armarx::KinematicUnitListener
Overview
interface KinematicUnitListener
Implements an interface to an KinematicUnitListener.
Derived Classes and Interfaces
- GazeStabilizationInterface
- KinematicUnitObserverInterface
- RobotStateComponentInterface
- TCPControlUnitInterface
- TrajectoryPlayerInterface
- armem::robot_state::LegacyRobotStateMemoryAdapterInterface
Operation Index
- reportControlModeChanged
-
reportControlModeChanged reports if a ControlMode has changed.
- reportJointAngles
-
reportJointAngles reports joint angle values.
- reportJointVelocities
-
reportJointVelocities reports joint angle velocities.
- reportJointTorques
-
reportJointTorques reports joint torques.
- reportJointAccelerations
-
reportJointAccelerations reports joint accelerations.
- reportJointCurrents
-
reportJointCurrents reports joint currents.
- reportJointMotorTemperatures
-
reportJointMotorTemperatures reports joint motor temperatures.
- reportJointStatuses
-
reportJointStatuses reports current joint statuses.
Operations
void reportControlModeChanged(NameControlModeMap actualJointModes, long timestamp, bool aValueChanged)
reportControlModeChanged reports if a ControlMode has changed.
Parameters
- actualJointModes
-
Map of control modes and corresponding joint names.
- aValueChanged
-
Is set to true if a mode has changed.
void reportJointAngles(NameValueMap actualJointAngles, long timestamp, bool aValueChanged)
reportJointAngles reports joint angle values.
Parameters
- actualJointAngles
-
Map of joint angle values and corresponding joint names.
- aValueChanged
-
Is set to true if a joint angle value has changed.
void reportJointVelocities(NameValueMap actualJointVelocities, long timestamp, bool aValueChanged)
reportJointVelocities reports joint angle velocities.
Parameters
- actualJointVelocities
-
Map of joint angle velocities and corresponding joint names.
- aValueChanged
-
Is set to true if a joint angle velocity has changed.
void reportJointTorques(NameValueMap actualJointTorques, long timestamp, bool aValueChanged)
reportJointTorques reports joint torques.
Parameters
- actualJointTorques
-
Map of joint torques and corresponding joint names.
- aValueChanged
-
Is set to true if a joint torque has changed.
void reportJointAccelerations(NameValueMap actualJointAccelerations, long timestamp, bool aValueChanged)
reportJointAccelerations reports joint accelerations.
Parameters
- actualJointAccelerations
-
Map of joint accelerations and corresponding joint names.
- aValueChanged
-
Is set to true if a joint acceleration has changed.
void reportJointCurrents(NameValueMap actualJointCurrents, long timestamp, bool aValueChanged)
reportJointCurrents reports joint currents.
Parameters
- actualJointCurrents
-
Map of joint currents and corresponding joint names.
- aValueChanged
-
Is set to true if a joint current has changed.
void reportJointMotorTemperatures(NameValueMap actualJointMotorTemperatures, long timestamp, bool aValueChanged)
reportJointMotorTemperatures reports joint motor temperatures.
Parameters
- actualJointMotorTemperatures
-
Map of joint motor temperatures and corresponding joint names.
- aValueChanged
-
Is set to true if a joint motor temperature has changed.
void reportJointStatuses(NameStatusMap actualJointStatuses, long timestamp, bool aValueChanged)
reportJointStatuses reports current joint statuses.
Parameters
- actualJointStatuses
-
Map of joint statuses and corresponding joint names.
- aValueChanged
-
Is set to true if a joint status has changed.