports.

reset()

void reset

(

std::int64_t

targetId

)

Begin monitoring another control target, dropping all state about the previous one.

residual()

gaze_controller::GazeResidual residual

(

)

const

Residual of the most recently accepted report.

unreachable()

bool unreachable

(

)

const

Whether the target was outside the joint range for filterCount consecutive reports.

Informational only; the target stays scheduled.

update()

void update	(	std::int64_t	targetId,
		const gaze_controller::GazeResidual &	residual,
		bool	targetReachable )

Feed one controller report. Reports about a different target are ignored.

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

• armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h
• armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.cpp