List of all members | Public Member Functions | Protected Member Functions | Protected Attributes | Friends
RemoteRobotNode< VirtualRobotNodeType > Class Template Reference

Mimics the behaviour of robot nodes while redirecting everything to Ice proxies. More...

#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>

Public Member Functions

std::vector< VirtualRobot::RobotNodePtr > getAllParents (VirtualRobot::RobotNodeSetPtr rns) override
 
virtual std::vector< std::string > getChildrenNames () const
 
Eigen::Matrix4f getGlobalPose () const override
 
virtual float getJointLimitHi () const
 
virtual float getJointLimitLo () const
 
float getJointValue () const override
 
Eigen::Matrix4f getLocalTransformation () override
 
virtual VirtualRobot::SceneObjectPtr getParent ()
 
Eigen::Matrix4f getPoseInRootFrame () const override
 
Eigen::Vector3f getPositionInRootFrame () const override
 
SharedRobotNodeInterfacePrx getSharedRobotNode ()
 
virtual bool hasChildNode (const std::string &child, bool recursive=false) const
 
 RemoteRobotNode (SharedRobotNodeInterfacePrx node, VirtualRobot::RobotPtr vr)
 
 ~RemoteRobotNode () override
 

Protected Member Functions

virtual void addChildNode (VirtualRobot::RobotNodePtr child)
 
std::vector< VirtualRobot::SceneObjectPtr > getChildren () const override
 
virtual std::string getParentName () const
 
virtual bool hasChildNode (const VirtualRobot::RobotNodePtr child, bool recursive=false) const
 
virtual bool initialize (VirtualRobot::RobotNodePtr parent, bool initializeChildren=false)
 
virtual void reset ()
 
void setGlobalPose (const Eigen::Matrix4f &pose) override
 
void setJointLimits (float lo, float hi) override
 
virtual void setJointValue (float q, bool updateTransformations=true, bool clampToLimits=true)
 
virtual void setLocalTransformation (const Eigen::Matrix4f &trafo)
 
void updateTransformationMatrices () override
 
void updateTransformationMatrices (const Eigen::Matrix4f &globalPose) override
 

Protected Attributes

SharedRobotNodeInterfacePrx _node
 

Friends

struct RemoteRobotNodeInitializer< VirtualRobotNodeType >
 

Detailed Description

template<class VirtualRobotNodeType>
class armarx::RemoteRobotNode< VirtualRobotNodeType >

Mimics the behaviour of robot nodes while redirecting everything to Ice proxies.

Template Parameters
VirtualRobotNodeTypeMust be a descendant of VirtualRobot::RobotNode

This class is for internal use only as classes cannot be referenced!

Definition at line 41 of file RemoteRobot.h.

Constructor & Destructor Documentation

◆ RemoteRobotNode()

RemoteRobotNode ( SharedRobotNodeInterfacePrx  node,
VirtualRobot::RobotPtr  vr 
)
inline

Definition at line 77 of file RemoteRobot.h.

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◆ ~RemoteRobotNode()

~RemoteRobotNode
override

Definition at line 94 of file RemoteRobotNode.cpp.

Member Function Documentation

◆ addChildNode()

void addChildNode ( VirtualRobot::RobotNodePtr  child)
protectedvirtual

Definition at line 260 of file RemoteRobotNode.cpp.

◆ getAllParents()

vector< RobotNodePtr > getAllParents ( VirtualRobot::RobotNodeSetPtr  rns)
override

Definition at line 189 of file RemoteRobotNode.cpp.

◆ getChildren()

std::vector< SceneObjectPtr > getChildren
overrideprotected

Definition at line 235 of file RemoteRobotNode.cpp.

◆ getChildrenNames()

std::vector< std::string > getChildrenNames
virtual

Definition at line 221 of file RemoteRobotNode.cpp.

◆ getGlobalPose()

Eigen::Matrix4f getGlobalPose
override

Definition at line 146 of file RemoteRobotNode.cpp.

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◆ getJointLimitHi()

float getJointLimitHi
virtual

Definition at line 119 of file RemoteRobotNode.cpp.

◆ getJointLimitLo()

float getJointLimitLo
virtual

Definition at line 126 of file RemoteRobotNode.cpp.

◆ getJointValue()

float getJointValue
override

Definition at line 112 of file RemoteRobotNode.cpp.

◆ getLocalTransformation()

Eigen::Matrix4f getLocalTransformation
override

Definition at line 139 of file RemoteRobotNode.cpp.

◆ getParent()

SceneObjectPtr getParent
virtual

Definition at line 204 of file RemoteRobotNode.cpp.

◆ getParentName()

std::string getParentName
protectedvirtual

Definition at line 228 of file RemoteRobotNode.cpp.

◆ getPoseInRootFrame()

Eigen::Matrix4f getPoseInRootFrame
override

Definition at line 153 of file RemoteRobotNode.cpp.

◆ getPositionInRootFrame()

Eigen::Vector3f getPositionInRootFrame
override

Definition at line 160 of file RemoteRobotNode.cpp.

◆ getSharedRobotNode()

SharedRobotNodeInterfacePrx getSharedRobotNode ( )
inline

Definition at line 108 of file RemoteRobot.h.

◆ hasChildNode() [1/2]

bool hasChildNode ( const std::string &  child,
bool  recursive = false 
) const
virtual

Definition at line 176 of file RemoteRobotNode.cpp.

◆ hasChildNode() [2/2]

virtual bool hasChildNode ( const VirtualRobot::RobotNodePtr  child,
bool  recursive = false 
) const
protectedvirtual

◆ initialize()

bool initialize ( VirtualRobot::RobotNodePtr  parent,
bool  initializeChildren = false 
)
protectedvirtual

Definition at line 266 of file RemoteRobotNode.cpp.

◆ reset()

void reset
protectedvirtual

Definition at line 273 of file RemoteRobotNode.cpp.

◆ setGlobalPose()

void setGlobalPose ( const Eigen::Matrix4f &  pose)
overrideprotected

Definition at line 279 of file RemoteRobotNode.cpp.

◆ setJointLimits()

void setJointLimits ( float  lo,
float  hi 
)
overrideprotected

Definition at line 183 of file RemoteRobotNode.cpp.

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◆ setJointValue()

void setJointValue ( float  q,
bool  updateTransformations = true,
bool  clampToLimits = true 
)
protectedvirtual

Definition at line 285 of file RemoteRobotNode.cpp.

◆ setLocalTransformation()

void setLocalTransformation ( const Eigen::Matrix4f &  trafo)
protectedvirtual

Definition at line 215 of file RemoteRobotNode.cpp.

◆ updateTransformationMatrices() [1/2]

void updateTransformationMatrices
overrideprotected

Definition at line 248 of file RemoteRobotNode.cpp.

◆ updateTransformationMatrices() [2/2]

void updateTransformationMatrices ( const Eigen::Matrix4f &  globalPose)
overrideprotected

Definition at line 254 of file RemoteRobotNode.cpp.

Friends And Related Function Documentation

◆ RemoteRobotNodeInitializer< VirtualRobotNodeType >

friend struct RemoteRobotNodeInitializer< VirtualRobotNodeType >
friend

Definition at line 74 of file RemoteRobot.h.

Member Data Documentation

◆ _node

SharedRobotNodeInterfacePrx _node
protected

Definition at line 137 of file RemoteRobot.h.

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