List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Friends
AbstractMotionModel Class Referenceabstract

#include <MemoryX/libraries/motionmodels/AbstractMotionModel.h>

+ Inheritance diagram for AbstractMotionModel:

Public Types

enum  EMotionModelType { eMotionModelStaticObject, eMotionModelRobotHand, eMotionModelAttachedToOtherObject, eMotionModelKBM }
 

Public Member Functions

 AbstractMotionModel (armarx::RobotStateComponentInterfacePrx robotStateProxy)
 
virtual std::string getMotionModelName ()
 
virtual EMotionModelType getMotionModelType ()=0
 
armarx::LinkedPoseBasePtr getPoseAtLastLocalisation (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPose (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertainty (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertaintyAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void savePredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &=Ice::emptyCurrent) override
 

Static Public Member Functions

static EMotionModelType getMotionModelTypeByName (std::string motionModelName)
 

Protected Member Functions

 AbstractMotionModel ()
 
virtual armarx::LinkedPosePtr getPredictedPoseInternal ()=0
 
virtual MultivariateNormalDistributionBasePtr getUncertaintyInternal ()=0
 

Protected Attributes

std::recursive_mutex motionPredictionLock
 

Friends

template<class BaseClass , class VariantClass >
class GenericFactory
 

Detailed Description

Definition at line 39 of file AbstractMotionModel.h.

Member Enumeration Documentation

◆ EMotionModelType

enum EMotionModelType
Enumerator
eMotionModelStaticObject 
eMotionModelRobotHand 
eMotionModelAttachedToOtherObject 
eMotionModelKBM 

Definition at line 42 of file AbstractMotionModel.h.

Constructor & Destructor Documentation

◆ AbstractMotionModel() [1/2]

AbstractMotionModel ( armarx::RobotStateComponentInterfacePrx  robotStateProxy)

Definition at line 6 of file AbstractMotionModel.cpp.

◆ AbstractMotionModel() [2/2]

AbstractMotionModel ( )
protected

Definition at line 130 of file AbstractMotionModel.cpp.

Member Function Documentation

◆ getMotionModelName()

std::string getMotionModelName ( )
virtual

Definition at line 85 of file AbstractMotionModel.cpp.

◆ getMotionModelType()

virtual EMotionModelType getMotionModelType ( )
pure virtual

Implemented in MotionModelKBM, MotionModelAttachedToOtherObject, MotionModelRobotHand, and MotionModelStaticObject.

◆ getMotionModelTypeByName()

memoryx::AbstractMotionModel::EMotionModelType getMotionModelTypeByName ( std::string  motionModelName)
static

Definition at line 91 of file AbstractMotionModel.cpp.

◆ getPoseAtLastLocalisation()

armarx::LinkedPoseBasePtr getPoseAtLastLocalisation ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 122 of file AbstractMotionModel.cpp.

◆ getPredictedPose()

armarx::LinkedPoseBasePtr getPredictedPose ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 22 of file AbstractMotionModel.cpp.

◆ getPredictedPoseAtStartOfCurrentLocalization()

armarx::LinkedPoseBasePtr getPredictedPoseAtStartOfCurrentLocalization ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 73 of file AbstractMotionModel.cpp.

◆ getPredictedPoseInternal()

virtual armarx::LinkedPosePtr getPredictedPoseInternal ( )
protectedpure virtual

Implemented in MotionModelKBM, MotionModelAttachedToOtherObject, MotionModelRobotHand, and MotionModelStaticObject.

◆ getUncertainty()

memoryx::MultivariateNormalDistributionBasePtr getUncertainty ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 31 of file AbstractMotionModel.cpp.

◆ getUncertaintyAtStartOfCurrentLocalization()

memoryx::MultivariateNormalDistributionBasePtr getUncertaintyAtStartOfCurrentLocalization ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 79 of file AbstractMotionModel.cpp.

◆ getUncertaintyInternal()

virtual MultivariateNormalDistributionBasePtr getUncertaintyInternal ( )
protectedpure virtual

Implemented in MotionModelKBM, MotionModelAttachedToOtherObject, MotionModelRobotHand, MotionModelStaticObject, and MotionModelBodySchema.

◆ savePredictedPoseAtStartOfCurrentLocalization()

void savePredictedPoseAtStartOfCurrentLocalization ( const Ice::Current &  = Ice::emptyCurrent)
override

Definition at line 63 of file AbstractMotionModel.cpp.

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◆ setPoseAtLastLocalisation()

void setPoseAtLastLocalisation ( const armarx::LinkedPoseBasePtr &  poseAtLastLocalization,
const armarx::PoseBasePtr &  globalRobotPoseAtLastLocalization,
const MultivariateNormalDistributionBasePtr &  uncertaintyAtLastLocalization,
const Ice::Current &  = Ice::emptyCurrent 
)
override

Definition at line 40 of file AbstractMotionModel.cpp.

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Friends And Related Function Documentation

◆ GenericFactory

friend class GenericFactory
friend

Definition at line 106 of file AbstractMotionModel.h.

Member Data Documentation

◆ motionPredictionLock

std::recursive_mutex motionPredictionLock
protected

Definition at line 100 of file AbstractMotionModel.h.

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