#include <RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.h>

Inheritance diagram for WorkerNode:

Public Types
using	ConfigType = VectorXf

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

Public Member Functions
void	abort (const ::Ice::Current &=Ice::emptyCurrent) override

void	applyUpdates ()

std::string	getDefaultName () const override
	Retrieve default name of component.

Update	getUpdate (Ice::Long updateId, const Ice::Current &=Ice::emptyCurrent) const override

void	ice_postUnmarshal () override

void	onConnectComponent () override
	Pure virtual hook for the subclass.

void	onExitComponent () override
	Hook for subclass.

void	onInitComponent () override
	Pure virtual hook for the subclass.

void	setWorkerNodes (const WorkerNodeBasePrxList &workers, const Ice::Current &=Ice::emptyCurrent) override

void	updateTree (const Update &u, const Ice::Current &=Ice::emptyCurrent) override

	~WorkerNode () override
	dtor.

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)

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 ()

Protected Member Functions
NodeId	addNode (const ConfigType &cfg, const NodeId &parent, bool addToPrimaryTree)

NodeId	addNodeToPrimaryTree (const ConfigType &cfg, const NodeId &parent)

NodeId	addNodeToSecondaryTree (const ConfigType &cfg, const NodeId &parent)

std::size_t	getDimensionality ()

Tree &	getPrimaryTree ()

Ice::Byte	getPrimaryTreeId () const

Update	getRemoteUpdate (Ice::Long workerNodeId, Ice::Long updateSubId)

Tree &	getSecondaryTree ()

Ice::Byte	getSecondaryTreeId () const

void	prepareNextUpdate ()

void	sendUpdate ()

void	swapTrees ()

	WorkerNode ()=default
	Only used when transmitting through ice.

void	workerTask ()
	The worker task.

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	onDisconnectComponent ()
	Hook for 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

Protected Attributes
std::atomic_bool	abortRequest

std::atomic_bool	doApplyUpdates {false}

bool	fromStartIsPrimaryTree = true

TreeUpdateInterfacePrx	globalWorkers

std::deque< Update >	localUpdates

std::unique_ptr< CuboidSampler >	sampler

Tree	treeFromGoal

Tree	treeFromStart

std::mutex	updateMutex

Updater	updater

WorkerNodeBasePrxList	workers

std::thread	workerThread

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Friends
class	GenericFactory< WorkerNodeBase, WorkerNode >

Additional Inherited Members
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)

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

Member Typedef Documentation

◆ ConfigType

using ConfigType = VectorXf

Constructor & Destructor Documentation

◆ ~WorkerNode()

~WorkerNode ( )

inlineoverride

dtor.

Asserts the worker thread was joined.

◆ WorkerNode()

WorkerNode ( )

protecteddefault

Only used when transmitting through ice.

Member Function Documentation

◆ abort()

void abort ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

◆ addNode()

NodeId addNode	(	const ConfigType &	cfg,
		const NodeId &	parent,
		bool	addToPrimaryTree )

protected

◆ addNodeToPrimaryTree()

NodeId addNodeToPrimaryTree	(	const ConfigType &	cfg,
		const NodeId &	parent )

inlineprotected

◆ addNodeToSecondaryTree()

NodeId addNodeToSecondaryTree	(	const ConfigType &	cfg,
		const NodeId &	parent )

inlineprotected

◆ applyUpdates()

void applyUpdates ( )

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

◆ getDimensionality()

std::size_t getDimensionality ( )

inlineprotected

Returns: The cspace's dimensionality

◆ getPrimaryTree()

Tree & getPrimaryTree ( )

inlineprotected

◆ getPrimaryTreeId()

Ice::Byte getPrimaryTreeId ( ) const

inlineprotected

◆ getRemoteUpdate()

Update getRemoteUpdate	(	Ice::Long	workerNodeId,
		Ice::Long	updateSubId )

inlineprotected

Parameters

workerNodeId	The update's worker id.
updateSubId	The update's sub id.

Returns: The update fetched from the manager node.

◆ getSecondaryTree()

Tree & getSecondaryTree ( )

inlineprotected

◆ getSecondaryTreeId()

Ice::Byte getSecondaryTreeId ( ) const

inlineprotected

◆ getUpdate()

Update getUpdate	(	Ice::Long	updateId,
		const Ice::Current &	= Ice::emptyCurrent ) const

override

◆ ice_postUnmarshal()

void ice_postUnmarshal ( )

override

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

◆ prepareNextUpdate()

void prepareNextUpdate ( )

protected

◆ sendUpdate()

void sendUpdate ( )

protected

◆ setWorkerNodes()

void setWorkerNodes	(	const WorkerNodeBasePrxList &	workers,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ swapTrees()

void swapTrees ( )

inlineprotected

◆ updateTree()

void updateTree	(	const Update &	u,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ workerTask()

void workerTask ( )

protected

The worker task.

It performs all planning.

Friends And Related Symbol Documentation

◆ GenericFactory< WorkerNodeBase, WorkerNode >

friend class GenericFactory< WorkerNodeBase, WorkerNode >

friend

Member Data Documentation

◆ abortRequest

std::atomic_bool abortRequest

protected

◆ doApplyUpdates

std::atomic_bool doApplyUpdates {false}

protected

◆ fromStartIsPrimaryTree

bool fromStartIsPrimaryTree = true

protected

◆ globalWorkers

TreeUpdateInterfacePrx globalWorkers

protected

◆ localUpdates

std::deque<Update> localUpdates

protected

◆ sampler

std::unique_ptr<CuboidSampler> sampler

protected

◆ treeFromGoal

Tree treeFromGoal

protected

◆ treeFromStart

Tree treeFromStart

protected

◆ updateMutex

std::mutex updateMutex

mutableprotected

◆ updater

Updater updater

protected

◆ workers

WorkerNodeBasePrxList workers

protected

◆ workerThread

std::thread workerThread

protected

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

RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.h
RobotComponents/components/MotionPlanning/Tasks/RRTConnect/WorkerNode.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Typedef Documentation

◆ ConfigType

Constructor & Destructor Documentation

◆ ~WorkerNode()

◆ WorkerNode()

Member Function Documentation

◆ abort()

◆ addNode()

◆ addNodeToPrimaryTree()

◆ addNodeToSecondaryTree()

◆ applyUpdates()

◆ getDefaultName()

◆ getDimensionality()

◆ getPrimaryTree()

◆ getPrimaryTreeId()

◆ getRemoteUpdate()

◆ getSecondaryTree()

◆ getSecondaryTreeId()

◆ getUpdate()

◆ ice_postUnmarshal()

◆ onConnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ prepareNextUpdate()

◆ sendUpdate()

◆ setWorkerNodes()

◆ swapTrees()

◆ updateTree()

◆ workerTask()

Friends And Related Symbol Documentation

◆ GenericFactory< WorkerNodeBase, WorkerNode >

Member Data Documentation

◆ abortRequest

◆ doApplyUpdates

◆ fromStartIsPrimaryTree

◆ globalWorkers

◆ localUpdates

◆ sampler

◆ treeFromGoal

◆ treeFromStart

◆ updateMutex

◆ updater

◆ workers

◆ workerThread