#include <armarx/navigation/server/execution/PlatformControllerExecutor.h>

Inheritance diagram for PlatformControllerExecutor:

Classes
struct	Properties

Public Types
using	ControllerComponentPlugin = armarx::control::client::ComponentPlugin

Public Types inherited from ExecutorInterface
enum class	ControllerType { GlobalTrajectory , LocalTrajectory , None }

Public Member Functions
bool	consumeEmergencyStopRelease () override
	Whether the emergency stop has been released since this was last asked.

void	ensureIsActive (ControllerType controllerType) override

void	execute (const core::GlobalTrajectory &trajectory, bool activateController=false) override

void	execute (const core::LocalTrajectory &trajectory, bool activateController=false) override

	PlatformControllerExecutor (ControllerComponentPlugin &controllerComponentPlugin, const Properties &properties, const EmergencyStopInterface *emergencyStop=nullptr)

void	start (ControllerType controllerType) override

void	stop () override

void	updateVelocityFactor (float velocityFactor) override

void	updateVelocityLimits (const core::TwistLimits &limits) override

	~PlatformControllerExecutor () override

Public Member Functions inherited from ExecutorInterface
virtual	~ExecutorInterface ()=default

Detailed Description

The PlatformUnitExecutor class.

TODO: Should be renamed to whatever the new unit will be called which takes Mat4f as input instead of X/Y/Yaw, so that we have a generic interface.

Definition at line 29 of file PlatformControllerExecutor.h.

Member Typedef Documentation

◆ ControllerComponentPlugin

using ControllerComponentPlugin = armarx::control::client::ComponentPlugin

Definition at line 33 of file PlatformControllerExecutor.h.

Constructor & Destructor Documentation

◆ PlatformControllerExecutor()

PlatformControllerExecutor	(	ControllerComponentPlugin &	controllerComponentPlugin,
		const Properties &	properties,
		const EmergencyStopInterface *	emergencyStop = nullptr )

Parameters

emergencyStop Consulted before re-activating a controller. nullptr means this deployment has no emergency-stop source, which is not the same as one that has gone silent: absent proceeds, broken refuses.

Definition at line 26 of file PlatformControllerExecutor.cpp.

◆ ~PlatformControllerExecutor()

~PlatformControllerExecutor ( )

overridedefault

Member Function Documentation

◆ consumeEmergencyStopRelease()

bool consumeEmergencyStopRelease ( )

overridevirtual

Whether the emergency stop has been released since this was last asked.

Reports the edge once and clears it. The caller must re-anchor its plan at the robot's current pose before the controller is activated again: the robot stands still where the old profile assigns cruise speed, so resuming on the old trajectory steps the command from zero and the device ramp answers at its own maximum.

Defaults to false for executors with no emergency-stop source.

Reimplemented from ExecutorInterface.

Definition at line 286 of file PlatformControllerExecutor.cpp.

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