Periodic report of the low-level gaze controller's residual. More...

defined in <armarx/view_selection/gaze_controller/ice/GazeControllerStatus.ice>

struct GazeControllerStatus { ... }

Data Members
float	angularError
	Angle between the gaze ray and the direction to the target [rad].

float	lateralError
	Lateral miss distance at target range [mm].

long	targetId
	Echoed back from the controller config.

string	targetName

bool	targetReachable
	False if the target is out of reach (joint limits hit, or no IK solution).

armarx::core::time::dto::DateTime	timestamp

Detailed Description

Periodic report of the low-level gaze controller's residual.

Deliberately raw: the controller does not decide whether the gaze counts as fixed on the target, it only reports how far off it currently is. The gaze scheduler applies the thresholds, because it is the part that knows which target is active and who requested it. This is also why this slice depends on ArmarXCoreInterfaces only – the controller runs in the RobotUnit and must not pull in the memory.

Data Member Documentation

◆ angularError

float angularError

Angle between the gaze ray and the direction to the target [rad].

◆ lateralError

float lateralError

Lateral miss distance at target range [mm].

◆ targetId

long targetId

Echoed back from the controller config.

Identifies which target the residual refers to, so a report about a superseded target cannot be misattributed.

◆ targetName

string targetName

◆ targetReachable

bool targetReachable

False if the target is out of reach (joint limits hit, or no IK solution).

◆ timestamp

armarx::core::time::dto::DateTime timestamp

The documentation for this struct was generated from the following file:

armarx/view_selection/gaze_controller/ice/GazeControllerStatus.ice

Data Members