MoveJointsWithVelocity.h
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1 #pragma once
2 
3 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
7 
8 #include <armarx/control/skills/aron/MoveJointsWithVelocityParams.aron.generated.h>
10 
12 {
13 
14  /**
15  * @class MoveJoints
16  * @brief MoveJoints-skill to move joints to specified target values using the KinematicUnit
17  *
18  * Sets joint values with the KinematicUnit and waits until target values are reached. Can
19  * simulate trajectory when in simulation (otherwise trajectories from joint value updates through
20  * the KinematicUnit are not simulated).
21  */
23  public ::armarx::skills::SimpleSpecializedSkill<arondto::MoveJointsWithVelocityParams>
24  {
25 
26  public:
27  struct Services
28  {
29  ::armarx::KinematicUnitInterfacePrx kinematicUnit;
30  };
31 
32  static ::armarx::skills::SkillDescription
34  {
35  return ::armarx::skills::SkillDescription{
37  .description = "Moves joints with a specific velocity using the KinematicUnit",
38  .timeout = ::armarx::Duration::Minutes(1),
39  .parametersType = ParamType::ToAronType()};
40  }
41 
42  MoveJointsWithVelocity(const Services&);
43 
44 
45  private:
46  ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
47  ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput& in) override;
48 
49  std::map<std::string, float>
50  filterJointTargetValues(const NameValueMap& jointsTargetValues,
51  const std::vector<std::string>& disabledJoints) const;
52 
53  void switchControlMode(const NameValueMap& jointsTargetValues,
54  const armarx::ControlMode controlMode);
55 
56  void moveJoints(const NameValueMap& jointsTargetValues,
57  const armarx::core::time::Duration& dur);
58 
59  private:
60  Services srv_;
61  };
62 
63 } // namespace armarx::control::skills::skills
armarx::skills::SkillID::skillName
std::string skillName
Definition: SkillID.h:60
armarx::control::skills::skills::MoveJointsWithVelocity::Services
Definition: MoveJointsWithVelocity.h:27
armarx::control::skills::skills::MoveJointsWithVelocity::Services::kinematicUnit
::armarx::KinematicUnitInterfacePrx kinematicUnit
Definition: MoveJointsWithVelocity.h:29
SimpleSpecializedSkill.h
armarx::skills::SimpleSpecializedSkill< arondto::MoveJointsWithVelocityParams >::exit
Skill::ExitResult exit() final
Definition: SimpleSpecializedSkill.h:81
constants.h
armarx::control::skills::skills::MoveJointsWithVelocity
Definition: MoveJointsWithVelocity.h:22
armarx::control::skills::skills::MoveJointsWithVelocity::GetSkillDescription
::armarx::skills::SkillDescription GetSkillDescription()
Definition: MoveJointsWithVelocity.h:33
armarx::skills::SkillDescription::skillId
SkillID skillId
Definition: SkillDescription.h:20
armarx::skills::SimpleSpecializedSkill
Definition: SimpleSpecializedSkill.h:10
VirtualRobotReader.h
armarx::core::time::Duration::Minutes
static Duration Minutes(std::int64_t minutes)
Constructs a duration in minutes.
Definition: Duration.cpp:111
armarx::skills::Skill::MainResult
A result struct for th main method of a skill.
Definition: Skill.h:48
armarx::skills::Skill::ExitResult
A result struct for skill exit function.
Definition: Skill.h:55
armarx::control::njoint_controller::platform::platform_follower_controller::NameValueMap
std::map< std::string, float > NameValueMap
Definition: PlatformFollowerController.h:91
armarx::control::skills::skills::MoveJointsWithVelocity::MoveJointsWithVelocity
MoveJointsWithVelocity(const Services &)
Definition: MoveJointsWithVelocity.cpp:8
armarx::skills::SimpleSpecializedSkill< arondto::MoveJointsWithVelocityParams >::main
Skill::MainResult main() final
Definition: SimpleSpecializedSkill.h:71
armarx::control::skills::skills
Definition: ExecuteTrajectory.cpp:18
armarx::core::time::Duration
Represents a duration.
Definition: Duration.h:17
MemoryNameSystem.h
armarx::control::skills::constants::MOVE_JOINTS_WITH_VELOCITY_SKILL_NAME
std::string MOVE_JOINTS_WITH_VELOCITY_SKILL_NAME
Definition: constants.cpp:9