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Commit 65976bbc authored by Fabian Tërnava's avatar Fabian Tërnava
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added default armar6 robotstatememory config

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1 merge request!138updates to robot state memory
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data/RobotAPI/robotStateMemoryConfig.txt 0 → 100644
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View file @ 65976bbc
sens.Index L 1 Joint.acceleration => HandL
sens.Index L 1 Joint.gravityTorque => HandL
sens.Index L 1 Joint.inertiaTorque => HandL
sens.Index L 1 Joint.inverseDynamicsTorque => HandL
sens.Index L 1 Joint.position => HandL
sens.Index L 1 Joint.torque => HandL
sens.Index L 1 Joint.velocity => HandL
sens.Index L 2 Joint.acceleration => HandL
sens.Index L 2 Joint.gravityTorque => HandL
sens.Index L 2 Joint.inertiaTorque => HandL
sens.Index L 2 Joint.inverseDynamicsTorque => HandL
sens.Index L 2 Joint.position => HandL
sens.Index L 2 Joint.torque => HandL
sens.Index L 2 Joint.velocity => HandL
sens.Index L 3 Joint.acceleration => HandL
sens.Index L 3 Joint.gravityTorque => HandL
sens.Index L 3 Joint.inertiaTorque => HandL
sens.Index L 3 Joint.inverseDynamicsTorque => HandL
sens.Index L 3 Joint.position => HandL
sens.Index L 3 Joint.torque => HandL
sens.Index L 3 Joint.velocity => HandL
sens.Index R 1 Joint.acceleration => HandR
sens.Index R 1 Joint.gravityTorque => HandR
sens.Index R 1 Joint.inertiaTorque => HandR
sens.Index R 1 Joint.inverseDynamicsTorque => HandR
sens.Index R 1 Joint.position => HandR
sens.Index R 1 Joint.torque => HandR
sens.Index R 1 Joint.velocity => HandR
sens.Index R 2 Joint.acceleration => HandR
sens.Index R 2 Joint.gravityTorque => HandR
sens.Index R 2 Joint.inertiaTorque => HandR
sens.Index R 2 Joint.inverseDynamicsTorque => HandR
sens.Index R 2 Joint.position => HandR
sens.Index R 2 Joint.torque => HandR
sens.Index R 2 Joint.velocity => HandR
sens.Index R 3 Joint.acceleration => HandR
sens.Index R 3 Joint.gravityTorque => HandR
sens.Index R 3 Joint.inertiaTorque => HandR
sens.Index R 3 Joint.inverseDynamicsTorque => HandR
sens.Index R 3 Joint.position => HandR
sens.Index R 3 Joint.torque => HandR
sens.Index R 3 Joint.velocity => HandR
sens.Middle L 1 Joint.acceleration => HandL
sens.Middle L 1 Joint.gravityTorque => HandL
sens.Middle L 1 Joint.inertiaTorque => HandL
sens.Middle L 1 Joint.inverseDynamicsTorque => HandL
sens.Middle L 1 Joint.position => HandL
sens.Middle L 1 Joint.torque => HandL
sens.Middle L 1 Joint.velocity => HandL
sens.Middle L 2 Joint.acceleration => HandL
sens.Middle L 2 Joint.gravityTorque => HandL
sens.Middle L 2 Joint.inertiaTorque => HandL
sens.Middle L 2 Joint.inverseDynamicsTorque => HandL
sens.Middle L 2 Joint.position => HandL
sens.Middle L 2 Joint.torque => HandL
sens.Middle L 2 Joint.velocity => HandL
sens.Middle L 3 Joint.acceleration => HandL
sens.Middle L 3 Joint.gravityTorque => HandL
sens.Middle L 3 Joint.inertiaTorque => HandL
sens.Middle L 3 Joint.inverseDynamicsTorque => HandL
sens.Middle L 3 Joint.position => HandL
sens.Middle L 3 Joint.torque => HandL
sens.Middle L 3 Joint.velocity => HandL
sens.Middle R 1 Joint.acceleration => HandR
sens.Middle R 1 Joint.gravityTorque => HandR
sens.Middle R 1 Joint.inertiaTorque => HandR
sens.Middle R 1 Joint.inverseDynamicsTorque => HandR
sens.Middle R 1 Joint.position => HandR
sens.Middle R 1 Joint.torque => HandR
sens.Middle R 1 Joint.velocity => HandR
sens.Middle R 2 Joint.acceleration => HandR
sens.Middle R 2 Joint.gravityTorque => HandR
sens.Middle R 2 Joint.inertiaTorque => HandR
sens.Middle R 2 Joint.inverseDynamicsTorque => HandR
sens.Middle R 2 Joint.position => HandR
sens.Middle R 2 Joint.torque => HandR
sens.Middle R 2 Joint.velocity => HandR
sens.Middle R 3 Joint.acceleration => HandR
sens.Middle R 3 Joint.gravityTorque => HandR
sens.Middle R 3 Joint.inertiaTorque => HandR
sens.Middle R 3 Joint.inverseDynamicsTorque => HandR
sens.Middle R 3 Joint.position => HandR
sens.Middle R 3 Joint.torque => HandR
sens.Middle R 3 Joint.velocity => HandR
sens.Pinky L 1 Joint.acceleration => HandL
sens.Pinky L 1 Joint.gravityTorque => HandL
sens.Pinky L 1 Joint.inertiaTorque => HandL
sens.Pinky L 1 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 1 Joint.position => HandL
sens.Pinky L 1 Joint.torque => HandL
sens.Pinky L 1 Joint.velocity => HandL
sens.Pinky L 2 Joint.acceleration => HandL
sens.Pinky L 2 Joint.gravityTorque => HandL
sens.Pinky L 2 Joint.inertiaTorque => HandL
sens.Pinky L 2 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 2 Joint.position => HandL
sens.Pinky L 2 Joint.torque => HandL
sens.Pinky L 2 Joint.velocity => HandL
sens.Pinky L 3 Joint.acceleration => HandL
sens.Pinky L 3 Joint.gravityTorque => HandL
sens.Pinky L 3 Joint.inertiaTorque => HandL
sens.Pinky L 3 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 3 Joint.position => HandL
sens.Pinky L 3 Joint.torque => HandL
sens.Pinky L 3 Joint.velocity => HandL
sens.Pinky R 1 Joint.acceleration => HandR
sens.Pinky R 1 Joint.gravityTorque => HandR
sens.Pinky R 1 Joint.inertiaTorque => HandR
sens.Pinky R 1 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 1 Joint.position => HandR
sens.Pinky R 1 Joint.torque => HandR
sens.Pinky R 1 Joint.velocity => HandR
sens.Pinky R 2 Joint.acceleration => HandR
sens.Pinky R 2 Joint.gravityTorque => HandR
sens.Pinky R 2 Joint.inertiaTorque => HandR
sens.Pinky R 2 Joint.inverseDynamicsTorque
sens.Pinky R 2 Joint.position => HandR
sens.Pinky R 2 Joint.torque => HandR
sens.Pinky R 2 Joint.velocity => HandR
sens.Pinky R 3 Joint.acceleration => HandR
sens.Pinky R 3 Joint.gravityTorque => HandR
sens.Pinky R 3 Joint.inertiaTorque => HandR
sens.Pinky R 3 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 3 Joint.position => HandR
sens.Pinky R 3 Joint.torque => HandR
sens.Pinky R 3 Joint.velocity => HandR
sens.Ring L 1 Joint.acceleration
sens.Ring L 1 Joint.gravityTorque
sens.Ring L 1 Joint.inertiaTorque
sens.Ring L 1 Joint.inverseDynamicsTorque
sens.Ring L 1 Joint.position
sens.Ring L 1 Joint.torque
sens.Ring L 1 Joint.velocity
sens.Ring L 2 Joint.acceleration
sens.Ring L 2 Joint.gravityTorque
sens.Ring L 2 Joint.inertiaTorque
sens.Ring L 2 Joint.inverseDynamicsTorque
sens.Ring L 2 Joint.position
sens.Ring L 2 Joint.torque
sens.Ring L 2 Joint.velocity
sens.Ring L 3 Joint.acceleration
sens.Ring L 3 Joint.gravityTorque
sens.Ring L 3 Joint.inertiaTorque
sens.Ring L 3 Joint.inverseDynamicsTorque
sens.Ring L 3 Joint.position
sens.Ring L 3 Joint.torque
sens.Ring L 3 Joint.velocity
sens.Ring R 1 Joint.acceleration
sens.Ring R 1 Joint.gravityTorque
sens.Ring R 1 Joint.inertiaTorque
sens.Ring R 1 Joint.inverseDynamicsTorque
sens.Ring R 1 Joint.position
sens.Ring R 1 Joint.torque
sens.Ring R 1 Joint.velocity
sens.Ring R 2 Joint.acceleration
sens.Ring R 2 Joint.gravityTorque
sens.Ring R 2 Joint.inertiaTorque
sens.Ring R 2 Joint.inverseDynamicsTorque
sens.Ring R 2 Joint.position
sens.Ring R 2 Joint.torque
sens.Ring R 2 Joint.velocity
sens.Ring R 3 Joint.acceleration
sens.Ring R 3 Joint.gravityTorque
sens.Ring R 3 Joint.inertiaTorque
sens.Ring R 3 Joint.inverseDynamicsTorque
sens.Ring R 3 Joint.position
sens.Ring R 3 Joint.torque
sens.Ring R 3 Joint.velocity
sens.Thumb L 1 Joint.acceleration
sens.Thumb L 1 Joint.gravityTorque
sens.Thumb L 1 Joint.inertiaTorque
sens.Thumb L 1 Joint.inverseDynamicsTorque
sens.Thumb L 1 Joint.position
sens.Thumb L 1 Joint.torque
sens.Thumb L 1 Joint.velocity
sens.Thumb L 2 Joint.acceleration
sens.Thumb L 2 Joint.gravityTorque
sens.Thumb L 2 Joint.inertiaTorque
sens.Thumb L 2 Joint.inverseDynamicsTorque
sens.Thumb L 2 Joint.position
sens.Thumb L 2 Joint.torque
sens.Thumb L 2 Joint.velocity
sens.Thumb R 1 Joint.acceleration
sens.Thumb R 1 Joint.gravityTorque
sens.Thumb R 1 Joint.inertiaTorque
sens.Thumb R 1 Joint.inverseDynamicsTorque
sens.Thumb R 1 Joint.position
sens.Thumb R 1 Joint.torque
sens.Thumb R 1 Joint.velocity
sens.Thumb R 2 Joint.acceleration
sens.Thumb R 2 Joint.gravityTorque
sens.Thumb R 2 Joint.inertiaTorque
sens.Thumb R 2 Joint.inverseDynamicsTorque
sens.Thumb R 2 Joint.position
sens.Thumb R 2 Joint.torque
sens.Thumb R 2 Joint.velocity
sens.TorsoJoint.acceleration
sens.TorsoJoint.gravityTorque
sens.TorsoJoint.inertiaTorque
sens.TorsoJoint.inverseDynamicsTorque
sens.TorsoJoint.position
sens.TorsoJoint.torque
sens.TorsoJoint.velocity
source/RobotAPI/components/armem/CMakeLists.txt
+ 1
− 1
View file @ 65976bbc
# memory servers
add_subdirectory(server/ExampleMemory)
add_subdirectory(server/GeneralPurposeMemory)
add_subdirectory(server/RobotSensorMemory)
add_subdirectory(server/RobotStateMemory)
add_subdirectory(server/SkillsMemory)
# memory server addons
......
source/RobotAPI/components/armem/server/RobotSensorMemory/CMakeLists.txt → source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
+ 3
− 3
View file @ 65976bbc
armarx_component_set_name("RobotSensorMemory")
armarx_component_set_name("RobotStateMemory")
set(COMPONENT_LIBS
......@@ -9,10 +9,10 @@ set(COMPONENT_LIBS
)
set(SOURCES
RobotSensorMemory.cpp
RobotStateMemory.cpp
)
set(HEADERS
RobotSensorMemory.h
RobotStateMemory.h
)
armarx_add_component("${SOURCES}" "${HEADERS}")
......
source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp → source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+ 74
− 27
View file @ 65976bbc
......@@ -22,9 +22,11 @@
// STD
#include <algorithm>
#include <iostream>
#include <fstream>
// Header
#include "RobotSensorMemory.h"
#include "RobotStateMemory.h"
// Simox
#include <SimoxUtility/algorithm/string.h>
......@@ -39,31 +41,33 @@
namespace armarx
{
RobotSensorMemory::RobotSensorMemory()
RobotStateMemory::RobotStateMemory()
{
}
armarx::PropertyDefinitionsPtr RobotSensorMemory::createPropertyDefinitions()
armarx::PropertyDefinitionsPtr RobotStateMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
defs->optional(robotUnitSensorPrefix, "SensorValuePrefix", "Prefix of all sensor values");
defs->optional(robotUnitMemoryBatchSize, "RobotUnitMemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
defs->optional(robotUnitPollFrequency, "RobotUnitUpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY));
defs->optional(robotUnitConfigPath, "robotUnitConfigPath", "Specify a configuration file to group the sensor values specifically.");
defs->optional(robotStateComponentMemoryBatchSize, "RobotStateComponentMemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
defs->optional(robotStateComponentPollFrequency, "RobotStateComponentUpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_STATE_COMPONENT_MAXIMUM_FREQUENCY));
return defs;
}
std::string RobotSensorMemory::getDefaultName() const
std::string RobotStateMemory::getDefaultName() const
{
return "RobotSensorMemory";
}
void RobotSensorMemory::onInitComponent()
void RobotStateMemory::onInitComponent()
{
robotUnitMemoryBatchSize = std::max((unsigned int) 1, robotUnitMemoryBatchSize);
robotUnitPollFrequency = std::clamp(robotUnitPollFrequency, 1, ROBOT_UNIT_MAXIMUM_FREQUENCY);
......@@ -75,7 +79,7 @@ namespace armarx
}
void RobotSensorMemory::onConnectComponent()
void RobotStateMemory::onConnectComponent()
{
setupRobotUnitSegment();
setupRobotStateComponentSegment();
......@@ -84,25 +88,25 @@ namespace armarx
handler = make_shared<RobotUnitDataStreamingReceiver>(this, getRobotUnit(), cfg);
keys = handler->getDataDescription();
robotUnitConversionTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::convertRobotUnitStreamingDataToAron, (1000 / robotUnitPollFrequency));
robotUnitStoringTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::storeConvertedRobotUnitDataInMemory, (1000 / robotUnitPollFrequency));
robotUnitConversionTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::convertRobotUnitStreamingDataToAron, (1000 / robotUnitPollFrequency));
robotUnitStoringTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::storeConvertedRobotUnitDataInMemory, (1000 / robotUnitPollFrequency));
robotStateComponentConversionTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::convertRobotStateComponentDataToAron, (1000 / robotStateComponentPollFrequency));
robotStateComponentStoringTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::storeConvertedRobotStateComponentDataInMemory, (1000 / robotStateComponentPollFrequency));
robotStateComponentConversionTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::convertRobotStateComponentDataToAron, (1000 / robotStateComponentPollFrequency));
robotStateComponentStoringTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::storeConvertedRobotStateComponentDataInMemory, (1000 / robotStateComponentPollFrequency));
startRobotUnitStream();
startRobotStateComponentPoll();
}
void RobotSensorMemory::onDisconnectComponent()
void RobotStateMemory::onDisconnectComponent()
{
stopRobotUnitStream();
startRobotStateComponentPoll();
}
void RobotSensorMemory::onExitComponent()
void RobotStateMemory::onExitComponent()
{
stopRobotUnitStream();
stopRobotStateComponentPoll();
......@@ -111,7 +115,7 @@ namespace armarx
/*************************************************************/
// RobotUnit Streaming functions
/*************************************************************/
void RobotSensorMemory::setupRobotUnitSegment()
void RobotStateMemory::setupRobotUnitSegment()
{
ARMARX_INFO << "Adding core segment " << robotUnitCoreSegmentName;
memory.addCoreSegments({robotUnitCoreSegmentName});
......@@ -141,7 +145,7 @@ namespace armarx
robotUnitProviderID.providerSegmentName = robotUnitProviderSegmentName;
}
void RobotSensorMemory::convertRobotUnitStreamingDataToAron()
void RobotStateMemory::convertRobotUnitStreamingDataToAron()
{
auto& data = handler->getDataBuffer();
if (data.size() == 0)
......@@ -156,14 +160,22 @@ namespace armarx
RobotUnitData convertedAndGroupedData;
for (const auto& [name, dataEntry] : keys.entries)
{
size_t dot_pos = name.find(".", name.find(".") + 1); // find second occurence of "."
if (dot_pos == std::string::npos)
std::string groupName = "";
if (configSensorMapping.find(name) != configSensorMapping.end())
{
ARMARX_WARNING << "Could not find a groupname for the sensor with name " << name << ". All sensors must be called sens.X.Y where X is the name of the group and Y is the actual sensor. Ignoring this sensor.";
continue;
groupName = configSensorMapping.at(name);
}
else
{
size_t dot_pos = name.find(".", name.find(".") + 1); // find second occurence of "."
if (dot_pos == std::string::npos)
{
ARMARX_WARNING << "Could not find a groupname for the sensor with name " << name << ". All sensors must be called sens.X.Y where X is the name of the group and Y is the actual sensor. Ignoring this sensor.";
continue;
}
groupName = name.substr(0, dot_pos);
}
std::string groupName = name.substr(0, dot_pos);
RobotUnitData::RobotUnitDataGroup e;
if (auto it = convertedAndGroupedData.groups.find(groupName); it == convertedAndGroupedData.groups.end())
{
......@@ -251,7 +263,7 @@ namespace armarx
ARMARX_DEBUG << "RobotUnitData: The total time needed to convert the data to aron is: " << std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
}
void RobotSensorMemory::storeConvertedRobotUnitDataInMemory()
void RobotStateMemory::storeConvertedRobotUnitDataInMemory()
{
unsigned int size = 0;
{
......@@ -301,14 +313,14 @@ namespace armarx
}
}
void RobotSensorMemory::stopRobotUnitStream()
void RobotStateMemory::stopRobotUnitStream()
{
std::lock_guard g{startStopMutex};
robotUnitConversionTask->stop();
robotUnitStoringTask->stop();
}
void RobotSensorMemory::startRobotUnitStream()
void RobotStateMemory::startRobotUnitStream()
{
std::lock_guard g{startStopMutex};
if (robotUnitConversionTask->isRunning() || robotUnitStoringTask->isRunning())
......@@ -368,6 +380,41 @@ namespace armarx
}
ARMARX_INFO << ss.str();
// parse config
std::filesystem::path configPath(robotUnitConfigPath);
configSensorMapping.clear();
if(std::filesystem::is_regular_file(configPath))
{
// a simple self-made parser for the config file. Extend it if you need to
std::ifstream in(configPath);
std::string line;
while (std::getline(in, line))
{
if(line.size() > 0)
{
if(simox::alg::starts_with(line, "//"))
{
continue;
}
std::vector<std::string> mappings = simox::alg::split(line, ",");
for(const auto& mapping : mappings)
{
std::vector<std::string> split = simox::alg::split(mapping, "=>");
if(split.size() < 2)
{
ARMARX_WARNING << "A mapping in the RobotUnitConfig file is not valid. Ignoring it.";
continue;
}
for (unsigned int i = 0; i < split.size() - 1; ++i)
{
configSensorMapping.insert({split[i], split[split.size()-1]});
}
}
}
}
}
robotUnitConversionTask->start();
robotUnitStoringTask->start();
}
......@@ -376,7 +423,7 @@ namespace armarx
/*************************************************************/
// RobotStateComponent Polling functions
/*************************************************************/
void RobotSensorMemory::setupRobotStateComponentSegment()
void RobotStateMemory::setupRobotStateComponentSegment()
{
ARMARX_INFO << "Adding core segment " << robotStateComponentCoreSegmentName;
memory.addCoreSegments({robotStateComponentCoreSegmentName});
......@@ -400,7 +447,7 @@ namespace armarx
robotStateComponentProviderID.providerSegmentName = robotStateComponentProviderSegmentName;
}
void RobotSensorMemory::convertRobotStateComponentDataToAron()
void RobotStateMemory::convertRobotStateComponentDataToAron()
{
ARMARX_DEBUG << "RobotStateComponentData: Generating new aron map for current timestep";
auto start = std::chrono::high_resolution_clock::now();
......@@ -445,7 +492,7 @@ namespace armarx
ARMARX_DEBUG << "RobotStateComponentData: The total time needed to convert the data to aron is: " << std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
}
void RobotSensorMemory::storeConvertedRobotStateComponentDataInMemory()
void RobotStateMemory::storeConvertedRobotStateComponentDataInMemory()
{
unsigned int size = 0;
{
......@@ -491,14 +538,14 @@ namespace armarx
}
}
void RobotSensorMemory::stopRobotStateComponentPoll()
void RobotStateMemory::stopRobotStateComponentPoll()
{
std::lock_guard g{startStopMutex};
robotStateComponentConversionTask->stop();
robotStateComponentStoringTask->stop();
}
void RobotSensorMemory::startRobotStateComponentPoll()
void RobotStateMemory::startRobotStateComponentPoll()
{
std::lock_guard g{startStopMutex};
if (robotStateComponentConversionTask->isRunning() || robotStateComponentStoringTask->isRunning())
......
source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h → source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+ 10
− 6
View file @ 65976bbc
......@@ -55,7 +55,7 @@ namespace armarx
*
* Detailed description of class RobotSensorMemory.
*/
class RobotSensorMemory :
class RobotStateMemory :
virtual public armarx::Component,
virtual public armem::server::ComponentPluginUser,
virtual public RobotUnitComponentPluginUser,
......@@ -63,7 +63,7 @@ namespace armarx
{
public:
RobotSensorMemory();
RobotStateMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
......@@ -141,14 +141,18 @@ namespace armarx
int robotUnitPollFrequency = 50;
std::string robotUnitSensorPrefix = "sens.*";
unsigned int robotUnitMemoryBatchSize = 50;
std::string robotUnitConfigPath = "NO CONFIG SET";
// RobotUnit stuff
std::map<std::string, std::string> configSensorMapping;
// queue
std::queue<RobotUnitData> robotUnitDataQueue;
mutable std::mutex robotUnitDataMutex;
// running tasks
armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotUnitConversionTask;
armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotUnitStoringTask;
armarx::PeriodicTask<RobotStateMemory>::pointer_type robotUnitConversionTask;
armarx::PeriodicTask<RobotStateMemory>::pointer_type robotUnitStoringTask;
// RobotStateComponent stuff
struct RobotStateComponentData
......@@ -167,7 +171,7 @@ namespace armarx
mutable std::mutex robotStateComponentDataMutex;
// running tasks
armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotStateComponentConversionTask;
armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotStateComponentStoringTask;
armarx::PeriodicTask<RobotStateMemory>::pointer_type robotStateComponentConversionTask;
armarx::PeriodicTask<RobotStateMemory>::pointer_type robotStateComponentStoringTask;
};
}
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