#include <armarx/control/njoint_controller/task_space/ColAvoid.h>

Inheritance diagram for NJointTSColController< NJointControllerType, CollisionCtrlCfg >:

Public Types
using	ArmPtr = typename NJointControllerType::ArmPtr

using	ConfigPtrT = typename NJointControllerType::ConfigPtrT

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Public Member Functions
void	deleteCollisionObjects (const Ice::Current &iceCurrent) override

::armarx::aron::data::dto::DictPtr	getCollisionAvoidanceConfig (const Ice::Current &iceCurrent=Ice::emptyCurrent) override

::armarx::aron::data::dto::DictPtr	getConfig (const Ice::Current &iceCurrent) override

	NJointTSColController (const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &robot)

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override

void	updateCollisionAvoidanceConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
	NJointController interface for collision avoidance.

void	updateCollisionObjects (const std::string &primitiveSourceName, const ::armarx::aron::data::dto::DictPtr &dtoScene, const Ice::Current &iceCurrent=Ice::emptyCurrent) override

void	updateConfig (const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent) override

Public Member Functions inherited from TSColAvoidCtrlInterface
void	deleteCollisionObjects ()

void	updateCollisionObjects (string primitiveSourceName, armarx::aron::data::dto::Dict scene)

Public Member Functions inherited from TSCtrlInterface
void	calibrateFTSensor ()
	ft sensor

void	disableCoordinator ()

void	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)

Ice::DoubleSeq	getCurrentTCPPose (string nodeSetName)

armarx::aron::data::dto::Dict	getRTStatus ()

Ice::FloatSeq	getTCPVel (string rns)

bool	isSafeForceTorque (string nodeSetName)

bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)

void	useCoordinator (string type, armarx::aron::data::dto::Dict dto)

bool	wasNotSafeForceTorque (string nodeSetName)

Public Member Functions inherited from CollisionAvoidanceControllerInterface
armarx::aron::data::dto::Dict	getCollisionAvoidanceConfig ()

void	updateCollisionAvoidanceConfig (armarx::aron::data::dto::Dict config)

Public Member Functions inherited from ArVizComponentPluginUser
	ArVizComponentPluginUser ()

armarx::viz::Client	createArVizClient ()

armarx::viz::Client &	getArvizClient ()

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)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

virtual std::string	getDefaultName () const =0
	Retrieve default name of component.

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

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.

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`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

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).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

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.

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.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

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.

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 Member Functions
static ConfigPtrT	GenerateConfigFromVariants (const StringVariantBaseMap &values)

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.

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
void	collectArviz (viz::StagedCommit &stage) const override

void	collLimbPublish (CollAvoidBase::NodeSetData &arm, const DebugObserverInterfacePrx &debugObs)

void	limbRT (ArmPtr &arm)

void	onPublish (const SensorAndControl &sc, const DebugDrawerInterfacePrx &drawer, const DebugObserverInterfacePrx &) override

void	rtPostDeactivateController () override

void	rtPreActivateController () override
	NJointControllerBase interface.

void	sendCollisionObjects ()

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.

virtual void	onConnectComponent ()=0
	Pure virtual hook for the subclass.

virtual void	onDisconnectComponent ()
	Hook for subclass.

virtual void	onExitComponent ()
	Hook for subclass.

virtual void	onInitComponent ()=0
	Pure virtual hook for the subclass.

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.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

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

Static Protected Member Functions
static void	AddArvizObjects (viz::Layer &layer, const std::vector< hpp::fcl::CollisionObject > &objects)

Protected Attributes
CollAvoidBasePtr	coll = nullptr

std::map< std::string, std::vector< hpp::fcl::CollisionObject > >	collisionObjects

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Attributes inherited from ArVizComponentPluginUser
armarx::viz::Client	arviz

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

template<typename NJointControllerType, typename CollisionCtrlCfg>
class armarx::control::njoint_controller::task_space::NJointTSColController< NJointControllerType, CollisionCtrlCfg >

Definition at line 43 of file ColAvoid.h.

Member Typedef Documentation

◆ ArmPtr

template<typename NJointControllerType, typename CollisionCtrlCfg>

using ArmPtr = typename NJointControllerType::ArmPtr

Definition at line 50 of file ColAvoid.h.

◆ ConfigPtrT

template<typename NJointControllerType, typename CollisionCtrlCfg>

using ConfigPtrT = typename NJointControllerType::ConfigPtrT

Definition at line 49 of file ColAvoid.h.

Constructor & Destructor Documentation

◆ NJointTSColController()

template<typename NJointControllerType, typename CollisionCtrlCfg>

NJointTSColController	(	const RobotUnitPtr &	robotUnit,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &	robot )

Definition at line 53 of file ColAvoid.cpp.

Member Function Documentation

◆ AddArvizObjects()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void AddArvizObjects	(	viz::Layer &	layer,
		const std::vector< hpp::fcl::CollisionObject > &	objects )

staticprotected

Definition at line 686 of file ColAvoid.cpp.

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◆ collectArviz()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void collectArviz ( viz::StagedCommit & stage ) const

overrideprotected

Definition at line 795 of file ColAvoid.cpp.

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◆ collLimbPublish()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void collLimbPublish	(	CollAvoidBase::NodeSetData &	arm,
		const DebugObserverInterfacePrx &	debugObs )

protected

Definition at line 322 of file ColAvoid.cpp.

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◆ deleteCollisionObjects()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void deleteCollisionObjects ( const Ice::Current & iceCurrent )

override

Definition at line 187 of file ColAvoid.cpp.

◆ GenerateConfigFromVariants()

template<typename NJointControllerType, typename CollisionCtrlCfg>

NJointTSColController< NJointControllerType, CollisionCtrlCfg >::ConfigPtrT GenerateConfigFromVariants ( const StringVariantBaseMap & values )

static

Definition at line 917 of file ColAvoid.cpp.

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◆ getCollisionAvoidanceConfig()

template<typename NJointControllerType, typename CollisionCtrlCfg>

armarx::aron::data::dto::DictPtr getCollisionAvoidanceConfig ( const Ice::Current & iceCurrent = Ice::emptyCurrent )

override

Definition at line 263 of file ColAvoid.cpp.

◆ getConfig()

template<typename NJointControllerType, typename CollisionCtrlCfg>

armarx::aron::data::dto::DictPtr getConfig ( const Ice::Current & iceCurrent )

override

Definition at line 289 of file ColAvoid.cpp.

◆ limbRT()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void limbRT ( ArmPtr & arm )

protected

Definition at line 77 of file ColAvoid.cpp.

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◆ onPublish()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void onPublish	(	const SensorAndControl &	sc,
		const DebugDrawerInterfacePrx &	drawer,
		const DebugObserverInterfacePrx &	debugObs )

overrideprotected

Reimplemented in TSMPController< NJointTSImpColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface >, and TSMPController< NJointTSVeloColController, TSMPColAvoidCtrlInterface >.

Definition at line 305 of file ColAvoid.cpp.

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◆ rtPostDeactivateController()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void rtPostDeactivateController ( )

overrideprotected

Definition at line 903 of file ColAvoid.cpp.

◆ rtPreActivateController()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void rtPreActivateController ( )

overrideprotected

NJointControllerBase interface.

Reimplemented in TSMPController< NJointTSImpColController, TSMPColAvoidCtrlInterface >, TSMPController< NJointTSMixImpVelColController, TSMPColAvoidCtrlInterface >, and TSMPController< NJointTSVeloColController, TSMPColAvoidCtrlInterface >.

Definition at line 888 of file ColAvoid.cpp.

◆ rtRun()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration )

override

Definition at line 122 of file ColAvoid.cpp.

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◆ sendCollisionObjects()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void sendCollisionObjects ( )

protected

Definition at line 166 of file ColAvoid.cpp.

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◆ updateCollisionAvoidanceConfig()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void updateCollisionAvoidanceConfig	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

NJointController interface for collision avoidance.

Definition at line 155 of file ColAvoid.cpp.

◆ updateCollisionObjects()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void updateCollisionObjects	(	const std::string &	primitiveSourceName,
		const ::armarx::aron::data::dto::DictPtr &	dtoScene,
		const Ice::Current &	iceCurrent = Ice::emptyCurrent )

override

Definition at line 195 of file ColAvoid.cpp.

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◆ updateConfig()

template<typename NJointControllerType, typename CollisionCtrlCfg>

void updateConfig	(	const ::armarx::aron::data::dto::DictPtr &	dto,
		const Ice::Current &	iceCurrent )

override

Definition at line 277 of file ColAvoid.cpp.

Member Data Documentation

◆ coll

template<typename NJointControllerType, typename CollisionCtrlCfg>

CollAvoidBasePtr coll = nullptr

protected

Definition at line 101 of file ColAvoid.h.

◆ collisionObjects

template<typename NJointControllerType, typename CollisionCtrlCfg>

std::map<std::string, std::vector<hpp::fcl::CollisionObject> > collisionObjects

protected

Definition at line 100 of file ColAvoid.h.

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

armarx/control/njoint_controller/task_space/ColAvoid.h
armarx/control/njoint_controller/task_space/ColAvoid.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ArmPtr

◆ ConfigPtrT

Constructor & Destructor Documentation

◆ NJointTSColController()

Member Function Documentation

◆ AddArvizObjects()

◆ collectArviz()

◆ collLimbPublish()

◆ deleteCollisionObjects()

◆ GenerateConfigFromVariants()

◆ getCollisionAvoidanceConfig()

◆ getConfig()

◆ limbRT()

◆ onPublish()

◆ rtPostDeactivateController()

◆ rtPreActivateController()

◆ rtRun()

◆ sendCollisionObjects()

◆ updateCollisionAvoidanceConfig()

◆ updateCollisionObjects()

◆ updateConfig()

Member Data Documentation

◆ coll

◆ collisionObjects