Brief description of class FrameTracking. More...

#include <RobotAPI/components/FrameTracking/FrameTracking.h>

Inheritance diagram for FrameTracking:

Public Member Functions
void	enableTracking (bool enable, const Ice::Current &=Ice::emptyCurrent) override

std::string	getDefaultName () const override

std::string	getFrame (const Ice::Current &=Ice::emptyCurrent) const override

bool	isLookingAtPointInGlobalFrame (const Vector3f &point, float max_diff, const Ice::Current &=Ice::emptyCurrent) override

void	lookAtFrame (const std::string &frameName, const Ice::Current &=Ice::emptyCurrent) override

void	lookAtPointInGlobalFrame (const Vector3f &point, const Ice::Current &=Ice::emptyCurrent) override

void	lookAtPointInRobotFrame (const Vector3f &point, const Ice::Current &=Ice::emptyCurrent) override

void	moveJointsTo (float yaw, float pitch, const Ice::Current &=Ice::emptyCurrent) override

void	scanInConfigurationSpace (float yawFrom, float yawTo, const ::Ice::FloatSeq &pitchValues, float velocity, const Ice::Current &=Ice::emptyCurrent) override

void	scanInWorkspace (const ::armarx::Vector3fSeq &points, float maxVelocity, float acceleration, const Ice::Current &=Ice::emptyCurrent) override

void	setFrame (const std::string &frameName, const Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.

template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.

template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.

template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

void	waitForProxy (std::string const &name, bool addToDependencies)

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 Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods.

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
HeadState	_calculateJointAngles (const Eigen::Vector3f &point)

HeadState	_calculateJointAnglesContinously (const std::string &frame)

void	_doPositionControl (const HeadState &headstate)

void	_doVelocityControl (const HeadState &headstate, float maxYawVelocity, float yawAcceleration, float maxPitchVelocity, float pitchAcceleration)

void	_enableTracking (bool enable)

void	_lookAtFrame (const std::string &frame)

void	_lookAtPoint (const Eigen::Vector3f &point)

bool	_looksAtPoint (const Eigen::Vector3f &point, float max_diff)

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

void	process ()

void	syncronizeLocalClone ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
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)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

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 Attributes
RemoteGui::TabProxy	_guiTab

SimplePeriodicTask ::pointer_type	_guiTask

RemoteGuiInterfacePrx	_remoteGui

VirtualRobot::RobotNodePtr	cameraNode

std::atomic< bool >	enabled

std::string	frameName

VirtualRobot::RobotNodePtr	headPitchJoint

VirtualRobot::RobotNodePtr	headYawJoint

KinematicUnitInterfacePrx	kinematicUnitInterfacePrx

KinematicUnitObserverInterfacePrx	kinematicUnitObserverInterfacePrx

VirtualRobot::RobotPtr	localRobot

float	maxPitchVelocity

float	maxYawVelocity

float	pitchAcceleration

PeriodicTask< FrameTracking >::pointer_type	processorTask

RobotStateComponentInterfacePrx	robotStateComponent

float	yawAcceleration

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

Brief description of class FrameTracking.

Detailed description of class FrameTracking.

Member Function Documentation

◆ _calculateJointAngles()

FrameTracking::HeadState _calculateJointAngles ( const Eigen::Vector3f & point )

protected

◆ _calculateJointAnglesContinously()

FrameTracking::HeadState _calculateJointAnglesContinously ( const std::string & frame )

protected

◆ _doPositionControl()

void _doPositionControl ( const HeadState & headstate )

protected

◆ _doVelocityControl()

void _doVelocityControl	(	const HeadState &	headstate,
		float	maxYawVelocity,
		float	yawAcceleration,
		float	maxPitchVelocity,
		float	pitchAcceleration )

protected

◆ _enableTracking()

void _enableTracking ( bool enable )

protected

◆ _lookAtFrame()

void _lookAtFrame ( const std::string & frame )

protected

◆ _lookAtPoint()

void _lookAtPoint ( const Eigen::Vector3f & point )

protected

◆ _looksAtPoint()

bool _looksAtPoint	(	const Eigen::Vector3f &	point,
		float	max_diff )

protected

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

◆ enableTracking()

void enableTracking	(	bool	enable,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

◆ getFrame()

std::string getFrame ( const Ice::Current & = Ice::emptyCurrent ) const

override

◆ isLookingAtPointInGlobalFrame()

bool isLookingAtPointInGlobalFrame	(	const Vector3f &	point,
		float	max_diff,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ lookAtFrame()

void lookAtFrame	(	const std::string &	frameName,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ lookAtPointInGlobalFrame()

void lookAtPointInGlobalFrame	(	const Vector3f &	point,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ lookAtPointInRobotFrame()

void lookAtPointInRobotFrame	(	const Vector3f &	point,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ moveJointsTo()

void moveJointsTo	(	float	yaw,
		float	pitch,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

◆ process()

void process ( )

protected

◆ scanInConfigurationSpace()

void scanInConfigurationSpace	(	float	yawFrom,
		float	yawTo,
		const ::Ice::FloatSeq &	pitchValues,
		float	velocity,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ scanInWorkspace()

void scanInWorkspace	(	const ::armarx::Vector3fSeq &	points,
		float	maxVelocity,
		float	acceleration,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ setFrame()

void setFrame	(	const std::string &	frameName,
		const Ice::Current &	= Ice::emptyCurrent )

override

◆ syncronizeLocalClone()

void syncronizeLocalClone ( )

protected

Member Data Documentation

◆ _guiTab

RemoteGui::TabProxy _guiTab

protected

◆ _guiTask

SimplePeriodicTask ::pointer_type _guiTask

protected

◆ _remoteGui

RemoteGuiInterfacePrx _remoteGui

protected

◆ cameraNode

VirtualRobot::RobotNodePtr cameraNode

protected

◆ enabled

std::atomic<bool> enabled

protected

◆ frameName

std::string frameName

protected

◆ headPitchJoint

VirtualRobot::RobotNodePtr headPitchJoint

protected

◆ headYawJoint

VirtualRobot::RobotNodePtr headYawJoint

protected

◆ kinematicUnitInterfacePrx

KinematicUnitInterfacePrx kinematicUnitInterfacePrx

protected

◆ kinematicUnitObserverInterfacePrx

KinematicUnitObserverInterfacePrx kinematicUnitObserverInterfacePrx

protected

◆ localRobot

VirtualRobot::RobotPtr localRobot

protected

◆ maxPitchVelocity

float maxPitchVelocity

protected

◆ maxYawVelocity

float maxYawVelocity

protected

◆ pitchAcceleration

float pitchAcceleration

protected

◆ processorTask

PeriodicTask<FrameTracking>::pointer_type processorTask

protected

◆ robotStateComponent

RobotStateComponentInterfacePrx robotStateComponent

protected

◆ yawAcceleration

float yawAcceleration

protected

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

RobotAPI/components/FrameTracking/FrameTracking.h
RobotAPI/components/FrameTracking/FrameTracking.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _calculateJointAngles()

◆ _calculateJointAnglesContinously()

◆ _doPositionControl()

◆ _doVelocityControl()

◆ _enableTracking()

◆ _lookAtFrame()

◆ _lookAtPoint()

◆ _looksAtPoint()

◆ createPropertyDefinitions()

◆ enableTracking()

◆ getDefaultName()

◆ getFrame()

◆ isLookingAtPointInGlobalFrame()

◆ lookAtFrame()

◆ lookAtPointInGlobalFrame()

◆ lookAtPointInRobotFrame()

◆ moveJointsTo()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ process()

◆ scanInConfigurationSpace()

◆ scanInWorkspace()

◆ setFrame()

◆ syncronizeLocalClone()

Member Data Documentation

◆ _guiTab

◆ _guiTask

◆ _remoteGui

◆ cameraNode

◆ enabled

◆ frameName

◆ headPitchJoint

◆ headYawJoint

◆ kinematicUnitInterfacePrx

◆ kinematicUnitObserverInterfacePrx

◆ localRobot

◆ maxPitchVelocity

◆ maxYawVelocity

◆ pitchAcceleration

◆ processorTask

◆ robotStateComponent

◆ yawAcceleration