armarx::skills Namespace Reference

This file is part of ArmarX. More...

Namespaces
	detail
	error
	grasp_control
	gui
	hand_control
	joint_control
	mixin
	platform_control
	provider
	segment
	tcp_control
	visual_search
	visual_servo_tcp_control

Classes
struct	ActiveOrTerminatedSkillStatusUpdate
class	BringObjectSkill
struct	BringObjectSkillContext
class	BringObjectToLocation
class	CloseHand
class	CloseHandAndAttachSkill
class	ExecuteGraspSkill
class	ExecutePutdownSkill
class	FluxioCompositeExecutor
struct	FluxioControlNode
struct	FluxioEdge
class	FluxioExecutor
class	FluxioMergerExecutor
class	FluxioNativeExecutor
struct	FluxioNode
struct	FluxioParameter
struct	FluxioParameterNode
struct	FluxioProfile
struct	FluxioProvider
struct	FluxioSkill
struct	FluxioSkillStatusUpdate
struct	FluxioSubSkillNode
struct	FluxioTypeIdentificator
struct	FluxioValue
class	GraspObjectSkill
class	HandControlSkill
struct	HandControlSkillContext
class	JointControlSkill
struct	JointControlSkillContext
class	LambdaSkill
class	MoveJointsToPosition
class	MoveJointsWithVelocity
class	MovePlatformAfterGraspSkill
class	MovePlatformAfterPutdownSkill
class	MovePlatformForGraspSkill
class	MovePlatformForPutdownSkill
class	MovePlatformToLandmark
class	MovePlatformToPose
class	MoveTCPToTargetPose
class	OpenHand
class	OpenHandAndDetachSkill
class	PeriodicSkill
class	PeriodicSpecializedSkill
class	PlatformControlSkill
struct	PlatformControlSkillContext
class	ProviderID
class	ProviderInfo
class	PutdownObjectSkill
class	Result
class	SimplePeriodicSkill
class	SimplePeriodicSpecializedSkill
class	SimpleSkill
class	SimpleSpecializedSkill
class	Skill
	Base class for skills. More...
class	SkillBlueprint
class	SkillContext
struct	SkillDescription
struct	SkillExecutionID
class	SkillExecutionRequest
class	SkillID
class	SkillProxy
struct	SkillStatusUpdate
struct	SkillStatusUpdateBase
class	SkillWithContextBlueprint
class	SpecializedSkill
class	SpecializedSkillProxy
class	TCPControlSkill
struct	TCPControlSkillContext
struct	TerminatedSkillStatusUpdate
class	TwoArmGraspControlSkill
struct	TwoArmGraspControlSkillContext
class	VisualSearchSkill
struct	VisualSearchSkillContext
class	VisualServoTCPControlSkill
struct	VisualServoTCPControlSkillContext
class	VisualServoToTargetPose
class	WhatCanYouSeeNow

Enumerations
enum	ActiveOrTerminatedSkillStatus { Running = 2, Failed = 4, Succeeded = 8, Aborted = 16 }
enum	FluxioControlNodeType { UNKNOWN = 0, SPLITTER = 1, AND_MERGER = 2 }
enum	FluxioNodeType { UNKNOWN = 0, PARAMETER = 1, CONTROL = 2, SUBSKILL = 3 }
enum	SkillStatus {   Constructing = 0, Initializing = 1, Preparing = 2, Running = 4,   Failed = 8, Succeeded = 16, Aborted = 32 }
enum	TerminatedSkillStatus { Failed = 4, Succeeded = 8, Aborted = 16 }

Functions
FluxioControlNodeType	FluxioControlNodeTypeFromString (const std::string &type)
std::optional< std::string >	FluxioControlNodeTypeToString (const FluxioControlNodeType &type)
FluxioNodeType	FluxioNodeTypeFromString (const std::string &type)
std::optional< std::string >	FluxioNodeTypeToString (const FluxioNodeType &type)
void	fromIce (const core::dto::Execution::Status &status, ActiveOrTerminatedSkillStatus &ret)
void	fromIce (const core::dto::Execution::Status &status, SkillStatus &ret)
void	fromIce (const core::dto::Execution::Status &status, TerminatedSkillStatus &ret)
ActiveOrTerminatedSkillStatus	mergeSkillStatuseses (const ActiveOrTerminatedSkillStatus t1, const ActiveOrTerminatedSkillStatus t2)
TerminatedSkillStatus	mergeSkillStatuseses (const TerminatedSkillStatus t1, const TerminatedSkillStatus t2)
std::ostream &	operator<< (std::ostream &os, const ProviderID &id)
std::ostream &	operator<< (std::ostream &os, const SkillID &id)
void	toIce (core::dto::Execution::Status &ret, const ActiveOrTerminatedSkillStatus &status)
void	toIce (core::dto::Execution::Status &ret, const SkillStatus &status)
void	toIce (core::dto::Execution::Status &ret, const TerminatedSkillStatus &status)
SkillStatus	toSkillStatus (const ActiveOrTerminatedSkillStatus &d)
SkillStatus	toSkillStatus (const TerminatedSkillStatus &d)

Variables
const SkillDescription	BringObjectToHumanDesc
const SkillDescription	GraspObjectSkillDesc
template<class T >
concept	isSkill = std::is_base_of<Skill, T>::value
template<class T >
concept	isSkillBlueprint = std::is_base_of<SkillBlueprint, T>::value
template<class T >
concept	isSkillDescription = std::is_base_of<SkillDescription, T>::value

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Fabian Reister ( fabian dot reister at kit dot edu )

Date

2022

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Enumeration Type Documentation

ActiveOrTerminatedSkillStatus

enum ActiveOrTerminatedSkillStatus

strong

Enumerator
Running
Failed
Succeeded
Aborted

Definition at line 26 of file SkillStatusUpdate.h.

FluxioControlNodeType

enum FluxioControlNodeType

strong

Enumerator
UNKNOWN
SPLITTER
AND_MERGER

Definition at line 14 of file FluxioControlNode.h.

FluxioNodeType

enum FluxioNodeType

strong

Enumerator
UNKNOWN
PARAMETER
CONTROL
SUBSKILL

Definition at line 15 of file FluxioNode.h.

SkillStatus

enum SkillStatus

strong

Enumerator
Constructing
Initializing
Preparing
Running
Failed
Succeeded
Aborted

Definition at line 15 of file SkillStatusUpdate.h.

TerminatedSkillStatus

enum TerminatedSkillStatus

strong

Enumerator
Failed
Succeeded
Aborted

Definition at line 34 of file SkillStatusUpdate.h.

Function Documentation

FluxioControlNodeTypeFromString()

FluxioControlNodeType armarx::skills::FluxioControlNodeTypeFromString

(

const std::string &

type

)

Definition at line 22 of file FluxioControlNode.cpp.

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FluxioControlNodeTypeToString()

std::optional<std::string> armarx::skills::FluxioControlNodeTypeToString

(

const FluxioControlNodeType &

type

)

Definition at line 40 of file FluxioControlNode.cpp.

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FluxioNodeTypeFromString()

FluxioNodeType FluxioNodeTypeFromString

(

const std::string &

type

)

Definition at line 19 of file FluxioNode.cpp.

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FluxioNodeTypeToString()

std::optional< std::string > FluxioNodeTypeToString

(

const FluxioNodeType &

type

)

Definition at line 41 of file FluxioNode.cpp.

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fromIce() [1/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		ActiveOrTerminatedSkillStatus &	ret
	)

Definition at line 186 of file SkillStatusUpdate.cpp.

fromIce() [2/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		SkillStatus &	ret
	)

Definition at line 215 of file SkillStatusUpdate.cpp.

fromIce() [3/3]

void fromIce	(	const core::dto::Execution::Status &	status,
		TerminatedSkillStatus &	ret
	)

Definition at line 158 of file SkillStatusUpdate.cpp.

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mergeSkillStatuseses() [1/2]

ActiveOrTerminatedSkillStatus mergeSkillStatuseses	(	const ActiveOrTerminatedSkillStatus	t1,
		const ActiveOrTerminatedSkillStatus	t2
	)

Definition at line 61 of file SkillStatusUpdate.cpp.

mergeSkillStatuseses() [2/2]

TerminatedSkillStatus mergeSkillStatuseses	(	const TerminatedSkillStatus	t1,
		const TerminatedSkillStatus	t2
	)

Definition at line 42 of file SkillStatusUpdate.cpp.

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operator<<() [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const ProviderID &	id
	)

Definition at line 63 of file ProviderID.cpp.

operator<<() [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const SkillID &	id
	)

Definition at line 101 of file SkillID.cpp.

toIce() [1/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const ActiveOrTerminatedSkillStatus &	status
	)

Definition at line 119 of file SkillStatusUpdate.cpp.

toIce() [2/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const SkillStatus &	status
	)

Definition at line 89 of file SkillStatusUpdate.cpp.

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toIce() [3/3]

void toIce	(	core::dto::Execution::Status &	ret,
		const TerminatedSkillStatus &	status
	)

Definition at line 140 of file SkillStatusUpdate.cpp.

toSkillStatus() [1/2]

SkillStatus toSkillStatus

(

const ActiveOrTerminatedSkillStatus &

d

)

Definition at line 10 of file SkillStatusUpdate.cpp.

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toSkillStatus() [2/2]

SkillStatus toSkillStatus

(

const TerminatedSkillStatus &

d

)

Definition at line 27 of file SkillStatusUpdate.cpp.

Variable Documentation

BringObjectToHumanDesc

const SkillDescription BringObjectToHumanDesc

Initial value:

=
        SkillDescription{"BringObjectToHuman",
                         "Bring an object to some location",
                         {},
                         armarx::Duration::MilliSeconds(60000),
                         nullptr}

Definition at line 5 of file BringObjectToHuman.cpp.

GraspObjectSkillDesc

const SkillDescription GraspObjectSkillDesc

Initial value:

=
        SkillDescription{"SimpleHandoverObject",
                         "Handover an object already in hand of robot",
                         {},
                         armarx::Duration::MilliSeconds(40000),
                         grasp_object::arondto::PutdownObjectAcceptedType::ToAronType()}

Definition at line 11 of file SimpleHandoverObject.cpp.

isSkill

concept isSkill = std::is_base_of<Skill, T>::value

Definition at line 352 of file Skill.h.

isSkillBlueprint

concept isSkillBlueprint = std::is_base_of<SkillBlueprint, T>::value

Definition at line 65 of file SkillFactory.h.

isSkillDescription

concept isSkillDescription = std::is_base_of<SkillDescription, T>::value

Definition at line 37 of file SkillDescription.h.