Skill Class Reference

Base class for skills. More...

#include <RobotAPI/libraries/skills/core/Skill.h>

Inherits Logging, and SkillExecutorInterface.

Inherited by SpecializedSkill< arondto::CloseHandParams >, SpecializedSkill< arondto::ExecuteTrajectoryParams >, SpecializedSkill< arondto::GuidingWithCollAvoidanceParams >, SpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >, SpecializedSkill< arondto::MoveJointsToPositionParams >, SpecializedSkill< arondto::MoveJointsWithVelocityParams >, SpecializedSkill< arondto::OpenHandParams >, SpecializedSkill< arondto::RelaxHandParams >, SpecializedSkill< arondto::ShapeHandParams >, SpecializedSkill< arondto::SwitchCoordinationModeParams >, SpecializedSkill< armarx::control::skills::params::ZeroTorque >, SpecializedSkill< arondto::NamedConfigurationParams >, SpecializedSkill< arondto::FollowerParams >, SpecializedSkill< arondto::GuideHumanToRoomParams >, SpecializedSkill< arondto::NavigateToParams >, SpecializedSkill< arondto::NavigateToAlternativesParams >, SpecializedSkill< arondto::NavigateToChargingStationParams >, SpecializedSkill< arondto::NavigateToLocationParams >, SpecializedSkill< arondto::NavigateToNamedLocationParams >, SpecializedSkill< arondto::RotateTowardsLocationParams >, SpecializedSkill< arondto::BringObjectToLandmarkAcceptedType >, SpecializedSkill< hand_control::arondto::CloseHandAcceptedType >, SpecializedSkill< grasp_object::arondto::CloseHandAndAttachAcceptedType >, SpecializedSkill< grasp_object::arondto::ExecuteGraspAcceptedType >, SpecializedSkill< grasp_object::arondto::ExecutePutdownAcceptedType >, SpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType >, SpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >, SpecializedSkill< joint_control::arondto::MoveJointsWithVelocityAcceptedType >, SpecializedSkill< grasp_object::arondto::MovePlatformAfterGraspAcceptedType >, SpecializedSkill< grasp_object::arondto::MovePlatformAfterPutdownAcceptedType >, SpecializedSkill< grasp_object::arondto::MovePlatformForGraspAcceptedType >, SpecializedSkill< grasp_object::arondto::MovePlatformForPutdownAcceptedType >, SpecializedSkill< platform_control::arondto::MovePlatformToLandmarkAcceptedType >, SpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >, SpecializedSkill< tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >, SpecializedSkill< hand_control::arondto::OpenHandAcceptedType >, SpecializedSkill< grasp_object::arondto::OpenHandAndDetachAcceptedType >, SpecializedSkill< grasp_object::arondto::PutdownObjectAcceptedType >, SpecializedSkill< visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >, SpecializedSkill< visual_search::arondto::WhatCanYouSeeNowAcceptedType >, SpecializedSkill< skills::Example::ChainingAsyncSkillParams >, SpecializedSkill< skills::Example::ChainingSkillParams >, SpecializedSkill< skills::Example::DataPassingParams >, SpecializedSkill< skills::Example::HelloWorldAcceptedType >, SpecializedSkill< skills::Example::RecursiveSkillParams >, SpecializedSkill< armarx::skills::Example::SleepAcceptedType >, SpecializedSkill< arondto::LookAtParams >, SpecializedSkill< arondto::LookAtArticulatedObjectFrameParams >, SpecializedSkill< arondto::LookAtHumanFaceParams >, SpecializedSkill< arondto::LookAtHumanHandParams >, SpecializedSkill< arondto::LookAtObjectParams >, SpecializedSkill< arondto::LookDirectionParams >, SpecializedSkill< arondto::LookForObjectsParams >, SpecializedSkill< arondto::ResetGazeTargetsParams >, SpecializedSkill< arondto::ScanLocationParams >, SpecializedSkill< arondto::ScanLocationsForObjectParams >, SpecializedSkill< arondto::SetCustomGazeTargetParams >, LambdaSkill, PeriodicSkill, SimpleSkill, and SpecializedSkill< AronT >.

Classes
struct	ExitResult
	A result struct for skill exit function. More...
struct	InitResult
	A result struct for skill initialization. More...
struct	MainResult
	A result struct for th main method of a skill. More...
struct	PrepareResult
	A result struct for skill preparing. More...

Public Types
using	CallbackT

Public Member Functions
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId)
	Call a subskill with the given ID and its default parameters.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const aron::data::DictPtr &parameters)
	Call a subskill with the given ID and parameters.
template<class ParameterT>
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, const ParameterT &parameters)
	Call a subskill with the given ID and parameters.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters.
template<class ParameterT>
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
	Call a subskill with parameters based on the default parameters.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy)
	Call a subskill with default parameters and block until the subskill terminates.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
	Call a subskill with given parameters and block until the subskill terminates.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (SkillProxyPtr proxy)
	Call a subskill with default parameters and block until the subskill terminates.
std::optional< TerminatedSkillStatusUpdate >	callSubskill (SkillProxyPtr proxy, const aron::data::DictPtr &parameters)
	Call a subskill with given parameters and block until the subskill terminates.
SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId)
SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, const aron::data::DictPtr &parameters)
SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, std::function< void(aron::data::DictPtr &)> parametersFunction)
template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
	Similar to callSubskill but non-blocking.
template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (const SkillProxy &proxy, std::function< void(ParameterT &parameters)> parametersFunction)
	Similar to callSubskill but non-blocking.
SkillExecutionHandlePtr	callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy)
	Similar to callSubskill but non-blocking.
SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy, const aron::data::DictPtr &parameters)
	Similar to callSubskill but non-blocking.
template<class ParameterT>
SkillExecutionHandlePtr	callSubskillAsync (SkillProxyPtr proxy, std::function< void(ParameterT &parameters)> parametersFunction)
ExitResult	exitSkill ()
	Exit method of a skill.
aron::data::DictPtr	getParameters () const
	Get the parameters of a skill that have been set so far.
SkillDescription	getSkillDescription () const
	Get the description of a skill.
SkillID	getSkillId () const
	Get the id of the skill.
InitResult	initSkill ()
	Initialization of a skill.
void	installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
	install a condition which is frequently checked from the conditionCheckingThread
MainResult	mainOfSkill ()
	Main method of a skill.
void	notifySkillToStop ()
	Notify the skill from extern to stop.
PrepareResult	prepareSkill ()
	Prepare a skill once.
void	setCallback (const CallbackT &callback)
void	setExecutorName (const std::string &executorName)
void	setManager (const manager::dti::SkillManagerInterfacePrx &manager)
void	setParameters (const aron::data::DictPtr &d)
	Hard set the parameters, ignoring everything that has been set or merged before.
void	setProviderId (const skills::ProviderID &pid)
	Set the provider id of the description of the skill.
bool	shouldSkillTerminate () const override
	Returns whether the skill should terminate as soon as possible.
	Skill ()=delete
	We completely remove the default constructor!
	Skill (const SkillDescription &)
	Constructor of a skill for inheritance. Every skill must have a skill description.
void	updateParameters (const aron::data::DictPtr &d)
	Merge parameters to the local parameters of the skill.
void	updateSubSkillStatus (const skills::SkillStatusUpdate &statusUpdate)
void	waitFor (const armarx::Duration &duration, const armarx::Duration &interval=armarx::Duration::MilliSeconds(200)) const override
	~Skill () override
	Virtual destructor of a skill.
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 Attributes
armarx::core::time::DateTime	exited = armarx::core::time::DateTime::Invalid()
armarx::core::time::DateTime	started = armarx::core::time::DateTime::Now()

Protected Member Functions
virtual ExitResult	exit ()
	Override this method with the actual implementation.
virtual InitResult	init ()
	Override this method with the actual implementation.
virtual MainResult	main ()
	Override this method with the actual implementation.
void	notifyTimeoutReached ()
virtual void	onStopRequested ()
virtual void	onTimeoutReached ()
	Override these methods if you want to do something special when notification comes.
virtual PrepareResult	prepare ()
	Override this method with the actual implementation.
void	throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="") const
void	throwIfSkillShouldTerminate (const std::string &abortedMessage="") const
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 Member Functions inherited from SkillExecutorInterface
virtual	~SkillExecutorInterface ()=default

Static Protected Member Functions
static MainResult	MakeAbortedResult (aron::data::DictPtr data=nullptr)
static MainResult	MakeFailedResult (aron::data::DictPtr data=nullptr)
static MainResult	MakeSucceededResult (aron::data::DictPtr data=nullptr)

Protected Attributes
CallbackT	callback = CallbackT()
std::atomic_bool	constructing = true
SkillDescription	description
std::string	executorName = ""
std::atomic_bool	exiting = false
std::atomic_bool	finished = false
std::atomic_bool	initializing = false
manager::dti::SkillManagerInterfacePrx	manager = nullptr
armarx::aron::data::DictPtr	parameters = nullptr
std::mutex	parametersMutex
std::atomic_bool	preparing = false
std::atomic_bool	running = false
std::atomic_bool	stopped = false
armem::task_outcome::TaskOutcome	taskOutcome_
std::atomic_bool	timeoutReached = false
Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel
SpamFilterDataPtr	spamFilter
LogTag	tag

Detailed Description

Base class for skills.

Member Typedef Documentation

CallbackT

using CallbackT

Initial value:

 
                std::function<void(const SkillStatus s, const armarx::aron::data::DictPtr&)>

Constructor & Destructor Documentation

Skill() [1/2]

Skill ( )

delete

We completely remove the default constructor!

A skill without a desciption cannot exist

Skill() [2/2]

Skill

(

const SkillDescription &

desc

)

Constructor of a skill for inheritance. Every skill must have a skill description.

~Skill()

~Skill ( )

override

Virtual destructor of a skill.

Member Function Documentation

callSubskill() [1/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill

(

const SkillID &

skillId

)

Call a subskill with the given ID and its default parameters.

Parameters

skillId

The subskill's ID.

Returns

The terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [2/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill	(	const SkillID &	skillId,
		const aron::data::DictPtr &	parameters )

Call a subskill with the given ID and parameters.

Parameters

skillId	The subskill's ID.
parameters	The parameters.

Returns

The terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [3/9]

template<class ParameterT>

std::optional< TerminatedSkillStatusUpdate > callSubskill ( const SkillID & skillId, const ParameterT & parameters )

inline

Call a subskill with the given ID and parameters.

Parameters

skillId	The subskill's ID.
parameters	The parameters.

Returns

The terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [4/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill	(	const SkillID &	skillId,
		std::function< void(aron::data::DictPtr &parameters)>	parametersFunction )

Call a subskill with parameters based on the default parameters.

Creates the skill's default parameters, and calls parametersFunction on them. This allows the caller to modify the parameters before executing the skill.

Parameters

skillId	The subskill's ID.
parametersFunction	Function which edits the parameters.

Returns

The terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [5/9]

template<class ParameterT>

std::optional< TerminatedSkillStatusUpdate > callSubskill ( const SkillID & skillId, std::function< void(ParameterT &parameters)> parametersFunction )

inline

Call a subskill with parameters based on the default parameters.

Creates the skill's default parameters, converts them to ParameterT, and calls parametersFunction on them. This allows the caller to modify the parameters as ParameterT before executing the skill.

Parameters

skillId	The subskill's ID.
parametersFunction	Function which edits the parameters.

Returns

The terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [6/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill ( const skills::SkillProxy & proxy )

inline

Call a subskill with default parameters and block until the subskill terminates.

If you call a subskill this way it will be stopped if the current skill stops.

Parameters

proxy

Skill proxy.

Returns

Terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [7/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill ( const skills::SkillProxy & proxy, const aron::data::DictPtr & parameters )

inline

Call a subskill with given parameters and block until the subskill terminates.

Parameters

proxy	Skill proxy.
parameters	Parameters passed to the skill.

Returns

Terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [8/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill

(

SkillProxyPtr

proxy

)

Call a subskill with default parameters and block until the subskill terminates.

If you call a subskill this way it will be stopped if the current skill stops.

Parameters

proxy

Skill proxy.

Returns

Terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskill() [9/9]

std::optional< TerminatedSkillStatusUpdate > callSubskill	(	SkillProxyPtr	proxy,
		const aron::data::DictPtr &	parameters )

Call a subskill with given parameters and block until the subskill terminates.

Parameters

proxy	Skill proxy.
parameters	Parameters passed to the skill.

Returns

Terminated skill status update.

Exceptions

armarx::skills::error::SkillAbortedException	If the calling skill has been aborted.
armarx::skills::error::SkillFailedException	If the calling skill's timeout was reached.

callSubskillAsync() [1/9]

SkillExecutionHandlePtr callSubskillAsync ( const SkillID & skillId )

nodiscard

callSubskillAsync() [2/9]

SkillExecutionHandlePtr callSubskillAsync ( const SkillID & skillId, const aron::data::DictPtr & parameters )

nodiscard

callSubskillAsync() [3/9]

SkillExecutionHandlePtr callSubskillAsync ( const SkillID & skillId, std::function< void(aron::data::DictPtr &)> parametersFunction )

nodiscard

callSubskillAsync() [4/9]

template<class ParameterT>

SkillExecutionHandlePtr callSubskillAsync ( const SkillID & skillId, std::function< void(ParameterT &parameters)> parametersFunction )

inlinenodiscard

Similar to callSubskill but non-blocking.

callSubskillAsync() [5/9]

template<class ParameterT>

SkillExecutionHandlePtr callSubskillAsync ( const SkillProxy & proxy, std::function< void(ParameterT &parameters)> parametersFunction )

inline

Similar to callSubskill but non-blocking.

callSubskillAsync() [6/9]

SkillExecutionHandlePtr callSubskillAsync ( const skills::SkillProxy & proxy, const aron::data::DictPtr & parameters )

inline

callSubskillAsync() [7/9]

SkillExecutionHandlePtr callSubskillAsync ( Skill::SkillProxyPtr prx )

nodiscard

Similar to callSubskill but non-blocking.

callSubskillAsync() [8/9]

SkillExecutionHandlePtr callSubskillAsync ( Skill::SkillProxyPtr prx, const aron::data::DictPtr & parameters )

nodiscard

Similar to callSubskill but non-blocking.

callSubskillAsync() [9/9]

template<class ParameterT>

SkillExecutionHandlePtr callSubskillAsync ( SkillProxyPtr proxy, std::function< void(ParameterT &parameters)> parametersFunction )

inline

exit()

Skill::ExitResult exit ( )

protectedvirtual

Override this method with the actual implementation.

Reimplemented in SimpleSkill, SimpleSpecializedSkill< AronT >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >, SimpleSpecializedSkill< armarx::skills::Example::SleepAcceptedType >, SimpleSpecializedSkill< arondto::BringObjectToLandmarkAcceptedType >, SimpleSpecializedSkill< arondto::ExecuteTrajectoryParams >, SimpleSpecializedSkill< arondto::FollowerParams >, SimpleSpecializedSkill< arondto::GuideHumanToRoomParams >, SimpleSpecializedSkill< arondto::GuidingWithCollAvoidanceParams >, SimpleSpecializedSkill< arondto::LookAtArticulatedObjectFrameParams >, SimpleSpecializedSkill< arondto::LookAtHumanFaceParams >, SimpleSpecializedSkill< arondto::LookAtHumanHandParams >, SimpleSpecializedSkill< arondto::LookAtObjectParams >, SimpleSpecializedSkill< arondto::LookAtParams >, SimpleSpecializedSkill< arondto::LookDirectionParams >, SimpleSpecializedSkill< arondto::LookForObjectsParams >, SimpleSpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >, SimpleSpecializedSkill< arondto::MoveJointsToPositionParams >, SimpleSpecializedSkill< arondto::MoveJointsWithVelocityParams >, SimpleSpecializedSkill< arondto::NamedConfigurationParams >, SimpleSpecializedSkill< arondto::NavigateToAlternativesParams >, SimpleSpecializedSkill< arondto::NavigateToChargingStationParams >, SimpleSpecializedSkill< arondto::NavigateToLocationParams >, SimpleSpecializedSkill< arondto::NavigateToNamedLocationParams >, SimpleSpecializedSkill< arondto::NavigateToParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::RelaxHandParams >, SimpleSpecializedSkill< arondto::ResetGazeTargetsParams >, SimpleSpecializedSkill< arondto::RotateTowardsLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationsForObjectParams >, SimpleSpecializedSkill< arondto::SetCustomGazeTargetParams >, SimpleSpecializedSkill< arondto::SwitchCoordinationModeParams >, SimpleSpecializedSkill< grasp_object::arondto::CloseHandAndAttachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecuteGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecutePutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::OpenHandAndDetachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::PutdownObjectAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::CloseHandAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::OpenHandAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsWithVelocityAcceptedType >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToLandmarkAcceptedType >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< skills::Example::ChainingAsyncSkillParams >, SimpleSpecializedSkill< skills::Example::ChainingSkillParams >, SimpleSpecializedSkill< skills::Example::DataPassingParams >, SimpleSpecializedSkill< skills::Example::HelloWorldAcceptedType >, SimpleSpecializedSkill< skills::Example::RecursiveSkillParams >, SimpleSpecializedSkill< tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >, SimpleSpecializedSkill< visual_search::arondto::WhatCanYouSeeNowAcceptedType >, and SimpleSpecializedSkill< visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >.

exitSkill()

Skill::ExitResult exitSkill

(

)

Exit method of a skill.

It is guaranteed that exit is always called (unless there is a segfault or similar)

getParameters()

aron::data::DictPtr getParameters

(

)

const

Get the parameters of a skill that have been set so far.

getSkillDescription()

SkillDescription getSkillDescription

(

)

const

Get the description of a skill.

getSkillId()

SkillID getSkillId

(

)

const

Get the id of the skill.

init()

Skill::InitResult init ( )

protectedvirtual

Override this method with the actual implementation.

Reimplemented in SimpleSkill, SimpleSpecializedSkill< AronT >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >, SimpleSpecializedSkill< armarx::skills::Example::SleepAcceptedType >, SimpleSpecializedSkill< arondto::BringObjectToLandmarkAcceptedType >, SimpleSpecializedSkill< arondto::ExecuteTrajectoryParams >, SimpleSpecializedSkill< arondto::FollowerParams >, SimpleSpecializedSkill< arondto::GuideHumanToRoomParams >, SimpleSpecializedSkill< arondto::GuidingWithCollAvoidanceParams >, SimpleSpecializedSkill< arondto::LookAtArticulatedObjectFrameParams >, SimpleSpecializedSkill< arondto::LookAtHumanFaceParams >, SimpleSpecializedSkill< arondto::LookAtHumanHandParams >, SimpleSpecializedSkill< arondto::LookAtObjectParams >, SimpleSpecializedSkill< arondto::LookAtParams >, SimpleSpecializedSkill< arondto::LookDirectionParams >, SimpleSpecializedSkill< arondto::LookForObjectsParams >, SimpleSpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >, SimpleSpecializedSkill< arondto::MoveJointsToPositionParams >, SimpleSpecializedSkill< arondto::MoveJointsWithVelocityParams >, SimpleSpecializedSkill< arondto::NamedConfigurationParams >, SimpleSpecializedSkill< arondto::NavigateToAlternativesParams >, SimpleSpecializedSkill< arondto::NavigateToChargingStationParams >, SimpleSpecializedSkill< arondto::NavigateToLocationParams >, SimpleSpecializedSkill< arondto::NavigateToNamedLocationParams >, SimpleSpecializedSkill< arondto::NavigateToParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::RelaxHandParams >, SimpleSpecializedSkill< arondto::ResetGazeTargetsParams >, SimpleSpecializedSkill< arondto::RotateTowardsLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationsForObjectParams >, SimpleSpecializedSkill< arondto::SetCustomGazeTargetParams >, SimpleSpecializedSkill< arondto::SwitchCoordinationModeParams >, SimpleSpecializedSkill< grasp_object::arondto::CloseHandAndAttachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecuteGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecutePutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::OpenHandAndDetachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::PutdownObjectAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::CloseHandAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::OpenHandAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsWithVelocityAcceptedType >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToLandmarkAcceptedType >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< skills::Example::ChainingAsyncSkillParams >, SimpleSpecializedSkill< skills::Example::ChainingSkillParams >, SimpleSpecializedSkill< skills::Example::DataPassingParams >, SimpleSpecializedSkill< skills::Example::HelloWorldAcceptedType >, SimpleSpecializedSkill< skills::Example::RecursiveSkillParams >, SimpleSpecializedSkill< tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >, SimpleSpecializedSkill< visual_search::arondto::WhatCanYouSeeNowAcceptedType >, and SimpleSpecializedSkill< visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >.

initSkill()

Skill::InitResult initSkill

(

)

Initialization of a skill.

Called directly after construction. If this method does not return SUCCEEDED the skill execution is failed.

installConditionWithCallback()

void installConditionWithCallback	(	std::function< bool()> &&	f,
		std::function< void()> &&	cb )

install a condition which is frequently checked from the conditionCheckingThread

main()

Skill::MainResult main ( )

protectedvirtual

Override this method with the actual implementation.

The callback is for status updates to the calling instance

Reimplemented in PointAt, RetrieveHand, PeriodicSkill, PeriodicSpecializedSkill< AronT >, SimpleSkill, SimpleSpecializedSkill< AronT >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::armarx::control::collision_avoidance::arondto::CollisionAvoidanceParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanPoseWithFaceRecognitionParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< ::VisionX::person_simulator::skills::arondto::CreateHumanProfileParams >, SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >, SimpleSpecializedSkill< armarx::skills::Example::SleepAcceptedType >, SimpleSpecializedSkill< arondto::BringObjectToLandmarkAcceptedType >, SimpleSpecializedSkill< arondto::ExecuteTrajectoryParams >, SimpleSpecializedSkill< arondto::FollowerParams >, SimpleSpecializedSkill< arondto::GuideHumanToRoomParams >, SimpleSpecializedSkill< arondto::GuidingWithCollAvoidanceParams >, SimpleSpecializedSkill< arondto::LookAtArticulatedObjectFrameParams >, SimpleSpecializedSkill< arondto::LookAtHumanFaceParams >, SimpleSpecializedSkill< arondto::LookAtHumanHandParams >, SimpleSpecializedSkill< arondto::LookAtObjectParams >, SimpleSpecializedSkill< arondto::LookAtParams >, SimpleSpecializedSkill< arondto::LookDirectionParams >, SimpleSpecializedSkill< arondto::LookForObjectsParams >, SimpleSpecializedSkill< arondto::MoveJointsToNamedConfigurationParams >, SimpleSpecializedSkill< arondto::MoveJointsToPositionParams >, SimpleSpecializedSkill< arondto::MoveJointsWithVelocityParams >, SimpleSpecializedSkill< arondto::NamedConfigurationParams >, SimpleSpecializedSkill< arondto::NavigateToAlternativesParams >, SimpleSpecializedSkill< arondto::NavigateToChargingStationParams >, SimpleSpecializedSkill< arondto::NavigateToLocationParams >, SimpleSpecializedSkill< arondto::NavigateToNamedLocationParams >, SimpleSpecializedSkill< arondto::NavigateToParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::PointAtParams >, SimpleSpecializedSkill< arondto::RelaxHandParams >, SimpleSpecializedSkill< arondto::ResetGazeTargetsParams >, SimpleSpecializedSkill< arondto::RotateTowardsLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationParams >, SimpleSpecializedSkill< arondto::ScanLocationsForObjectParams >, SimpleSpecializedSkill< arondto::SetCustomGazeTargetParams >, SimpleSpecializedSkill< arondto::SwitchCoordinationModeParams >, SimpleSpecializedSkill< grasp_object::arondto::CloseHandAndAttachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecuteGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::ExecutePutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::GraspObjectAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformAfterPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForGraspAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::MovePlatformForPutdownAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::OpenHandAndDetachAcceptedType >, SimpleSpecializedSkill< grasp_object::arondto::PutdownObjectAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::CloseHandAcceptedType >, SimpleSpecializedSkill< hand_control::arondto::OpenHandAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsToPositionAcceptedType >, SimpleSpecializedSkill< joint_control::arondto::MoveJointsWithVelocityAcceptedType >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< Params >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToLandmarkAcceptedType >, SimpleSpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< RetrieveHandParams >, SimpleSpecializedSkill< skills::Example::ChainingAsyncSkillParams >, SimpleSpecializedSkill< skills::Example::ChainingSkillParams >, SimpleSpecializedSkill< skills::Example::DataPassingParams >, SimpleSpecializedSkill< skills::Example::HelloWorldAcceptedType >, SimpleSpecializedSkill< skills::Example::RecursiveSkillParams >, SimpleSpecializedSkill< tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >, SimpleSpecializedSkill< visual_search::arondto::WhatCanYouSeeNowAcceptedType >, and SimpleSpecializedSkill< visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType >.

mainOfSkill()

Skill::MainResult mainOfSkill

(

)

Main method of a skill.

MakeAbortedResult()

Skill::MainResult MakeAbortedResult ( aron::data::DictPtr data = nullptr )

staticprotected

MakeFailedResult()

Skill::MainResult MakeFailedResult ( aron::data::DictPtr data = nullptr )

staticprotected

MakeSucceededResult()

Skill::MainResult MakeSucceededResult ( aron::data::DictPtr data = nullptr )

staticprotected

notifySkillToStop()

void notifySkillToStop

(

)

Notify the skill from extern to stop.

notifyTimeoutReached()

void notifyTimeoutReached ( )

protected

onStopRequested()

void onStopRequested ( )

protectedvirtual

Reimplemented in PointAt, RetrieveHand, and Sleep.

onTimeoutReached()

void onTimeoutReached ( )

protectedvirtual

Override these methods if you want to do something special when notification comes.

Reimplemented in PointAt.

prepare()

Skill::PrepareResult prepare ( )

protectedvirtual

Override this method with the actual implementation.

prepareSkill()

Skill::PrepareResult prepareSkill

(

)

Prepare a skill once.

This method is called in a loop as long as it returns RUNNING If the loop does not terminate with SUCCEDED the skill execution is failed.

setCallback()

void setCallback

(

const CallbackT &

callback

)

setExecutorName()

void setExecutorName

(

const std::string &

executorName

)

setManager()

void setManager

(

const manager::dti::SkillManagerInterfacePrx &

manager

)

setParameters()

void setParameters

(

const aron::data::DictPtr &

d

)

Hard set the parameters, ignoring everything that has been set or merged before.

setProviderId()

void setProviderId

(

const skills::ProviderID &

pid

)

Set the provider id of the description of the skill.

This method is called when creating a skill in a skill provider

shouldSkillTerminate()

bool shouldSkillTerminate ( ) const

overridevirtual

Returns whether the skill should terminate as soon as possible.

Implements SkillExecutorInterface.

throwIfSkillShouldTerminate() [1/2]

void throwIfSkillShouldTerminate ( const std::function< void()> & do_before, const std::string & abortedMessage = "" ) const

protected

throwIfSkillShouldTerminate() [2/2]

void throwIfSkillShouldTerminate ( const std::string & abortedMessage = "" ) const

protected

updateParameters()

void updateParameters

(

const aron::data::DictPtr &

d

)

Merge parameters to the local parameters of the skill.

updateSubSkillStatus()

void updateSubSkillStatus

(

const skills::SkillStatusUpdate &

statusUpdate

)

waitFor()

void waitFor ( const armarx::Duration & duration, const armarx::Duration & interval = armarx::Duration::MilliSeconds(200) ) const

overridevirtual

Implements SkillExecutorInterface.

Member Data Documentation

callback

CallbackT callback = CallbackT()

protected

constructing

std::atomic_bool constructing = true

protected

description

SkillDescription description

protected

executorName

std::string executorName = ""

protected

exited

armarx::core::time::DateTime exited = armarx::core::time::DateTime::Invalid()

exiting

std::atomic_bool exiting = false

protected

finished

std::atomic_bool finished = false

protected

initializing

std::atomic_bool initializing = false

protected

manager

manager::dti::SkillManagerInterfacePrx manager = nullptr

protected

parameters

armarx::aron::data::DictPtr parameters = nullptr

protected

parametersMutex

std::mutex parametersMutex

mutableprotected

preparing

std::atomic_bool preparing = false

protected

running

std::atomic_bool running = false

protected

started

armarx::core::time::DateTime started = armarx::core::time::DateTime::Now()

stopped

std::atomic_bool stopped = false

protected

taskOutcome_

armem::task_outcome::TaskOutcome taskOutcome_

protected

timeoutReached

std::atomic_bool timeoutReached = false

protected

---

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

• RobotAPI/libraries/skills/core/Skill.h
• RobotAPI/libraries/skills/core/Skill.cpp