armarx::SharedRobotInterface

Overview

interface SharedRobotInterface extends SharedObjectInterface

The SharedRobotInterface provides access to a limited amount of VirtualRobot::Robot methods over the Ice network.

Operation Index

getRobotStateComponent

@return returns the RobotStateComponent this robot belongs to

getRobotNode

getRootNode

hasRobotNode

getRobotNodes

getTimestamp

@return The timestamp of the last joint value update (not the global pose update).

getRobotNodeSet

getRobotNodeSets

hasRobotNodeSet

getName

getType

setGlobalPose

getGlobalPose

getConfig

getConfigAndPose

getScaling

Operations

RobotStateComponentInterface* getRobotStateComponent()

Return Value

returns the RobotStateComponent this robot belongs to

SharedRobotNodeInterface* getRobotNode(string name)

SharedRobotNodeInterface* getRootNode()

bool hasRobotNode(string name)

NameList getRobotNodes()

TimestampBase getTimestamp()

Return Value

The timestamp of the last joint value update (not the global pose update).

RobotNodeSetInfo getRobotNodeSet(string name)

NameList getRobotNodeSets()

bool hasRobotNodeSet(string name)

string getName()

string getType()

void setGlobalPose(PoseBase globalPose)

PoseBase getGlobalPose()

NameValueMap getConfig()

NameValueMap getConfigAndPose(out PoseBase globalPose)

float getScaling()