From 1ea22bbe1cba2cc7595d2cb7f2b26e9bacb76084 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Tue, 21 Jul 2015 17:45:25 +0200
Subject: [PATCH] Documentation: Simulation units
---
etc/doxygen/pages/5.Components.dox | 2 +-
.../units/ForceTorqueUnitSimulation.h | 24 +++++----
.../components/units/HandUnitSimulation.h | 28 +++++------
.../units/KinematicUnitSimulation.h | 49 +++++++++++--------
.../components/units/PlatformUnitSimulation.h | 18 ++++---
5 files changed, 68 insertions(+), 53 deletions(-)
diff --git a/etc/doxygen/pages/5.Components.dox b/etc/doxygen/pages/5.Components.dox
index 5a9d97c8c..023de8020 100644
--- a/etc/doxygen/pages/5.Components.dox
+++ b/etc/doxygen/pages/5.Components.dox
@@ -30,7 +30,7 @@ Sensor-Actor Units implement a corresponding Ice interface which makes them acce
\defgroup RobotAPI-SensorActorUnits-simulation Sensor-Actor Unit Simulations
\ingroup RobotAPI-Components
-\brief Simulated Sensor-Actor Units not connected to any hardware.
+\brief Simulated Sensor-Actor Units do not connected to any hardware.
\defgroup RobotAPI-SensorActorUnits-observers Sensor-Actor Unit Observers
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index 59c738208..c7594288e 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -37,8 +37,8 @@
namespace armarx
{
/**
- * @class ForceTorqueUnitSimulationPropertyDefinitions
- * @brief
+ * \class ForceTorqueUnitSimulationPropertyDefinitions
+ * \brief
*/
class ForceTorqueUnitSimulationPropertyDefinitions :
public ForceTorqueUnitPropertyDefinitions
@@ -53,11 +53,10 @@ namespace armarx
};
/**
- * @class ForceTorqueUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class ForceTorqueUnitSimulation
+ * \brief Simulates a set of Force/Torque sensors.
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*
- * Simulates a set of Force/Torque sensors.
* The unit is given a list of sensor names as a property. It then publishes force/torque values under these names.
* The published values will always be zero.
*/
@@ -65,7 +64,6 @@ namespace armarx
virtual public ForceTorqueUnit
{
public:
- // inherited from Component
virtual std::string getDefaultName() const
{
return "ForceTorqueUnitSimulation";
@@ -76,11 +74,19 @@ namespace armarx
virtual void onExitForceTorqueUnit();
void simulationFunction();
+
+ /**
+ * \warning Not implemented yet
+ */
virtual void setOffset(const FramedDirectionBasePtr &forceOffsets, const FramedDirectionBasePtr &torqueOffsets, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet
+ */
virtual void setToNull(const Ice::Current& c = ::Ice::Current());
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
@@ -89,8 +95,6 @@ namespace armarx
armarx::FramedDirectionPtr torques;
PeriodicTask<ForceTorqueUnitSimulation>::pointer_type simulationTask;
-
-
};
}
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index ea51a6a21..e37f66e51 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -30,8 +30,8 @@
namespace armarx
{
/**
- * @class HandUnitSimulationPropertyDefinitions
- * @brief Defines all necessary properties for armarx::HandUnitSimulation
+ * \class HandUnitSimulationPropertyDefinitions
+ * \brief Defines all necessary properties for armarx::HandUnitSimulation
*/
class HandUnitSimulationPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -47,13 +47,14 @@ namespace armarx
/**
- * @class HandUnitSimulation
- * @brief This class defines an interface for providing high level access to robot hands
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class HandUnitSimulation
+ * \ingroup RobotAPI-SensorActorUnits-simulation
+ * \brief Simulates a robot hand.
*
* An instance of a HandUnitSimulation provides means to open, close, and shape hands.
* It uses the HandUnitListener Ice interface to report updates of its current state
*
+ * \warning This component is not yet fully functional
*/
class HandUnitSimulation :
virtual public HandUnit
@@ -65,25 +66,20 @@ namespace armarx
return "HandUnitSimulation";
}
- /**
- *
- */
virtual void onInitHandUnit();
- /**
- *
- */
virtual void onStartHandUnit();
- /**
- *
- */
virtual void onExitHandUnit();
-
-
/**
* Send command to the hand to form a specific shape position.
+ *
+ * \warning Not implemented yet!
*/
virtual void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointAngles(const NameValueMap& jointAngles, const Ice::Current& c = ::Ice::Current());
};
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index c4c11f71e..487ccb595 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -35,12 +35,12 @@
namespace armarx
{
/**
- * @class JointState.
- * @brief State of a joint.
- * @ingroup RobotAPI-SensorActorUnits-util
+ * \class JointState.
+ * \brief State of a joint.
+ * \ingroup RobotAPI-SensorActorUnits-util
*
- * Includes the control mode, the joint angle, velocitym torquem and motor temperature.
- * Controlmode defaults to ePositionControl. All other values to zero.
+ * Includes the control mode, the joint angle, velocity, torque, and motor temperature.
+ * Controlmode defaults to ePositionControl, all other values default to zero.
*/
class JointState
{
@@ -60,20 +60,20 @@ namespace armarx
}
ControlMode controlMode;
- float angle;
- float velocity;
- float torque;
- float temperature;
+ float angle;
+ float velocity;
+ float torque;
+ float temperature;
};
typedef std::map<std::string, JointState> JointStates;
-
/**
- * @class JointInfo.
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-util
+ * \class JointInfo.
+ * \brief Additional information about a joint.
+ * \ingroup RobotAPI-SensorActorUnits-util
*
- * Joint info including lower and upper joint limits (rad). No limits set by default (lo=hi).
+ * Joint info including lower and upper joint limits (rad).
+ * No limits are set by default (lo = hi).
*/
class JointInfo
{
@@ -99,8 +99,8 @@ namespace armarx
typedef std::map<std::string, JointInfo> JointInfos;
/**
- * @class KinematicUnitSimulationPropertyDefinitions
- * @brief
+ * \class KinematicUnitSimulationPropertyDefinitions
+ * \brief
*/
class KinematicUnitSimulationPropertyDefinitions :
public KinematicUnitPropertyDefinitions
@@ -115,9 +115,9 @@ namespace armarx
};
/**
- * @class KinematicUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class KinematicUnitSimulation
+ * \brief Simulates robot kinematics
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*/
class KinematicUnitSimulation :
virtual public KinematicUnit
@@ -139,12 +139,21 @@ namespace armarx
virtual void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = ::Ice::Current());
virtual void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = ::Ice::Current());
virtual void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = ::Ice::Current());
+
void stop(const Ice::Current &c = Ice::Current());
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index f5910e075..dfd0e18ab 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -36,8 +36,8 @@
namespace armarx
{
/**
- * @class PlatformUnitSimulationPropertyDefinitions
- * @brief
+ * \class PlatformUnitSimulationPropertyDefinitions
+ * \brief
*/
class PlatformUnitSimulationPropertyDefinitions :
public PlatformUnitPropertyDefinitions
@@ -57,9 +57,9 @@ namespace armarx
};
/**
- * @class PlatformUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class PlatformUnitSimulation
+ * \brief Simulates a robot platform.
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*/
class PlatformUnitSimulation :
virtual public PlatformUnit
@@ -80,11 +80,17 @@ namespace armarx
// proxy implementation
void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not yet implemented!
+ */
void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c = Ice::Current());
+
void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c = Ice::Current());
void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current &c = Ice::Current());
+
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
--
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