The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
The central elements of RobotAPI are Sensor-Actor Units, i.e. components responsible for the propagation of sensor values and actor targets.
Sensor-Actor Units work as a link between higher level ArmarX components and the actual robot hardware or a robot simulation environment, respectively.
The RobotAPI package contains base classes for Sensor-Actor Units for different purposes, e.g. KinematicUnit for sensors and actors related to robotic joints.
Concrete Sensor-Actor Units inherit from these base classes in order to provide a common interface.
Each type of hardware and each type of simulation environment requires a distinct set of Sensor-Actor Units that handle the hardware/simulator access, e.g. KinematicUnitArmar3 and KinematicUnitArmar4 for accessing the kinematic elements of ARMAR-III and ARMAR-4, respectively:
Each type of hardware and each type of simulation environment requires a distinct set of Sensor-Actor Units that handle the hardware/simulator access,
e.g. KinematicUnitArmar3 and KinematicUnitArmar4 for accessing the kinematic elements of ARMAR-III and ARMAR-4, respectively:
\image html sensoractorunits2.svg "Inheritance diagram for Sensor-Actor Units"
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@@ -68,4 +69,3 @@ RobotAPI also provides a GUI-plugin for robot visualization.
