#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>

Inheritance diagram for VirtualRobotReader:

Public Member Functions
VirtualRobot::RobotPtr	getRobot (const std::string &name, const armem::Time &timestamp=armem::Time::Invalid(), const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure)

VirtualRobot::RobotPtr	getRobotWaiting (const std::string &name, const armem::Time &timestamp=armem::Time::Invalid(), const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure)
	In contrast to getRobot(), this function will retry to query the robot until it exists.

VirtualRobot::RobotPtr	getSynchronizedRobot (const std::string &name, const armem::Time &timestamp, const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure, bool blocking=true)

VirtualRobot::RobotPtr	getSynchronizedRobot (const std::string &name, const VirtualRobot::RobotIO::RobotDescription &loadMode=VirtualRobot::RobotIO::RobotDescription::eStructure, bool blocking=true)

	RobotReader ()=default

	RobotReader (const RobotReader &)

bool	synchronizeRobot (VirtualRobot::Robot &robot, const armem::Time &timestamp) const
	Synchronize both the platform pose and the joint values of a virtual robot, according to the robot state memory for a certain point in time.

bool	synchronizeRobotJoints (VirtualRobot::Robot &robot, const armem::Time &timestamp) const
	Synchronize only the joint values of a virtual robot, according to the robot state memory for a certain point in time.

bool	synchronizeRobotPose (VirtualRobot::Robot &robot, const armem::Time &timestamp) const
	Synchronize only the platform pose of a virtual robot, according to the robot state memory for a certain point in time.

	~VirtualRobotReader () override=default

Public Member Functions inherited from RobotReader
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

Additional Inherited Members
Public Types inherited from RobotReader
enum class	Hand { Left , Right }

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

Protected Member Functions inherited from RobotReader
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 inherited from RobotReader
armem::Duration	sleepAfterFailure = armem::Duration::MicroSeconds(0)

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

Detailed Description

The VirtualRobotReader class.

robot The aim of this class is to obtain a virtual robot instance and synchronize it with the data (joint positions, global pose, ...) stored in the working memory.

This is only a lightweight wrapper of

See also: RobotReader for Simox's VirtualRobot class.

Constructor & Destructor Documentation

◆ ~VirtualRobotReader()

~VirtualRobotReader ( )

overridedefault

Member Function Documentation

◆ getRobot()

VirtualRobot::RobotPtr getRobot	(	const std::string &	name,
		const armem::Time &	timestamp = armem::Time::Invalid(),
		const VirtualRobot::RobotIO::RobotDescription &	loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure )

nodiscard

◆ getRobotWaiting()

VirtualRobot::RobotPtr getRobotWaiting	(	const std::string &	name,
		const armem::Time &	timestamp = armem::Time::Invalid(),
		const VirtualRobot::RobotIO::RobotDescription &	loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure )

nodiscard

In contrast to getRobot(), this function will retry to query the robot until it exists.

◆ getSynchronizedRobot() [1/2]

VirtualRobot::RobotPtr getSynchronizedRobot	(	const std::string &	name,
		const armem::Time &	timestamp,
		const VirtualRobot::RobotIO::RobotDescription &	loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure,
		bool	blocking = true )

nodiscard

◆ getSynchronizedRobot() [2/2]

VirtualRobot::RobotPtr getSynchronizedRobot	(	const std::string &	name,
		const VirtualRobot::RobotIO::RobotDescription &	loadMode = VirtualRobot::RobotIO::RobotDescription::eStructure,
		bool	blocking = true )

nodiscard

◆ RobotReader() [1/2]

RobotReader ( )

default

◆ RobotReader() [2/2]

RobotReader ( const RobotReader & r )

◆ synchronizeRobot()

bool synchronizeRobot	(	VirtualRobot::Robot &	robot,
		const armem::Time &	timestamp ) const

nodiscard

Synchronize both the platform pose and the joint values of a virtual robot, according to the robot state memory for a certain point in time.

Parameters

robot	whose platform pose and joint values to modify
timestamp	for which to synchronize

Returns: whether synchronization was successful

◆ synchronizeRobotJoints()

bool synchronizeRobotJoints	(	VirtualRobot::Robot &	robot,
		const armem::Time &	timestamp ) const

nodiscard

Synchronize only the joint values of a virtual robot, according to the robot state memory for a certain point in time.

Parameters

robot	whose joint values to modify
timestamp	for which to synchronize

Returns: whether synchronization was successful

◆ synchronizeRobotPose()

bool synchronizeRobotPose	(	VirtualRobot::Robot &	robot,
		const armem::Time &	timestamp ) const

nodiscard

Synchronize only the platform pose of a virtual robot, according to the robot state memory for a certain point in time.

Parameters

robot	whose platform pose and joint values to modify
timestamp	for which to synchronize

Returns: whether synchronization was successful

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

RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~VirtualRobotReader()

Member Function Documentation

◆ getRobot()

◆ getRobotWaiting()

◆ getSynchronizedRobot() [1/2]

◆ getSynchronizedRobot() [2/2]

◆ RobotReader() [1/2]

◆ RobotReader() [2/2]

◆ synchronizeRobot()

◆ synchronizeRobotJoints()

◆ synchronizeRobotPose()