RobotAPI Components

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Topics
	ArVizExample
	An example for how to visualize 3D elements via the 3D visualization framework ArViz.
	ArVizInteractExample
	An example for how to visualize 3D elements via the 3D visualization framework ArViz.
	ArVizStorage
	The ArViz storage stores visualization elements published by ArViz clients and provides them for visualizing components such as the ArViz gui plugin.
	CyberGloveObserver
	A description of the component CyberGloveObserver.
	DebugDrawerComponent
	Visualizes debug information.
	DebugDrawerToArViz
	A description of the component DebugDrawerToArViz.
	DummyTextToSpeech
	A description of the component DummyTextToSpeech.
	ExampleClient
	An example for an ArMem Memory Client.
	ExampleMemory
	A description of the component ExampleMemory.
	FrameTracking
	A description of the component FrameTracking.
	GamepadControlUnit
	A description of the component GamepadControlUnit.
	GamepadUnit
	A description of the component GamepadUnit.
	GeneralPurposeMemory
	A description of the component GeneralPurposeMemory.
	GraspMemory
	A description of the component GraspMemory.
	HokuyoLaserUnit
	A description of the component HokuyoLaserUnit.
	IndexMemory
	A description of the component IndexMemory.
	InterventionDebugger
	InterventionObserver
	KITHandUnit
	A description of the component KITHandUnit.
	KITProstheticHandObserver
	A description of the component KITProstheticHandObserver.
	KITProstheticHandUnit
	A description of the component KITProstheticHandUnit.
	MemoryNameSystem
	A description of the component MemoryNameSystem.
	MemoryToDebugObserver
	Transfers data from the memory system to the Debug Observer, allowing to visualize them in the Live Plotter.
	MetaWearIMU
	A description of the component MetaWearIMU.
	MultiHandUnit
	A description of the component MultiHandUnit.
	NaturalIKTest
	A description of the component NaturalIKTest.
	ObjectInstanceToIndex
	Links object instances in the "Index/Spatial" and "Index/Named" memory segments.
	ObjectMemory
	A description of the component ObjectMemory.
	ObjectPoseClientExample
	An example showing how to get object poses from the ObjectPoseStorage.
	ObjectPoseProviderExample
	A description of the component ObjectPoseProviderExample.
	OptoForce
	A description of the component OptoForce.
	OptoForceUnit
	A description of the component OptoForceUnit.
	RobotHealth
	A description of the component RobotHealth.
	RobotHealthDummy
	A description of the component RobotHealthDummy.
	RobotNameService
	A description of the component RobotNameService.
	RobotSensorMemory
	A description of the component RobotSensorMemory.
	RobotStateComponent
	Maintains a robot representation based on VirtualRobot (see Simox).
	RobotToArViz
	Visualizes a robot via ArViz.
	Sensor-Actor Unit
	Components that provide interfaces to associated hardware devices.
	Sensor-Actor Unit Observers
	Component monitoring sensor values reported from Sensor-Actor Units.
	Sensor-Actor Unit Simulations
	Simulated Sensor-Actor Units do not connected to any hardware.
	SimpleVirtualRobot
	Simply loads a Simox robot model and commits it to the memory.
	SkillsMemory
	A description of the component SkillsMemory.
	TopicTimingClient
	A description of the component TopicTimingClient.
	TopicTimingServer
	A description of the component TopicTimingServer.
	Utilities
	Utility and helper classes associated with Sensor-Actor Units.
	ViewSelection
	The ViewSelection component controls the head of the robot with inverse kinematics based on the uncertainty of the current requested object locations.
	VirtualRobotReaderExampleClient
	A description of the component VirtualRobotReaderExampleClient.
	VirtualRobotWriterExample
	A description of the component VirtualRobotWriterExample.

Detailed Description

 

Components are the main building blocks of ArmarX and offer services to other applications via Ice. Each component usually implements an interface through which it can be accessed.

There are several types of special components:

• Sensor-Actor Units provide access to certain hardware modalities like sensors or actors.

• Base Sensor-Actor Units provide a base class for the implementation of Sensor-Actor Units, defining a common interface. The ForceTorqueUnit itself for instance is a base class for unit implementations like ForceTorqueUnitSimulation or ForceTorqueUnitArmar4.

• Simulated Sensor-Actor Units are Sensor-Actor Units that do not connect to any hardware, but simulate sensors and actors.

• Observers monitor values published by Sensor-Actor Units and fire events based on installed conditions. There has to be a specific observer implementation for each base unit.