TrajectoryPlayer Class Reference

Brief description of class TrajectoryPlayer. More...

#include <RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.h>

Inheritance diagram for TrajectoryPlayer:

Public Member Functions
void	considerConstraints (bool, const Ice::Current &) override
void	enableRobotPoseUnit (bool isRobotPose, const Ice::Current &) override
double	getCurrentTime (const Ice::Current &) override
std::string	getDefaultName () const override
double	getEndTime (const Ice::Current &) override
double	getTrajEndTime (const Ice::Current &) override
void	loadBasePoseTraj (const TrajectoryBasePtr &trajs, const ::Ice::Current &=Ice::emptyCurrent) override
void	loadJointTraj (const TrajectoryBasePtr &trajs, const ::Ice::Current &=Ice::emptyCurrent) override
bool	pauseTrajectoryPlayer (const Ice::Current &) override
void	reportControlModeChanged (const NameControlModeMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointAccelerations (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointAngles (const NameValueMap &angles, Ice::Long, bool, const Ice::Current &) override
void	reportJointCurrents (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointMotorTemperatures (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointStatuses (const NameStatusMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointTorques (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
void	reportJointVelocities (const NameValueMap &, Ice::Long, bool, const Ice::Current &) override
bool	resetTrajectoryPlayer (bool moveToFrameZeroPose, const Ice::Current &) override
void	setEndTime (double end, const Ice::Current &) override
void	setIsPreview (bool isPreview, const Ice::Current &) override
void	setIsVelocityControl (bool isVelocity, const ::Ice::Current &=Ice::emptyCurrent) override
bool	setJointsInUse (const std::string &jointName, bool inUse, const Ice::Current &) override
void	setLoopPlayback (bool loop, const Ice::Current &) override
void	setOffset (const Eigen::Matrix4f &offset, const Ice::Current &) override
bool	startTrajectoryPlayer (const Ice::Current &) override
bool	stopTrajectoryPlayer (const Ice::Current &) override
void	updateTargetValues ()
Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.
void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function
std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.
template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.
template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.
void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.
virtual void	preOnConnectComponent () override
virtual void	preOnInitComponent () override
bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.
void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.
Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)
std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.
ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.
ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)
IceManagerPtr	getIceManager () const
	Returns the IceManager.
VariantBasePtr	getMetaInfo (const std::string &id)
StringVariantBaseMap	getMetaInfoMap () const
std::string	getName () const
	Retrieve name of object.
Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.
ArmarXObjectSchedulerPtr	getObjectScheduler () const
PeriodicTaskPtr	getPeriodicTask (const std::string &name)
Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler
template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.
template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to proxy.
Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)
template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).
template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
int	getState () const
	Retrieve current state of the ManagedIceObject.
template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.
template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to topicProxy.
std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies
	ManagedIceObject (ManagedIceObject const &other)
void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.
void	preambleGetTopic (std::string const &name)
void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.
void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
bool	stopPeriodicTask (const std::string &name)
bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.
bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.
void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.
void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.
void	waitForProxy (std::string const &name, bool addToDependencies)
Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.
MessageTypeT	getEffectiveLoggingLevel () const
	Logging ()
void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
void	setTag (const LogTag &tag)
void	setTag (const std::string &tagName)
virtual	~Logging ()
Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()
Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in const-modified methods.
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.
std::vector< std::string >	getSubscribedTopicNames ()
std::vector< std::string >	getTopicProxyNames ()
bool	hasProperty (const std::string &name)
	PropertyUser ()
virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.
bool	tryAddProperty (const std::string &propertyName, const std::string &value)
virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)
void	updateProperties ()
void	updateProxies (IceManagerPtr)
	~PropertyUser () override

Protected Member Functions
bool	checkJointsLimit ()
bool	checkSelfCollision ()
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override
void	onConnectComponent () override
void	onDisconnectComponent () override
void	onExitComponent () override
void	onInitComponent () override
void	run ()
Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.
	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.
std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.
std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.
std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.
virtual void	icePropertiesInitialized ()
Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)
Ice::CommunicatorPtr	getCommunicator () const
std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)
	ManagedIceObject ()
	Protected default constructor.
virtual void	postOnConnectComponent ()
virtual void	postOnDisconnectComponent ()
virtual void	postOnExitComponent ()
virtual void	postOnInitComponent ()
virtual void	preOnDisconnectComponent ()
virtual void	preOnExitComponent ()
bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.
void	setName (std::string name)
	Override name of well-known object.
void	terminate ()
	Initiates termination of this IceManagedObject.
	~ManagedIceObject () override
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const
const LogSenderPtr &	getLogSender () const
	Retrieve log sender.
LogSenderPtr	loghelper (const char *file, int line, const char *function) const

Protected Attributes
std::string	armarxProject
::armarx::TrajectoryPtr	basePoseTraj
double	currentTime
DebugDrawerInterfacePrx	debugDrawer
DebugObserverInterfacePrx	debugObserver
int	direction
double	endTime
bool	isPreview
bool	isVelocityControl
Ice::StringSeq	jointNames
std::map< std::string, bool >	jointNamesUsed
NameValueMap	jointOffets
::armarx::TrajectoryPtr	jointTraj
KinematicUnitInterfacePrx	kinematicUnit
std::map< std::string, bool >	limitlessMap
VirtualRobot::RobotPtr	localModel
bool	loopPlayback
float	maxVel
std::string	modelFileName
IceUtil::Time	motionStartTime
NameValueMap	nullVelocities
Eigen::Matrix4f	offset
std::map< std::string, PIDControllerPtr >	PIDs
bool	robotPoseUnitEnabled
double	runningTime
IceUtil::Time	startTime
NameValueMap	targetPositionValues
PosePtr	targetRobotPose
NameValueMap	targetVelocityValues
PeriodicTask< TrajectoryPlayer >::pointer_type	task
double	timeOffset
Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel
SpamFilterDataPtr	spamFilter
LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>
Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.
Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.
static std::string	GetObjectStateAsString (int state)
Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

Brief description of class TrajectoryPlayer.

Detailed description of class TrajectoryPlayer.

Member Function Documentation

checkJointsLimit()

bool checkJointsLimit ( )

protected

checkSelfCollision()

bool checkSelfCollision ( )

protected

considerConstraints()

void considerConstraints ( bool , const Ice::Current &  )

inlineoverride

createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also

PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

enableRobotPoseUnit()

void enableRobotPoseUnit ( bool isRobotPose, const Ice::Current &  )

inlineoverride

getCurrentTime()

double getCurrentTime ( const Ice::Current & )

inlineoverride

getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also

armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

getEndTime()

double getEndTime ( const Ice::Current & )

inlineoverride

getTrajEndTime()

double getTrajEndTime ( const Ice::Current & )

inlineoverride

loadBasePoseTraj()

void loadBasePoseTraj ( const TrajectoryBasePtr & trajs, const ::Ice::Current & = Ice::emptyCurrent )

override

loadJointTraj()

void loadJointTraj ( const TrajectoryBasePtr & trajs, const ::Ice::Current & = Ice::emptyCurrent )

override

onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

pauseTrajectoryPlayer()

bool pauseTrajectoryPlayer ( const Ice::Current & )

override

reportControlModeChanged()

void reportControlModeChanged ( const NameControlModeMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointAccelerations()

void reportJointAccelerations ( const NameValueMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointAngles()

void reportJointAngles ( const NameValueMap & angles, Ice::Long timestamp, bool , const Ice::Current &  )

override

reportJointCurrents()

void reportJointCurrents ( const NameValueMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointMotorTemperatures()

void reportJointMotorTemperatures ( const NameValueMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointStatuses()

void reportJointStatuses ( const NameStatusMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointTorques()

void reportJointTorques ( const NameValueMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

reportJointVelocities()

void reportJointVelocities ( const NameValueMap & , Ice::Long , bool , const Ice::Current &  )

inlineoverride

resetTrajectoryPlayer()

bool resetTrajectoryPlayer ( bool moveToFrameZeroPose, const Ice::Current &  )

override

run()

void run ( )

protected

setEndTime()

void setEndTime ( double end, const Ice::Current &  )

inlineoverride

setIsPreview()

void setIsPreview ( bool isPreview, const Ice::Current &  )

inlineoverride

setIsVelocityControl()

void setIsVelocityControl ( bool isVelocity, const ::Ice::Current & = Ice::emptyCurrent )

override

setJointsInUse()

bool setJointsInUse ( const std::string & jointName, bool inUse, const Ice::Current &  )

override

setLoopPlayback()

void setLoopPlayback ( bool loop, const Ice::Current &  )

override

setOffset()

void setOffset ( const Eigen::Matrix4f & offset, const Ice::Current &  )

inlineoverride

startTrajectoryPlayer()

bool startTrajectoryPlayer ( const Ice::Current & )

override

stopTrajectoryPlayer()

bool stopTrajectoryPlayer ( const Ice::Current & )

override

updateTargetValues()

void updateTargetValues

(

)

Member Data Documentation

armarxProject

std::string armarxProject

protected

basePoseTraj

::armarx::TrajectoryPtr basePoseTraj

protected

currentTime

double currentTime

protected

debugDrawer

DebugDrawerInterfacePrx debugDrawer

protected

debugObserver

DebugObserverInterfacePrx debugObserver

protected

direction

int direction

protected

endTime

double endTime

protected

isPreview

bool isPreview

protected

isVelocityControl

bool isVelocityControl

protected

jointNames

Ice::StringSeq jointNames

protected

jointNamesUsed

std::map<std::string, bool> jointNamesUsed

protected

jointOffets

NameValueMap jointOffets

protected

jointTraj

::armarx::TrajectoryPtr jointTraj

protected

kinematicUnit

KinematicUnitInterfacePrx kinematicUnit

protected

limitlessMap

std::map<std::string, bool> limitlessMap

protected

localModel

VirtualRobot::RobotPtr localModel

protected

loopPlayback

bool loopPlayback

protected

maxVel

float maxVel

protected

modelFileName

std::string modelFileName

protected

motionStartTime

IceUtil::Time motionStartTime

protected

nullVelocities

NameValueMap nullVelocities

protected

offset

Eigen::Matrix4f offset

protected

PIDs

std::map<std::string, PIDControllerPtr> PIDs

protected

robotPoseUnitEnabled

bool robotPoseUnitEnabled

protected

runningTime

double runningTime

protected

startTime

IceUtil::Time startTime

protected

targetPositionValues

NameValueMap targetPositionValues

protected

targetRobotPose

PosePtr targetRobotPose

protected

targetVelocityValues

NameValueMap targetVelocityValues

protected

task

PeriodicTask<TrajectoryPlayer>::pointer_type task

protected

timeOffset

double timeOffset

protected

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The documentation for this class was generated from the following files:

• RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.h
• RobotComponents/components/TrajectoryPlayer/TrajectoryPlayer.cpp