RobotAPI Components

  More...

Modules
	ArVizExample
	ArVizInteractExample
	ArVizStorage
	CyberGloveObserver
	DebugDrawerComponent
	Visualizes debug information.
	DebugDrawerToArViz
	DummyTextToSpeech
	ExampleClient
	ExampleMemory
	FrameTracking
	GamepadControlUnit
	GamepadUnit
	GeneralPurposeMemory
	GraspMemory
	HokuyoLaserUnit
	IndexMemory
	KITHandUnit
	KITProstheticHandObserver
	KITProstheticHandUnit
	MemoryNameSystem
	MemoryToDebugObserver
	MetaWearIMU
	MultiHandUnit
	NaturalIKTest
	ObjectInstanceToIndex
	ObjectMemory
	ObjectPoseClientExample
	ObjectPoseProviderExample
	OptoForce
	OptoForceUnit
	RobotHealth
	RobotHealthDummy
	RobotNameService
	RobotSensorMemory
	RobotStateComponent
	Maintains a robot representation based on VirtualRobot (see Simox).
	RobotToArViz
	Sensor-Actor Unit
	Components that provide interfaces to associated hardware devices.
	Sensor-Actor Unit Observers
	Component monitoring sensor values reported from Sensor-Actor Units.
	Sensor-Actor Unit Simulations
	Simulated Sensor-Actor Units do not connected to any hardware.
	SimpleVirtualRobot
	SkillsMemory
	TopicTimingClient
	TopicTimingServer
	Utilities
	ViewSelection
	The ViewSelection component controls the head of the robot with inverse kinematics based on the uncertainty of the current requested object locations. The uncertainty of objects grow based on their motion model and the timed passed since the last localization. It can be activated or deactivated with the Ice interface and given manual target positions to look at.
	VirtualRobotReaderExampleClient
	VirtualRobotWriterExample

Detailed Description

 

Components are the main building blocks of ArmarX and offer services to other applications via Ice. Each component usually implements an interface through which it can be accessed.

There are several types of special components:

• Sensor-Actor Units provide access to certain hardware modalities like sensors or actors.

• Base Sensor-Actor Units provide a base class for the implementation of Sensor-Actor Units, defining a common interface. The ForceTorqueUnit itself for instance is a base class for unit implementations like ForceTorqueUnitSimulation or ForceTorqueUnitArmar4.

• Simulated Sensor-Actor Units are Sensor-Actor Units that do not connect to any hardware, but simulate sensors and actors.

• Observers monitor values published by Sensor-Actor Units and fire events based on installed conditions. There has to be a specific observer implementation for each base unit.