armarx::KinematicUnitInterface

Overview

interface KinematicUnitInterface extends SensorActorUnitInterface

Derived Classes and Interfaces

KinematicUnitDynamicSimulationInterface

Operation Index

requestJoints

Requesting and releasing joints guarantees that a joint is controlled by exactly one component at any time The request only affects the active access, sensor values can always be read.

releaseJoints

After usage joints should be released so that another component can get access to these joints.

switchControlMode

switchControlMode allows switching control modes of joints specified in targetJointModes.

setJointAngles

setJointVelocities

setJointTorques

setJointAccelerations

setJointDecelerations

getJointAngles

getJointVelocities

getJoints

getControlModes

getRobotFilename

@return the robot xml filename as specified in the configuration

getArmarXPackages

@return All dependent packages, which might contain a robot file.

getRobotName

@return The name of the robot used by this component.

getRobotNodeSetName

@return The name of the robot node set that is used by this component.

getReportTopicName

@return The name of the report topic that is offered by this unit.

getDebugInfo

@brief This is a 'all-in-one' function to retrieve all info that the kinematic unit can provide.

Operations

void requestJoints(::Ice::StringSeq joints) throws KinematicUnitUnavailable

Requesting and releasing joints guarantees that a joint is controlled by exactly one component at any time The request only affects the active access, sensor values can always be read.

void releaseJoints(::Ice::StringSeq joints) throws KinematicUnitNotOwnedException

After usage joints should be released so that another component can get access to these joints.

void switchControlMode(NameControlModeMap targetJointModes) throws ControlModeNotSupportedException

switchControlMode allows switching control modes of joints specified in targetJointModes.

Parameters

targetJointModes

defines target control modes and corresponding joints.

void setJointAngles(NameValueMap targetJointAngles) throws OutOfRangeException

void setJointVelocities(NameValueMap targetJointVelocities) throws OutOfRangeException

void setJointTorques(NameValueMap targetJointTorques) throws OutOfRangeException

void setJointAccelerations(NameValueMap targetJointAccelerations) throws OutOfRangeException

void setJointDecelerations(NameValueMap targetJointDecelerations) throws OutOfRangeException

NameValueMap getJointAngles()

NameValueMap getJointVelocities()

::Ice::StringSeq getJoints()

NameControlModeMap getControlModes()

string getRobotFilename()

::Ice::StringSeq getArmarXPackages()

string getRobotName() throws NotInitializedException

Return Value

The name of the robot used by this component.

string getRobotNodeSetName() throws NotInitializedException

Return Value

The name of the robot node set that is used by this component.

string getReportTopicName() throws NotInitializedException

Return Value

The name of the report topic that is offered by this unit.

DebugInfo getDebugInfo()

@brief This is a 'all-in-one' function to retrieve all info that the kinematic unit can provide. This reduces the number of required network calls for, e.g., the KinematicUnitGui.