PlatformControllerExecutor Class Reference

The PlatformUnitExecutor class. More...

#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	dumpDiagnostics () override
	Bumps the controller's diagnostics.dumpRequest, which makes it write the episode it has recorded and begin the next one.
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.

Member Typedef Documentation

ControllerComponentPlugin

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

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.

~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.

dumpDiagnostics()

void dumpDiagnostics ( )

overridevirtual

Bumps the controller's diagnostics.dumpRequest, which makes it write the episode it has recorded and begin the next one.

Does nothing if diagnostics are off.

Reimplemented from ExecutorInterface.

ensureIsActive()

void ensureIsActive ( ControllerType controllerType )

overridevirtual

Implements ExecutorInterface.

execute() [1/2]

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

overridevirtual

Implements ExecutorInterface.

execute() [2/2]

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

overridevirtual

Implements ExecutorInterface.

start()

void start ( ControllerType controllerType )

overridevirtual

Implements ExecutorInterface.

stop()

void stop ( )

overridevirtual

Implements ExecutorInterface.

updateVelocityFactor()

void updateVelocityFactor ( float velocityFactor )

overridevirtual

Implements ExecutorInterface.

updateVelocityLimits()

void updateVelocityLimits ( const core::TwistLimits & limits )

overridevirtual

Implements ExecutorInterface.

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

• armarx/navigation/server/execution/PlatformControllerExecutor.h
• armarx/navigation/server/execution/PlatformControllerExecutor.cpp