armarx::RobotStateComponentInterface

Overview

interface RobotStateComponentInterface extends KinematicUnitListener, GlobalRobotPoseLocalizationListener, SimulatorResetEvent

The interface used by the RobotStateComponent which allows creating snapshots of a robot configuration or retrieving a proxy to a constantly updating synchronized robot.

Operation Index

getSynchronizedRobot

@return proxy to the shared robot which constantly updates all joint values

getRobotSnapshot

@return proxy to a copy of the shared robot with non updating joint values

getRobotSnapshotAtTimestamp

Create robot snapshot proxy from past timestamp.

getJointConfigAtTimestamp

Return the joint values from past timestamp.

getRobotStateAtTimestamp

Return the Robot configuration, including joint values and global pose of the root node, from past timestamp.

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 represented by this component.

getRobotStateTopicName

getScaling

@return The scaling of the robot model represented by this component.

getRobotNodeSetName

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

getRobotInfo

Operations

SharedRobotInterface* getSynchronizedRobot() throws NotInitializedException

Return Value

proxy to the shared robot which constantly updates all joint values

SharedRobotInterface* getRobotSnapshot(string deprecated) throws NotInitializedException

Return Value

proxy to a copy of the shared robot with non updating joint values

SharedRobotInterface* getRobotSnapshotAtTimestamp(double time) throws NotInitializedException

Create robot snapshot proxy from past timestamp. The time that can be gone back depends on the robotstatecomponent configuration.

Return Value

Snapshot

NameValueMap getJointConfigAtTimestamp(double time) throws NotInitializedException

Return the joint values from past timestamp. The time that can be gone back depends on the robotstatecomponent configuration.

Return Value

Jointname-jointvalue map

RobotStateConfig getRobotStateAtTimestamp(double time) throws NotInitializedException

Return the Robot configuration, including joint values and global pose of the root node, from past timestamp. The time that can be gone back depends on the robotstatecomponent configuration.

Return Value

Robot configuration containing jointvalue map and globalpose

string getRobotFilename()

::Ice::StringSeq getArmarXPackages()

string getRobotName() throws NotInitializedException

Return Value

The name of the robot represented by this component. Same as getSynchronizedRobot()->getName()

string getRobotStateTopicName() throws NotInitializedException

float getScaling()

string getRobotNodeSetName() throws NotInitializedException

Return Value

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

RobotInfoNode getRobotInfo()