Implementation of the PointAt-skill. More...

#include <armarx/control/pointing/skills/PointAt.h>

Inheritance diagram for PointAt:

Public Types
using	Base = armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>

using	Remote = core::Pointing::Remote

Public Types inherited from SimpleSpecializedSkill< arondto::PointAtParams >
using	Base

using	ParamType

Public Types inherited from SpecializedSkill< AronT >
using	Base = Skill

using	ParamType = AronT

Public Types inherited from Skill
using	CallbackT

Public Member Functions
Skill::MainResult	main () final
	Override this method with the actual implementation.

MainResult	main (const SpecializedMainInput &in) override

void	onStopRequested () override

void	onTimeoutReached () override
	Override these methods if you want to do something special when notification comes.

	PointAt (const Remote &)

Public Member Functions inherited from SpecializedSkill< AronT >
AronT	getParameters () const
	Overwrite getter for parameters. Shadow Skill::getParameters()

void	setParameters (const AronT &d)

	Skill ()=delete
	We completely remove the default constructor!

	Skill (const SkillDescription &)
	Constructor of a skill for inheritance. Every skill must have a skill description.

virtual	~SpecializedSkill ()=default

Public Member Functions inherited from Skill
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId)
	Call a subskill with the given ID and its default parameters.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const aron::data::DictPtr &parameters)
	Call a subskill with the given ID and parameters.

template<class ParameterT>
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const ParameterT &parameters)
	Call a subskill with the given ID and parameters.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters.

template<class ParameterT>
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy)
	Call a subskill with default parameters and block until the subskill terminates.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
	Call a subskill with given parameters and block until the subskill terminates.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (SkillProxyPtr proxy)
	Call a subskill with default parameters and block until the subskill terminates.

std::optional< TerminatedSkillStatusUpdate >	callSubskill (SkillProxyPtr proxy, const aron::data::DictPtr &parameters)
	Call a subskill with given parameters and block until the subskill terminates.

SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId)

SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, const aron::data::DictPtr &parameters)

SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, std::function< void(aron::data::DictPtr &)> parametersFunction)

template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
	Similar to callSubskill but non-blocking.

template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (const SkillProxy &proxy, std::function< void(ParameterT &parameters)> parametersFunction)
	Similar to callSubskill but non-blocking.

SkillExecutionHandlePtr	callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)

SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy)
	Similar to callSubskill but non-blocking.

SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy, const aron::data::DictPtr &parameters)
	Similar to callSubskill but non-blocking.

template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy, std::function< void(ParameterT &parameters)> parametersFunction)

ExitResult	exitSkill ()
	Exit method of a skill.

aron::data::DictPtr	getParameters () const
	Get the parameters of a skill that have been set so far.

SkillDescription	getSkillDescription () const
	Get the description of a skill.

SkillID	getSkillId () const
	Get the id of the skill.

InitResult	initSkill ()
	Initialization of a skill.

void	installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
	install a condition which is frequently checked from the conditionCheckingThread

MainResult	mainOfSkill ()
	Main method of a skill.

void	notifySkillToStop ()
	Notify the skill from extern to stop.

PrepareResult	prepareSkill ()
	Prepare a skill once.

void	setCallback (const CallbackT &callback)

void	setExecutorName (const std::string &executorName)

void	setManager (const manager::dti::SkillManagerInterfacePrx &manager)

void	setParameters (const aron::data::DictPtr &d)
	Hard set the parameters, ignoring everything that has been set or merged before.

void	setProviderId (const skills::ProviderID &pid)
	Set the provider id of the description of the skill.

bool	shouldSkillTerminate () const override
	Returns whether the skill should terminate as soon as possible.

	Skill ()=delete
	We completely remove the default constructor!

	Skill (const SkillDescription &)
	Constructor of a skill for inheritance. Every skill must have a skill description.

void	updateParameters (const aron::data::DictPtr &d)
	Merge parameters to the local parameters of the skill.

void	updateSubSkillStatus (const skills::SkillStatusUpdate &statusUpdate)

void	waitFor (const armarx::Duration &duration, const armarx::Duration &interval=armarx::Duration::MilliSeconds(200)) const override

	~Skill () override
	Virtual destructor of a skill.

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 ()

Static Public Member Functions
static armarx::skills::SkillDescription	GetSkillDescription ()

Static Public Member Functions inherited from SpecializedSkill< AronT >
static armarx::aron::type::ObjectPtr	GetAcceptedType ()
	returns the accepted type of the skill

Additional Inherited Members
Public Attributes inherited from Skill
armarx::core::time::DateTime	exited = armarx::core::time::DateTime::Invalid()

armarx::core::time::DateTime	started = armarx::core::time::DateTime::Now()

Protected Member Functions inherited from SimpleSpecializedSkill< arondto::PointAtParams >
Skill::ExitResult	exit () final
	Override this method with the actual implementation.

Skill::ExitResult	exit () final
	Override this method with the actual implementation.

virtual Skill::ExitResult	exit (const SpecializedExitInput &)

virtual Skill::ExitResult	exit (const SpecializedExitInput &)

Skill::InitResult	init () final
	Override this method with the actual implementation.

Skill::InitResult	init () final
	Override this method with the actual implementation.

virtual Skill::InitResult	init (const SpecializedInitInput &)

virtual Skill::InitResult	init (const SpecializedInitInput &)

Skill::MainResult	main () final
	Override this method with the actual implementation.

Skill::MainResult	main () final
	Override this method with the actual implementation.

Protected Member Functions inherited from Skill
void	notifyTimeoutReached ()

virtual PrepareResult	prepare ()
	Override this method with the actual implementation.

void	throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="") const

void	throwIfSkillShouldTerminate (const std::string &abortedMessage="") const

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 Member Functions inherited from SkillExecutorInterface
virtual	~SkillExecutorInterface ()=default

Static Protected Member Functions inherited from Skill
static MainResult	MakeAbortedResult (aron::data::DictPtr data=nullptr)

static MainResult	MakeFailedResult (aron::data::DictPtr data=nullptr)

static MainResult	MakeSucceededResult (aron::data::DictPtr data=nullptr)

Protected Attributes inherited from Skill
CallbackT	callback = CallbackT()

std::atomic_bool	constructing = true

SkillDescription	description

std::string	executorName = ""

std::atomic_bool	exiting = false

std::atomic_bool	finished = false

std::atomic_bool	initializing = false

manager::dti::SkillManagerInterfacePrx	manager = nullptr

armarx::aron::data::DictPtr	parameters = nullptr

std::mutex	parametersMutex

std::atomic_bool	preparing = false

std::atomic_bool	running = false

std::atomic_bool	stopped = false

armem::task_outcome::TaskOutcome	taskOutcome_

std::atomic_bool	timeoutReached = false

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Implementation of the PointAt-skill.

Member Typedef Documentation

◆ Base

using Base = armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>

◆ Remote

using Remote = core::Pointing::Remote

Constructor & Destructor Documentation

◆ PointAt()

PointAt ( const Remote & remote )

Member Function Documentation

◆ GetSkillDescription()

armarx::skills::SkillDescription GetSkillDescription ( )

static

◆ main() [1/2]

Skill::MainResult main ( )

inlinefinalvirtual

Override this method with the actual implementation.

The callback is for status updates to the calling instance

Reimplemented from Skill.

◆ main() [2/2]

PointAt::MainResult main ( const SpecializedMainInput & in )

overridevirtual

Reimplemented from SimpleSpecializedSkill< arondto::PointAtParams >.

◆ onStopRequested()

void onStopRequested ( )

overridevirtual

Reimplemented from Skill.

◆ onTimeoutReached()

void onTimeoutReached ( )

overridevirtual

Override these methods if you want to do something special when notification comes.

Reimplemented from Skill.

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

armarx/control/pointing/skills/PointAt.h
armarx/control/pointing/skills/PointAt.cpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Remote

Constructor & Destructor Documentation

◆ PointAt()

Member Function Documentation

◆ GetSkillDescription()

◆ main() [1/2]

◆ main() [2/2]

◆ onStopRequested()

◆ onTimeoutReached()