List of all members | Public Member Functions | Protected Member Functions | Protected Attributes | Friends
RemoteRobotNode< VirtualRobotNodeType > Class Template Reference

Mimics the behaviour of robot nodes while redirecting everything to Ice proxies. More...

#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>

+ Inheritance diagram for RemoteRobotNode< VirtualRobotNodeType >:

Public Member Functions

std::vector< VirtualRobot::RobotNodePtr > getAllParents (VirtualRobot::RobotNodeSetPtr rns) override
 
virtual std::vector< std::string > getChildrenNames () const
 
Eigen::Matrix4f getGlobalPose () const override
 
virtual float getJointLimitHi () const
 
virtual float getJointLimitLo () const
 
float getJointValue () const override
 
Eigen::Matrix4f getLocalTransformation () override
 
virtual VirtualRobot::SceneObjectPtr getParent ()
 
Eigen::Matrix4f getPoseInRootFrame () const override
 
Eigen::Vector3f getPositionInRootFrame () const override
 
SharedRobotNodeInterfacePrx getSharedRobotNode ()
 
virtual bool hasChildNode (const std::string &child, bool recursive=false) const
 
 RemoteRobotNode (SharedRobotNodeInterfacePrx node, VirtualRobot::RobotPtr vr)
 
 ~RemoteRobotNode () override
 

Protected Member Functions

virtual void addChildNode (VirtualRobot::RobotNodePtr child)
 
std::vector< VirtualRobot::SceneObjectPtr > getChildren () const override
 
virtual std::string getParentName () const
 
virtual bool hasChildNode (const VirtualRobot::RobotNodePtr child, bool recursive=false) const
 
virtual bool initialize (VirtualRobot::RobotNodePtr parent, bool initializeChildren=false)
 
virtual void reset ()
 
void setGlobalPose (const Eigen::Matrix4f &pose) override
 
void setJointLimits (float lo, float hi) override
 
virtual void setJointValue (float q, bool updateTransformations=true, bool clampToLimits=true)
 
virtual void setLocalTransformation (const Eigen::Matrix4f &trafo)
 
void updateTransformationMatrices () override
 
void updateTransformationMatrices (const Eigen::Matrix4f &globalPose) override
 

Protected Attributes

SharedRobotNodeInterfacePrx _node
 

Friends

struct RemoteRobotNodeInitializer< VirtualRobotNodeType >
 

Detailed Description

template<class VirtualRobotNodeType>
class armarx::RemoteRobotNode< VirtualRobotNodeType >

Mimics the behaviour of robot nodes while redirecting everything to Ice proxies.

Template Parameters
VirtualRobotNodeTypeMust be a descendant of VirtualRobot::RobotNode

This class is for internal use only as classes cannot be referenced!

Definition at line 72 of file RemoteRobot.h.

Constructor & Destructor Documentation

◆ RemoteRobotNode()

template<class VirtualRobotNodeType>
RemoteRobotNode ( SharedRobotNodeInterfacePrx node,
VirtualRobot::RobotPtr vr )
inline

Definition at line 77 of file RemoteRobot.h.

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◆ ~RemoteRobotNode()

template<class RobotNodeType>
~RemoteRobotNode ( )
override

Definition at line 94 of file RemoteRobotNode.cpp.

Member Function Documentation

◆ addChildNode()

template<class VirtualRobotNodeType>
void addChildNode ( VirtualRobot::RobotNodePtr child)
protectedvirtual

Definition at line 260 of file RemoteRobotNode.cpp.

◆ getAllParents()

template<class VirtualRobotNodeType>
vector< RobotNodePtr > getAllParents ( VirtualRobot::RobotNodeSetPtr rns)
override

Definition at line 189 of file RemoteRobotNode.cpp.

◆ getChildren()

template<class RobotNodeType>
std::vector< SceneObjectPtr > getChildren ( ) const
overrideprotected

Definition at line 235 of file RemoteRobotNode.cpp.

◆ getChildrenNames()

template<class RobotNodeType>
std::vector< std::string > getChildrenNames ( ) const
virtual

Definition at line 221 of file RemoteRobotNode.cpp.

◆ getGlobalPose()

template<class RobotNodeType>
Eigen::Matrix4f getGlobalPose ( ) const
override

Definition at line 146 of file RemoteRobotNode.cpp.

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◆ getJointLimitHi()

template<class RobotNodeType>
float getJointLimitHi ( ) const
virtual

Definition at line 119 of file RemoteRobotNode.cpp.

◆ getJointLimitLo()

template<class RobotNodeType>
float getJointLimitLo ( ) const
virtual

Definition at line 126 of file RemoteRobotNode.cpp.

◆ getJointValue()

template<class RobotNodeType>
float getJointValue ( ) const
override

Definition at line 112 of file RemoteRobotNode.cpp.

◆ getLocalTransformation()

template<class RobotNodeType>
Eigen::Matrix4f getLocalTransformation ( )
override

Definition at line 139 of file RemoteRobotNode.cpp.

◆ getParent()

template<class RobotNodeType>
SceneObjectPtr getParent ( )
virtual

Definition at line 204 of file RemoteRobotNode.cpp.

◆ getParentName()

template<class RobotNodeType>
std::string getParentName ( ) const
protectedvirtual

Definition at line 228 of file RemoteRobotNode.cpp.

◆ getPoseInRootFrame()

template<class RobotNodeType>
Eigen::Matrix4f getPoseInRootFrame ( ) const
override

Definition at line 153 of file RemoteRobotNode.cpp.

◆ getPositionInRootFrame()

template<class RobotNodeType>
Eigen::Vector3f getPositionInRootFrame ( ) const
override

Definition at line 160 of file RemoteRobotNode.cpp.

◆ getSharedRobotNode()

template<class VirtualRobotNodeType>
SharedRobotNodeInterfacePrx getSharedRobotNode ( )
inline

Definition at line 108 of file RemoteRobot.h.

◆ hasChildNode() [1/2]

template<class RobotNodeType>
bool hasChildNode ( const std::string & child,
bool recursive = false ) const
virtual

Definition at line 176 of file RemoteRobotNode.cpp.

◆ hasChildNode() [2/2]

template<class VirtualRobotNodeType>
virtual bool hasChildNode ( const VirtualRobot::RobotNodePtr child,
bool recursive = false ) const
protectedvirtual

◆ initialize()

template<class VirtualRobotNodeType>
bool initialize ( VirtualRobot::RobotNodePtr parent,
bool initializeChildren = false )
protectedvirtual

Definition at line 266 of file RemoteRobotNode.cpp.

◆ reset()

template<class RobotNodeType>
void reset ( )
protectedvirtual

Definition at line 273 of file RemoteRobotNode.cpp.

◆ setGlobalPose()

template<class RobotNodeType>
void setGlobalPose ( const Eigen::Matrix4f & pose)
overrideprotected

Definition at line 279 of file RemoteRobotNode.cpp.

◆ setJointLimits()

template<class RobotNodeType>
void setJointLimits ( float lo,
float hi )
overrideprotected

Definition at line 183 of file RemoteRobotNode.cpp.

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◆ setJointValue()

template<class RobotNodeType>
void setJointValue ( float q,
bool updateTransformations = true,
bool clampToLimits = true )
protectedvirtual

Definition at line 285 of file RemoteRobotNode.cpp.

◆ setLocalTransformation()

template<class RobotNodeType>
void setLocalTransformation ( const Eigen::Matrix4f & trafo)
protectedvirtual

Definition at line 215 of file RemoteRobotNode.cpp.

◆ updateTransformationMatrices() [1/2]

template<class RobotNodeType>
void updateTransformationMatrices ( )
overrideprotected

Definition at line 248 of file RemoteRobotNode.cpp.

◆ updateTransformationMatrices() [2/2]

template<class RobotNodeType>
void updateTransformationMatrices ( const Eigen::Matrix4f & globalPose)
overrideprotected

Definition at line 254 of file RemoteRobotNode.cpp.

Friends And Related Symbol Documentation

◆ RemoteRobotNodeInitializer< VirtualRobotNodeType >

template<class VirtualRobotNodeType>
friend struct RemoteRobotNodeInitializer< VirtualRobotNodeType >
friend

Definition at line 51 of file RemoteRobot.h.

Member Data Documentation

◆ _node

template<class VirtualRobotNodeType>
SharedRobotNodeInterfacePrx _node
protected

Definition at line 137 of file RemoteRobot.h.

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