This file is part of ArmarX. More...

Namespaces
namespace	client

namespace	detail

namespace	error

namespace	grasp_control

namespace	gui

namespace	hand_control

namespace	joint_control

namespace	mixin

namespace	platform_control

namespace	provider

namespace	segment

namespace	tcp_control

namespace	util

namespace	visual_search

namespace	visual_servo_tcp_control

Classes
struct	ActiveOrTerminatedSkillStatusUpdate

class	BringObjectSkill

struct	BringObjectSkillContext

class	BringObjectToLocation

class	CloseHand

class	CloseHandAndAttachSkill

class	ExecuteGraspSkill

class	ExecutePutdownSkill

class	FluxioCompositeExecutor

struct	FluxioControlNode

struct	FluxioEdge

class	FluxioExecutor

class	FluxioLoopExecutor

class	FluxioMergerExecutor

class	FluxioNativeExecutor

struct	FluxioNode

struct	FluxioParameter

struct	FluxioParameterNode

struct	FluxioProfile

struct	FluxioProvider

struct	FluxioSkill

struct	FluxioSkillStatusUpdate

struct	FluxioSubSkillNode

struct	FluxioTypeIdentificator

struct	FluxioValue

class	GraspObjectSkill

class	HandControlSkill

struct	HandControlSkillContext

class	JointControlSkill

struct	JointControlSkillContext

class	LambdaSkill

class	MoveJointsToPosition

class	MoveJointsWithVelocity

class	MovePlatformAfterGraspSkill

class	MovePlatformAfterPutdownSkill

class	MovePlatformForGraspSkill

class	MovePlatformForPutdownSkill

class	MovePlatformToLandmark

class	MovePlatformToPose

class	MoveTCPToTargetPose

class	OpenHand

class	OpenHandAndDetachSkill

class	PeriodicSkill

class	PeriodicSpecializedSkill

class	PlatformControlSkill

struct	PlatformControlSkillContext

class	ProviderID

class	ProviderInfo

class	PutdownObjectSkill

class	Result

class	SimplePeriodicSkill

class	SimplePeriodicSpecializedSkill

class	SimpleSkill

class	SimpleSpecializedSkill

class	Skill
	Base class for skills. More...

class	SkillBlueprint

class	SkillContext

struct	SkillDescription

class	SkillExecutionHandle
	RAII handle for a running subskill. More...

struct	SkillExecutionID

class	SkillExecutionRequest

class	SkillID

class	SkillProxy

struct	SkillStatusUpdate

struct	SkillStatusUpdateBase

class	SkillUpdateManager

class	SkillWithContextBlueprint

class	SpecializedSkill

class	SpecializedSkillProxy

class	TCPControlSkill

struct	TCPControlSkillContext

struct	TerminatedSkillStatusUpdate

class	TwoArmGraspControlSkill

struct	TwoArmGraspControlSkillContext

class	VisualSearchSkill

struct	VisualSearchSkillContext

class	VisualServoTCPControlSkill

struct	VisualServoTCPControlSkillContext

class	VisualServoToTargetPose

class	WhatCanYouSeeNow

Typedefs
using	SkillExecutionHandlePtr = std::unique_ptr<class SkillExecutionHandle>

using	SkillProxyPtr = std::unique_ptr<class SkillProxy>

Enumerations
enum class	ActiveOrTerminatedSkillStatus { Running = 2 , Failed = 4 , Succeeded = 8 , Aborted = 16 }

enum class	FluxioControlNodeType { UNKNOWN = 0 , SPLITTER = 1 , AND_MERGER = 2 , LOOP_REPEAT = 3 , LOOP_RETRY = 4 }

enum class	FluxioNodeType { UNKNOWN = 0 , PARAMETER = 1 , CONTROL = 2 , SUBSKILL = 3 }

enum class	SkillStatus { Constructing = 0 , Initializing = 1 , Preparing = 2 , Running = 4 , Failed = 8 , Succeeded = 16 , Aborted = 32 }

enum class	TerminatedSkillStatus { Failed = 4 , Succeeded = 8 , Aborted = 16 }

Functions
FluxioControlNodeType	FluxioControlNodeTypeFromString (const std::string &type)

std::optional< std::string >	FluxioControlNodeTypeToString (const FluxioControlNodeType &type)

FluxioNodeType	FluxioNodeTypeFromString (const std::string &type)

std::optional< std::string >	FluxioNodeTypeToString (const FluxioNodeType &type)

void	fromIce (const core::dto::Execution::Status &status, ActiveOrTerminatedSkillStatus &ret)

void	fromIce (const core::dto::Execution::Status &status, SkillStatus &ret)

void	fromIce (const core::dto::Execution::Status &status, TerminatedSkillStatus &ret)

ActiveOrTerminatedSkillStatus	mergeSkillStatuseses (const ActiveOrTerminatedSkillStatus t1, const ActiveOrTerminatedSkillStatus t2)

TerminatedSkillStatus	mergeSkillStatuseses (const TerminatedSkillStatus t1, const TerminatedSkillStatus t2)

std::ostream &	operator<< (std::ostream &os, const ProviderID &id)

std::ostream &	operator<< (std::ostream &os, const SkillID &id)

bool	skillExecutionFailed (const std::optional< armarx::skills::TerminatedSkillStatusUpdate > &update)

bool	skillExecutionSucceeded (const std::optional< armarx::skills::TerminatedSkillStatusUpdate > &update)

void	toIce (core::dto::Execution::Status &ret, const ActiveOrTerminatedSkillStatus &status)

void	toIce (core::dto::Execution::Status &ret, const SkillStatus &status)

void	toIce (core::dto::Execution::Status &ret, const TerminatedSkillStatus &status)

SkillStatus	toSkillStatus (const ActiveOrTerminatedSkillStatus &d)

SkillStatus	toSkillStatus (const TerminatedSkillStatus &d)

Variables
const SkillDescription	BringObjectToHumanDesc

SkillUpdateManager	GlobalSkillUpdateManager

const SkillDescription	GraspObjectSkillDesc

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: 2025

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

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: 2022

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

Typedef Documentation

◆ SkillExecutionHandlePtr

using SkillExecutionHandlePtr = std::unique_ptr<class SkillExecutionHandle>

Definition at line 35 of file Skill.h.

◆ SkillProxyPtr

using SkillProxyPtr = std::unique_ptr<class SkillProxy>

Definition at line 36 of file SkillExecutionHandle.h.

Enumeration Type Documentation

◆ ActiveOrTerminatedSkillStatus

enum class ActiveOrTerminatedSkillStatus

strong

Enumerator
Running
Failed
Succeeded
Aborted

Definition at line 28 of file SkillStatusUpdate.h.

◆ FluxioControlNodeType

enum class FluxioControlNodeType

strong

Enumerator
UNKNOWN
SPLITTER
AND_MERGER
LOOP_REPEAT
LOOP_RETRY

Definition at line 16 of file FluxioControlNode.h.

◆ FluxioNodeType

enum class FluxioNodeType

strong

Enumerator
UNKNOWN
PARAMETER
CONTROL
SUBSKILL

Definition at line 15 of file FluxioNode.h.

◆ SkillStatus

enum class SkillStatus

strong

Enumerator
Constructing
Initializing
Preparing
Running
Failed
Succeeded
Aborted

Definition at line 17 of file SkillStatusUpdate.h.

◆ TerminatedSkillStatus

enum class TerminatedSkillStatus

strong

Enumerator
Failed
Succeeded
Aborted

Definition at line 36 of file SkillStatusUpdate.h.

Function Documentation

◆ FluxioControlNodeTypeFromString()

FluxioControlNodeType FluxioControlNodeTypeFromString ( const std::string & type )

Definition at line 24 of file FluxioControlNode.cpp.

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◆ FluxioControlNodeTypeToString()

std::optional< std::string > FluxioControlNodeTypeToString ( const FluxioControlNodeType & type )

Definition at line 50 of file FluxioControlNode.cpp.

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◆ FluxioNodeTypeFromString()

FluxioNodeType FluxioNodeTypeFromString ( const std::string & type )

Definition at line 19 of file FluxioNode.cpp.

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◆ FluxioNodeTypeToString()

std::optional< std::string > FluxioNodeTypeToString ( const FluxioNodeType & type )

Definition at line 41 of file FluxioNode.cpp.

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◆ fromIce() [1/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		ActiveOrTerminatedSkillStatus &	ret )

Definition at line 188 of file SkillStatusUpdate.cpp.

◆ fromIce() [2/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		SkillStatus &	ret )

Definition at line 217 of file SkillStatusUpdate.cpp.

◆ fromIce() [3/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		TerminatedSkillStatus &	ret )

Definition at line 160 of file SkillStatusUpdate.cpp.

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◆ mergeSkillStatuseses() [1/2]

ActiveOrTerminatedSkillStatus mergeSkillStatuseses	(	const ActiveOrTerminatedSkillStatus	t1,
		const ActiveOrTerminatedSkillStatus	t2 )

Definition at line 63 of file SkillStatusUpdate.cpp.

◆ mergeSkillStatuseses() [2/2]

TerminatedSkillStatus mergeSkillStatuseses	(	const TerminatedSkillStatus	t1,
		const TerminatedSkillStatus	t2 )

Definition at line 44 of file SkillStatusUpdate.cpp.

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◆ operator<<() [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const ProviderID &	id )

Definition at line 62 of file ProviderID.cpp.

◆ operator<<() [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const SkillID &	id )

Definition at line 100 of file SkillID.cpp.

◆ skillExecutionFailed()

bool skillExecutionFailed ( const std::optional< armarx::skills::TerminatedSkillStatusUpdate > & update )

Definition at line 510 of file SkillStatusUpdate.cpp.

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◆ skillExecutionSucceeded()

bool skillExecutionSucceeded ( const std::optional< armarx::skills::TerminatedSkillStatusUpdate > & update )

Definition at line 529 of file SkillStatusUpdate.cpp.

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◆ toIce() [1/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const ActiveOrTerminatedSkillStatus &	status )

Definition at line 121 of file SkillStatusUpdate.cpp.

◆ toIce() [2/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const SkillStatus &	status )

Definition at line 91 of file SkillStatusUpdate.cpp.

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◆ toIce() [3/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const TerminatedSkillStatus &	status )

Definition at line 142 of file SkillStatusUpdate.cpp.

◆ toSkillStatus() [1/2]

SkillStatus toSkillStatus ( const ActiveOrTerminatedSkillStatus & d )

Definition at line 12 of file SkillStatusUpdate.cpp.

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◆ toSkillStatus() [2/2]

SkillStatus toSkillStatus ( const TerminatedSkillStatus & d )

Definition at line 29 of file SkillStatusUpdate.cpp.

Variable Documentation

◆ BringObjectToHumanDesc

const SkillDescription BringObjectToHumanDesc

Initial value:

=
        SkillDescription{"BringObjectToHuman",
                         "Bring an object to some location",
                         {},
                         armarx::Duration::MilliSeconds(60000),
                         nullptr}

Definition at line 5 of file BringObjectToHuman.cpp.

◆ GlobalSkillUpdateManager

SkillUpdateManager GlobalSkillUpdateManager

Definition at line 31 of file SkillProxy.cpp.

◆ GraspObjectSkillDesc

const SkillDescription GraspObjectSkillDesc

Initial value:

=
        SkillDescription{"SimpleHandoverObject",
                         "Handover an object already in hand of robot",
                         {},
                         armarx::Duration::MilliSeconds(40000),
                         grasp_object::arondto::PutdownObjectAcceptedType::ToAronType()}

Definition at line 11 of file SimpleHandoverObject.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ SkillExecutionHandlePtr

◆ SkillProxyPtr

Enumeration Type Documentation

◆ ActiveOrTerminatedSkillStatus

◆ FluxioControlNodeType

◆ FluxioNodeType

◆ SkillStatus

◆ TerminatedSkillStatus

Function Documentation

◆ FluxioControlNodeTypeFromString()

◆ FluxioControlNodeTypeToString()

◆ FluxioNodeTypeFromString()

◆ FluxioNodeTypeToString()

◆ fromIce() [1/3]

◆ fromIce() [2/3]

◆ fromIce() [3/3]

◆ mergeSkillStatuseses() [1/2]

◆ mergeSkillStatuseses() [2/2]

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ skillExecutionFailed()

◆ skillExecutionSucceeded()

◆ toIce() [1/3]

◆ toIce() [2/3]

◆ toIce() [3/3]

◆ toSkillStatus() [1/2]

◆ toSkillStatus() [2/2]

Variable Documentation

◆ BringObjectToHumanDesc

◆ GlobalSkillUpdateManager

◆ GraspObjectSkillDesc