DSRTBimanualController Class Reference
Brief description of class DSRTBimanualController. More...
#include <armarx/control/ds_controller/DSRTBimanualController.h>
Inheritance diagram for DSRTBimanualController:Public Types | |
| using | ConfigPtrT = DSRTBimanualControllerConfigPtr |
| Public Types inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData > | |
| using | LockGuardType = std::lock_guard< std::recursive_mutex > |
| using | MutexType = std::recursive_mutex |
| Public Types inherited from NJointControllerBase | |
| using | ConfigPtrT = NJointControllerConfigPtr |
| using | GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices) |
| template<class ConfigPrtType > | |
| using | GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &) |
| Public Types inherited from ManagedIceObject | |
| using | PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >> |
Public Member Functions | |
| DSRTBimanualController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &) | |
| std::string | getClassName (const Ice::Current &) const |
| void | rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) |
| TODO make protected and use attorneys. More... | |
| void | setToDefaultTarget (const Ice::Current &) |
| Public Member Functions inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData > | |
| NJointControllerWithTripleBuffer (const DSRTBimanualControllerControlData &initialCommands=DSRTBimanualControllerControlData()) | |
| void | rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override |
| Public Member Functions inherited from NJointControllerBase | |
| void | activateController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override |
| void | deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | deactivateController (const Ice::Current &=Ice::emptyCurrent) final override |
| void | deleteController (const Ice::Current &=Ice::emptyCurrent) final override |
| const std::map< std::string, const JointController * > & | getControlDevicesUsedJointController () |
| const std::vector< char > & | getControlDeviceUsedBitmap () const |
| StringStringDictionary | getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override |
| const std::vector< std::size_t > & | getControlDeviceUsedIndices () const |
| NJointControllerDescription | getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override |
| NJointControllerDescriptionWithStatus | getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override |
| NJointControllerStatus | getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override |
| WidgetDescription::StringWidgetDictionary | getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override |
| std::string | getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override |
| bool | isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override |
| std::optional< std::vector< char > > | isNotInConflictWith (const NJointControllerBasePtr &other) const |
| std::optional< std::vector< char > > | isNotInConflictWith (const std::vector< char > &used) const |
| NJointControllerBase () | |
| ConstControlDevicePtr | peekControlDevice (const std::string &deviceName) const |
| Get a const ptr to the given ControlDevice. More... | |
| ConstSensorDevicePtr | peekSensorDevice (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice. More... | |
| const std::string & | rtGetClassName () const |
| Returns the class name. More... | |
| const std::vector< std::size_t > & | rtGetControlDeviceUsedIndices () const |
| Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More... | |
| bool | rtGetErrorState () const |
| Sets the error state to true. More... | |
| const std::string & | rtGetInstanceName () const |
| Returns the instance name. More... | |
| std::size_t | rtGetNumberOfUsedControlDevices () const |
| Returns the number of used ControlDevices. More... | |
| const VirtualRobot::RobotPtr & | rtGetRobot () |
| TODO make protected and use attorneys. More... | |
| const std::vector< VirtualRobot::RobotNodePtr > & | rtGetRobotNodes () |
| Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More... | |
| bool | rtUsesControlDevice (std::size_t deviceIndex) const |
| Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More... | |
| ControlTargetBase * | useControlTarget (const std::string &deviceName, const std::string &controlMode) |
| Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More... | |
| template<class T > | |
| T * | useControlTarget (const std::string &deviceName, const std::string &controlMode) |
| Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More... | |
| template<class T > | |
| const T * | useSensorValue (const std::string &deviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. More... | |
| const SensorValueBase * | useSensorValue (const std::string &sensorDeviceName) const |
| Get a const ptr to the given SensorDevice's SensorValue. More... | |
| const VirtualRobot::RobotPtr & | useSynchronizedRtRobot (bool updateCollisionModel=false) |
| Requests a VirtualRobot for use in rtRun *. More... | |
| ~NJointControllerBase () override | |
| Public Member Functions inherited from ManagedIceObject | |
| void | enableProfiler (bool enable) |
| setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More... | |
| std::string | generateSubObjectName (const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name. More... | |
| ArmarXManagerPtr | getArmarXManager () const |
| Returns the ArmarX manager used to add and remove components. More... | |
| ManagedIceObjectConnectivity | getConnectivity () const |
| Retrieve connectivity of the object (topcis as well as proxies) More... | |
| IceManagerPtr | getIceManager () const |
| Returns the IceManager. More... | |
| VariantBasePtr | getMetaInfo (const std::string &id) |
| StringVariantBaseMap | getMetaInfoMap () const |
| std::string | getName () const |
| Retrieve name of object. More... | |
| Ice::ObjectAdapterPtr | getObjectAdapter () const |
| Returns object's Ice adapter. More... | |
| ArmarXObjectSchedulerPtr | getObjectScheduler () const |
| PeriodicTaskPtr | getPeriodicTask (const std::string &name) |
| Profiler::ProfilerPtr | getProfiler () const |
| getProfiler returns an instance of armarx::Profiler More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args) |
| template<class ProxyType > | |
| ProxyType | getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Retrieves a proxy object. More... | |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args) |
| template<class ProxyTarg , class... Args> | |
| void | getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args) |
Assigns a proxy to proxy. More... | |
| Ice::ObjectPrx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| Returns the proxy of this object (optionally it waits for the proxy) More... | |
| template<class Prx > | |
| Prx | getProxy (long timeoutMs=0, bool waitForScheduler=true) const |
| template<class ProxyType > | |
| void | getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true) |
| Overload to allow using string literals as name (solve ambiguous overload). More... | |
| template<class Prx > | |
| void | getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const |
| int | getState () const |
| Retrieve current state of the ManagedIceObject. More... | |
| template<class TopicProxyType > | |
| TopicProxyType | getTopic (const std::string &name) |
| Returns a proxy of the specified topic. More... | |
| template<class TopicProxyType > | |
| void | getTopic (TopicProxyType &topicProxy, const std::string &name) |
Assigns a proxy of the specified topic to topicProxy. More... | |
| std::vector< std::string > | getUnresolvedDependencies () const |
| returns the names of all unresolved dependencies More... | |
| ManagedIceObject (ManagedIceObject const &other) | |
| void | offeringTopic (const std::string &name) |
| Registers a topic for retrival after initialization. More... | |
| void | preambleGetTopic (std::string const &name) |
| void | setMetaInfo (const std::string &id, const VariantBasePtr &value) |
| Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More... | |
| void | startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true) |
| bool | stopPeriodicTask (const std::string &name) |
| bool | unsubscribeFromTopic (const std::string &name) |
| Unsubscribe from a topic. More... | |
| bool | usingProxy (const std::string &name, const std::string &endpoints="") |
| Registers a proxy for retrieval after initialization and adds it to the dependency list. More... | |
| void | usingTopic (const std::string &name, bool orderedPublishing=false) |
| Registers a proxy for subscription after initialization. More... | |
| void | waitForObjectScheduler () |
| Waits until the ObjectScheduler could resolve all dependencies. More... | |
| void | waitForProxy (std::string const &name, bool addToDependencies) |
| 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. More... | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More... | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
| Public Member Functions inherited from DSBimanualControllerInterface | |
| void | setToDefaultTarget () |
Protected Member Functions | |
| void | controllerRun () |
| void | onDisconnectNJointController () |
| void | onInitNJointController () |
| void | onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| void | rtPostDeactivateController () |
| This function is called after the controller is deactivated. More... | |
| void | rtPreActivateController () |
| This function is called before the controller is activated. More... | |
| Protected Member Functions inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData > | |
| DSRTBimanualControllerControlData & | getWriterControlStruct () |
| void | reinitTripleBuffer (const DSRTBimanualControllerControlData &initial) |
| const DSRTBimanualControllerControlData & | rtGetControlStruct () const |
| bool | rtUpdateControlStruct () |
| void | setControlStruct (const DSRTBimanualControllerControlData &newStruct) |
| void | writeControlStruct () |
| Protected Member Functions inherited from NJointControllerBase | |
| std::string | getDefaultName () const override |
| ThreadPoolPtr | getThreadPool () const |
| void | onConnectComponent () final |
| virtual void | onConnectNJointController () |
| void | onDisconnectComponent () final |
| void | onExitComponent () final |
| virtual void | onExitNJointController () |
| void | onInitComponent () final |
| virtual void | onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| virtual void | onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) |
| void | rtSetErrorState () |
| Sets the error state to true. More... | |
| template<typename Task > | |
| void | runTask (const std::string &taskName, Task &&task) |
| Executes a given task in a separate thread from the Application ThreadPool. More... | |
| Protected Member Functions inherited from ManagedIceObject | |
| template<class PluginT , class... ParamsT> | |
| PluginT * | addPlugin (const std::string prefix="", ParamsT &&... params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params) |
| template<class PluginT , class... ParamsT> | |
| void | addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params) |
| Ice::CommunicatorPtr | getCommunicator () const |
| std::unique_ptr< ManagedIceObjectPlugin > & | getPluginPointer (std::type_info const &type, std::string const &prefix) |
| ManagedIceObject () | |
| Protected default constructor. More... | |
| virtual void | postOnConnectComponent () |
| virtual void | postOnDisconnectComponent () |
| virtual void | postOnExitComponent () |
| virtual void | postOnInitComponent () |
| virtual void | preOnConnectComponent () |
| virtual void | preOnDisconnectComponent () |
| virtual void | preOnExitComponent () |
| virtual void | preOnInitComponent () |
| bool | removeProxyDependency (const std::string &name) |
| This function removes the dependency of this object on the in parameter name specified object. More... | |
| void | setName (std::string name) |
| Override name of well-known object. More... | |
| void | terminate () |
| Initiates termination of this IceManagedObject. More... | |
| ~ManagedIceObject () override | |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. More... | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
Additional Inherited Members | |
| Static Public Member Functions inherited from NJointControllerBase | |
| template<class ItT > | |
| static std::optional< std::vector< char > > | AreNotInConflict (ItT first, ItT last) |
| Static Public Member Functions inherited from ManagedIceObject | |
| static std::string | generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName) |
| Generates a unique name for a sub object from a general name and unique name. More... | |
| static std::string | GetObjectStateAsString (int state) |
| Static Public Attributes inherited from NJointControllerBase | |
| static const NJointControllerBasePtr | NullPtr {nullptr} |
| Static Public Attributes inherited from ManagedIceObject | |
| static const ManagedIceObjectPtr | NullPtr |
| A nullptr to be used when a const ref to a nullptr is required. More... | |
| Protected Attributes inherited from NJointControllerWithTripleBuffer< DSRTBimanualControllerControlData > | |
| MutexType | controlDataMutex |
| Protected Attributes inherited from NJointControllerBase | |
| std::map< std::string, std::shared_ptr< ThreadPool::Handle > > | threadHandles |
| std::mutex | threadHandlesMutex |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
Brief description of class DSRTBimanualController.
Detailed description of class DSRTBimanualController.
Definition at line 309 of file DSRTBimanualController.h.
Member Typedef Documentation
◆ ConfigPtrT
| using ConfigPtrT = DSRTBimanualControllerConfigPtr |
Definition at line 325 of file DSRTBimanualController.h.
Constructor & Destructor Documentation
◆ DSRTBimanualController()
| DSRTBimanualController | ( | const RobotUnitPtr & | robotUnit, |
| const NJointControllerConfigPtr & | config, | ||
| const VirtualRobot::RobotPtr & | |||
| ) |
Member Function Documentation
◆ controllerRun()
|
protected |
Definition at line 352 of file DSRTBimanualController.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ getClassName()
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inlinevirtual |
Implements NJointControllerBase.
Definition at line 332 of file DSRTBimanualController.h.
◆ onDisconnectNJointController()
|
protectedvirtual |
Reimplemented from NJointControllerBase.
Definition at line 63 of file DSRTBimanualController.cpp.
Here is the call graph for this function:◆ onInitNJointController()
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protectedvirtual |
Reimplemented from NJointControllerBase.
Definition at line 38 of file DSRTBimanualController.cpp.
Here is the call graph for this function:◆ onPublish()
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protectedvirtual |
Reimplemented from NJointControllerBase.
Definition at line 956 of file DSRTBimanualController.cpp.
Here is the call graph for this function:◆ rtPostDeactivateController()
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protectedvirtual |
This function is called after the controller is deactivated.
You can use it to deactivate a thread (DO NOT JOIN THREADS!) e.g. via a std::atomic_bool.
Reimplemented from NJointControllerBase.
Definition at line 1105 of file DSRTBimanualController.cpp.
◆ rtPreActivateController()
|
protectedvirtual |
This function is called before the controller is activated.
You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.
Reimplemented from NJointControllerBase.
Definition at line 1058 of file DSRTBimanualController.cpp.
Here is the call graph for this function:◆ rtRun()
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virtual |
TODO make protected and use attorneys.
measure the sesor data, update robot status for the other threads
writing into the bufffer for other threads
computing the task-specific forces
computing coupling forces
computing for contact forces
compose the task space desired force and torque
calculate the null-spcae torque
filtering the desried joint torques, clip to torque limit and then set target to actuator.
Implements SynchronousNJointController.
Definition at line 540 of file DSRTBimanualController.cpp.
Here is the call graph for this function:◆ setToDefaultTarget()
| void setToDefaultTarget | ( | const Ice::Current & | ) |
Definition at line 1110 of file DSRTBimanualController.cpp.
The documentation for this class was generated from the following files:
- armarx/control/ds_controller/DSRTBimanualController.h
- armarx/control/ds_controller/DSRTBimanualController.cpp
