GraspObjectSkill Class Reference
#include <RobotSkillTemplates/libraries/skill_grasp_object/grasp/GraspObject.h>
Inheritance diagram for GraspObjectSkill:Public Types | |
| using | ArgType = grasp_object::arondto::GraspObjectAcceptedType |
| Public Types inherited from SimpleSpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType > | |
| using | Base |
| using | ParamType |
| Public Types inherited from SpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType > | |
| using | Base |
| using | ParamType |
| Public Types inherited from Skill | |
| using | CallbackT |
Public Member Functions | |
| GraspObjectSkill (armem::client::MemoryNameSystem &mns, armarx::viz::Client &arviz, TwoArmGraspControlSkillContext &) | |
| Public Member Functions inherited from TwoArmGraspControlSkill | |
| TwoArmGraspControlSkill (armem::client::MemoryNameSystem &mns, armarx::viz::Client &arviz, const std::string &layerName, TwoArmGraspControlSkillContext &c) | |
| Public Member Functions inherited from ArvizSkillMixin | |
| ArvizSkillMixin (const armarx::viz::Client &a, const std::string &ln) | |
| void | clearLayer () |
| Public Member Functions inherited from MNSSkillMixin | |
| MNSSkillMixin (const armem::client::MemoryNameSystem &m) | |
| Public Member Functions inherited from SpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType > | |
| grasp_object::arondto::GraspObjectAcceptedType | getParameters () const |
| Overwrite getter for parameters. Shadow Skill::getParameters() | |
| void | setParameters (const grasp_object::arondto::GraspObjectAcceptedType &d) |
| Skill ()=delete | |
| We completely remove the default constructor! | |
| Skill ()=delete | |
| We completely remove the default constructor! | |
| Skill (const SkillDescription &) | |
| Constructor of a skill for inheritance. Every skill must have a skill description. | |
| Skill (const SkillDescription &) | |
| Constructor of a skill for inheritance. Every skill must have a skill description. | |
| virtual | ~SpecializedSkill ()=default |
| Public Member Functions inherited from Skill | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId) |
| Call a subskill with the given ID and its default parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, const aron::data::DictPtr ¶meters) |
| Call a subskill with the given ID and parameters. | |
| template<class ParameterT> | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, const ParameterT ¶meters) |
| Call a subskill with the given ID and parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr ¶meters)> parametersFunction) |
| Call a subskill with parameters based on the default parameters. | |
| template<class ParameterT> | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Call a subskill with parameters based on the default parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const skills::SkillProxy &proxy) |
| Call a subskill with default parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr ¶meters) |
| Call a subskill with given parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (SkillProxyPtr proxy) |
| Call a subskill with default parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (SkillProxyPtr proxy, const aron::data::DictPtr ¶meters) |
| Call a subskill with given parameters and block until the subskill terminates. | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId) |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, const aron::data::DictPtr ¶meters) |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, std::function< void(aron::data::DictPtr &)> parametersFunction) |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Similar to callSubskill but non-blocking. | |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillProxy &proxy, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Similar to callSubskill but non-blocking. | |
| SkillExecutionHandlePtr | callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr ¶meters) |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy) |
| Similar to callSubskill but non-blocking. | |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy, const aron::data::DictPtr ¶meters) |
| Similar to callSubskill but non-blocking. | |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy, std::function< void(ParameterT ¶meters)> parametersFunction) |
| ExitResult | exitSkill () |
| Exit method of a skill. | |
| aron::data::DictPtr | getParameters () const |
| Get the parameters of a skill that have been set so far. | |
| SkillDescription | getSkillDescription () const |
| Get the description of a skill. | |
| SkillID | getSkillId () const |
| Get the id of the skill. | |
| InitResult | initSkill () |
| Initialization of a skill. | |
| void | installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb) |
| install a condition which is frequently checked from the conditionCheckingThread | |
| MainResult | mainOfSkill () |
| Main method of a skill. | |
| void | notifySkillToStop () |
| Notify the skill from extern to stop. | |
| PrepareResult | prepareSkill () |
| Prepare a skill once. | |
| void | setCallback (const CallbackT &callback) |
| void | setExecutorName (const std::string &executorName) |
| void | setManager (const manager::dti::SkillManagerInterfacePrx &manager) |
| void | setParameters (const aron::data::DictPtr &d) |
| Hard set the parameters, ignoring everything that has been set or merged before. | |
| void | setProviderId (const skills::ProviderID &pid) |
| Set the provider id of the description of the skill. | |
| bool | shouldSkillTerminate () const override |
| Returns whether the skill should terminate as soon as possible. | |
| Skill ()=delete | |
| We completely remove the default constructor! | |
| Skill (const SkillDescription &) | |
| Constructor of a skill for inheritance. Every skill must have a skill description. | |
| void | updateParameters (const aron::data::DictPtr &d) |
| Merge parameters to the local parameters of the skill. | |
| void | updateSubSkillStatus (const skills::SkillStatusUpdate &statusUpdate) |
| void | waitFor (const armarx::Duration &duration, const armarx::Duration &interval=armarx::Duration::MilliSeconds(200)) const override |
| ~Skill () override | |
| Virtual destructor of a skill. | |
| Public Member Functions inherited from Logging | |
| SpamFilterDataPtr | deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const |
| disables the logging for the current line for the given amount of seconds. | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
Static Public Attributes | |
| static SkillDescription | Description |
Additional Inherited Members | |
| Static Public Member Functions inherited from SpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType > | |
| static armarx::aron::type::ObjectPtr | GetAcceptedType () |
| returns the accepted type of the skill | |
| Public Attributes inherited from ArvizSkillMixin | |
| armarx::viz::Client | arviz |
| std::string | layerName |
| Public Attributes inherited from MNSSkillMixin | |
| armem::client::MemoryNameSystem | mns |
| Public Attributes inherited from Skill | |
| armarx::core::time::DateTime | exited = armarx::core::time::DateTime::Invalid() |
| armarx::core::time::DateTime | started = armarx::core::time::DateTime::Now() |
| Protected Member Functions inherited from SimpleSpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType > | |
| Skill::ExitResult | exit () final |
| Override this method with the actual implementation. | |
| virtual Skill::ExitResult | exit (const SpecializedExitInput &) |
| Skill::InitResult | init () final |
| Override this method with the actual implementation. | |
| virtual Skill::InitResult | init (const SpecializedInitInput &) |
| Skill::MainResult | main () final |
| Override this method with the actual implementation. | |
| Protected Member Functions inherited from Skill | |
| void | notifyTimeoutReached () |
| virtual void | onStopRequested () |
| virtual void | onTimeoutReached () |
| Override these methods if you want to do something special when notification comes. | |
| virtual PrepareResult | prepare () |
| Override this method with the actual implementation. | |
| void | throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="") const |
| void | throwIfSkillShouldTerminate (const std::string &abortedMessage="") const |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
| Protected Member Functions inherited from SkillExecutorInterface | |
| virtual | ~SkillExecutorInterface ()=default |
| Static Protected Member Functions inherited from Skill | |
| static MainResult | MakeAbortedResult (aron::data::DictPtr data=nullptr) |
| static MainResult | MakeFailedResult (aron::data::DictPtr data=nullptr) |
| static MainResult | MakeSucceededResult (aron::data::DictPtr data=nullptr) |
| Protected Attributes inherited from TwoArmGraspControlSkill | |
| TwoArmGraspControlSkillContext & | context |
| Protected Attributes inherited from Skill | |
| CallbackT | callback = CallbackT() |
| std::atomic_bool | constructing = true |
| SkillDescription | description |
| std::string | executorName = "" |
| std::atomic_bool | exiting = false |
| std::atomic_bool | finished = false |
| std::atomic_bool | initializing = false |
| manager::dti::SkillManagerInterfacePrx | manager = nullptr |
| armarx::aron::data::DictPtr | parameters = nullptr |
| std::mutex | parametersMutex |
| std::atomic_bool | preparing = false |
| std::atomic_bool | running = false |
| std::atomic_bool | stopped = false |
| armem::task_outcome::TaskOutcome | taskOutcome_ |
| std::atomic_bool | timeoutReached = false |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
Definition at line 26 of file GraspObject.h.
Member Typedef Documentation
◆ ArgType
| using ArgType = grasp_object::arondto::GraspObjectAcceptedType |
Definition at line 31 of file GraspObject.h.
Constructor & Destructor Documentation
◆ GraspObjectSkill()
| GraspObjectSkill | ( | armem::client::MemoryNameSystem & | mns, |
| armarx::viz::Client & | arviz, | ||
| TwoArmGraspControlSkillContext & | context ) |
Member Data Documentation
◆ Description
|
static |
Initial value:
=
SkillDescription{"GraspObject",
"Grasp an object",
{},
armarx::Duration::MilliSeconds(120000),
grasp_object::arondto::GraspObjectAcceptedType::ToAronType(),
GetDefaultParameterization().toAron()}
static Duration MilliSeconds(std::int64_t milliSeconds)
Constructs a duration in milliseconds.
Definition Duration.cpp:48
Definition at line 41 of file GraspObject.h.
The documentation for this class was generated from the following files:
- RobotSkillTemplates/libraries/skill_grasp_object/grasp/GraspObject.h
- RobotSkillTemplates/libraries/skill_grasp_object/grasp/GraspObject.cpp
