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.

Definition at line 20 of file GazeControllerStatus.ice.

Data Member Documentation

◆ angularError

float angularError

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

Definition at line 29 of file GazeControllerStatus.ice.

◆ lateralError

float lateralError

Lateral miss distance at target range [mm].

Definition at line 32 of file GazeControllerStatus.ice.

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Identifies which target the residual refers to, so a report about a superseded target cannot be misattributed.

Definition at line 24 of file GazeControllerStatus.ice.

◆ targetName

string targetName

Definition at line 26 of file GazeControllerStatus.ice.

◆ targetReachable

bool targetReachable

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

Definition at line 35 of file GazeControllerStatus.ice.

◆ timestamp

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

Definition at line 37 of file GazeControllerStatus.ice.

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

armarx/view_selection/gaze_controller/ice/GazeControllerStatus.ice

Data Members