RobotUnitComponentPlugin Class Reference

#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>

Inheritance diagram for RobotUnitComponentPlugin:

Public Member Functions
template<class PrxT>
PrxT	createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, bool doManageController=true)
NJointControllerInterfacePrx	createNJointController (const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, bool doManageController=true)
template<class PrxT>
void	createNJointController (PrxT &prx, const std::string &className, const std::string &instanceName, const NJointControllerConfigPtr &config, bool doManageController=true)
RobotUnitInterfacePrx	getRobotUnit () const
const std::string &	getRobotUnitName () const
bool	hasRobotUnitName () const
void	manageController (const NJointControllerInterfacePrx &ctrl)
void	manageController (const std::string &ctrl)
void	postCreatePropertyDefinitions (PropertyDefinitionsPtr &properties) override
void	postOnDisconnectComponent () override
void	preOnConnectComponent () override
void	preOnInitComponent () override
bool	robotUnitIsRunning () const
void	setRobotUnitAsOptionalDependency (bool isOptional=true)
void	setRobotUnitName (const std::string &name)
RobotUnitDataStreamingReceiverPtr	startDataStreaming (const RobotUnitDataStreaming::Config &cfg)
void	waitUntilRobotUnitIsRunning (const std::function< bool()> &termCond=[] { return false;})
	Waits until the robot unit is running.
Public Member Functions inherited from ManagedIceObjectPlugin
ManagedIceObject &	parent ()
template<class T>
T &	parent ()
const ManagedIceObject &	parent () const
template<class T>
const T &	parent () const
template<class T>
bool	parentDerives () const
virtual	~ManagedIceObjectPlugin ()=default

Additional Inherited Members
Protected Member Functions inherited from ComponentPlugin
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	ManagedIceObjectPlugin (ManagedIceObject &parent, std::string pre)
Protected Member Functions inherited from ManagedIceObjectPlugin
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)
void	addPluginDependency (ManagedIceObjectPlugin *dependedOn)
void	addPluginDependency (std::experimental::observer_ptr< ManagedIceObjectPlugin > dependedOn)
std::string	makePropertyName (const std::string &name)
	ManagedIceObjectPlugin (ManagedIceObject &parent, std::string pre)
virtual void	postOnConnectComponent ()
virtual void	postOnExitComponent ()
virtual void	postOnInitComponent ()
const std::string &	prefix () const
virtual void	preOnDisconnectComponent ()
virtual void	preOnExitComponent ()

Member Function Documentation

createNJointController() [1/3]

template<class PrxT>

PrxT createNJointController ( const std::string & className, const std::string & instanceName, const NJointControllerConfigPtr & config, bool doManageController = true )

inline

createNJointController() [2/3]

NJointControllerInterfacePrx createNJointController	(	const std::string &	className,
		const std::string &	instanceName,
		const NJointControllerConfigPtr &	config,
		bool	doManageController = true )

createNJointController() [3/3]

template<class PrxT>

void createNJointController ( PrxT & prx, const std::string & className, const std::string & instanceName, const NJointControllerConfigPtr & config, bool doManageController = true )

inline

getRobotUnit()

RobotUnitInterfacePrx getRobotUnit

(

)

const

getRobotUnitName()

const std::string & getRobotUnitName

(

)

const

hasRobotUnitName()

bool hasRobotUnitName

(

)

const

manageController() [1/2]

void manageController

(

const NJointControllerInterfacePrx &

ctrl

)

manageController() [2/2]

void manageController

(

const std::string &

ctrl

)

postCreatePropertyDefinitions()

void postCreatePropertyDefinitions ( armarx::PropertyDefinitionsPtr & properties )

overridevirtual

Reimplemented from ComponentPlugin.

postOnDisconnectComponent()

void postOnDisconnectComponent ( )

overridevirtual

Reimplemented from ManagedIceObjectPlugin.

preOnConnectComponent()

void preOnConnectComponent ( )

overridevirtual

Reimplemented from ManagedIceObjectPlugin.

preOnInitComponent()

void preOnInitComponent ( )

overridevirtual

Reimplemented from ManagedIceObjectPlugin.

robotUnitIsRunning()

bool robotUnitIsRunning

(

)

const

setRobotUnitAsOptionalDependency()

void setRobotUnitAsOptionalDependency

(

bool

isOptional = true

)

setRobotUnitName()

void setRobotUnitName

(

const std::string &

name

)

startDataStreaming()

RobotUnitDataStreamingReceiverPtr startDataStreaming

(

const RobotUnitDataStreaming::Config &

cfg

)

waitUntilRobotUnitIsRunning()

void waitUntilRobotUnitIsRunning

(

const std::function< bool()> &

termCond = [] { return false; }

)

Waits until the robot unit is running.

Although the robot unit proxy might be initialized (

See also

getRobotUnit()), the robot unit might not be fully initialized.

Parameters

termCond

Termination condition. If it evaluates to true, waitUntilRobotUnitIsRunning returns without waiting for the robot unit to become available.

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

• RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
• RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp