ComponentInterface Interface Reference

defined in <armarx/control/components/controller_creator/ComponentInterface.ice>

interface ComponentInterface extends armarx::armem::client::MemoryListenerInterface { ... }

Inheritance diagram for ComponentInterface:

Operations
string	createController (string controllerNamePrefix, string robotNodeSet, string controllerType, string configFilename)
void	enableVelocityMode ()
Ice::FloatSeq	getPoseInRootFrame (string node_name)
Ice::FloatSeq	getPrevNullspaceTargetAngle (string controllerName)
Ice::FloatSeq	getPrevTargetPose (string controllerName)
string	kinestheticTeaching (string kinematicChainName, string side, string fileName)
bool	updateTarget (string controllerName, string controllerType, Ice::FloatSeq targetPoseVector, Ice::FloatSeq targetNullspaceJointAngle)
bool	updateTargetNullspaceJointAngles (string controllerName, string controllerType, Ice::FloatSeq targetNullspaceJointAngle)
bool	updateTargetPose (string controllerName, string controllerType, Ice::FloatSeq targetPoseVector)

Detailed Description

Definition at line 31 of file ComponentInterface.ice.

Operation Documentation

createController()

string createController	(	string	controllerNamePrefix,
		string	robotNodeSet,
		string	controllerType,
		string	configFilename
	)

enableVelocityMode()

void enableVelocityMode

(

)

Here is the caller graph for this function:

getPoseInRootFrame()

Ice::FloatSeq getPoseInRootFrame

(

string

node_name

)

getPrevNullspaceTargetAngle()

Ice::FloatSeq getPrevNullspaceTargetAngle

(

string

controllerName

)

getPrevTargetPose()

Ice::FloatSeq getPrevTargetPose

(

string

controllerName

)

kinestheticTeaching()

string kinestheticTeaching	(	string	kinematicChainName,
		string	side,
		string	fileName
	)

updateTarget()

bool updateTarget	(	string	controllerName,
		string	controllerType,
		Ice::FloatSeq	targetPoseVector,
		Ice::FloatSeq	targetNullspaceJointAngle
	)

updateTargetNullspaceJointAngles()

bool updateTargetNullspaceJointAngles	(	string	controllerName,
		string	controllerType,
		Ice::FloatSeq	targetNullspaceJointAngle
	)

updateTargetPose()

bool updateTargetPose	(	string	controllerName,
		string	controllerType,
		Ice::FloatSeq	targetPoseVector
	)

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

• armarx/control/components/controller_creator/ComponentInterface.ice