From cb16e56142a72845513de9eb5ba9e1f3ce827dd0 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 10 Nov 2022 15:47:56 +0100
Subject: [PATCH] PlatformUnitInterface: removing reportPlatformPose and
reportNewTargetPose. There is a dedicated interface to obtain the robot's
global pose via a topic
---
.../interface/units/PlatformUnitInterface.ice | 68 +++++++++----------
1 file changed, 32 insertions(+), 36 deletions(-)
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index f7f62d13d..f83ad97cf 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -24,22 +24,22 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
#include <RobotAPI/interface/core/GeometryBase.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
-{
- /**
+{
+ /**
* Implements an interface to an PlatformUnit.
**/
interface PlatformUnitInterface extends SensorActorUnitInterface
{
- /**
+ /**
* moveTo moves the platform to a global pose specified by:
* @param targetPlatformPositionX Global x-coordinate of target position.
* @param targetPlatformPositionY Global y-coordinate of target position.
@@ -47,14 +47,20 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveTo(float targetPlatformPositionX, float targetPlatformPositionY, float targetPlatformRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveTo(float targetPlatformPositionX,
+ float targetPlatformPositionY,
+ float targetPlatformRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* move moves the platform with given velocities.
* @param targetPlatformVelocityX x-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityY y-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityRotation Target orientational velocity defined in platform root.
**/
- void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation);
+ void move(float targetPlatformVelocityX,
+ float targetPlatformVelocityY,
+ float targetPlatformVelocityRotation);
/**
* moveRelative moves to a pose defined in platform coordinates.
* @param targetPlatformOffsetX x-coordinate of target position defined in platform root.
@@ -63,7 +69,11 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveRelative(float targetPlatformOffsetX,
+ float targetPlatformOffsetY,
+ float targetPlatformOffsetRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* setMaxVelocities allows to specify max velocities in translation and orientation.
* @param positionalVelocity Max translation velocity.
@@ -84,42 +94,28 @@ module armarx
float rotationAroundZ = 0.0f;
};
- /**
+ /**
* Implements an interface to an PlatformUnitListener.
**/
interface PlatformUnitListener
{
/**
- * reportPlatformPose reports current platform pose.
- * @param currentPose Current global platform pose.
- **/
- ["deprecate:reportPlatformPose() has been deprecated, use GlobalRobotPoseLocalizationListener::reportGlobalRobotPose() instead."]
- void reportPlatformPose(PlatformPose currentPose);
-
- /**
- * reportNewTargetPose reports target platform pose.
- * @param newPlatformPositionX Global x-coordinate of target platform position.
- * @param newPlatformPositionY Global y-coordinate of target platform position.
- * @param newPlatformRotation Target global orientation of platform.
- **/
- ["deprecate:reportNewTargetPose() has been deprecated, use ... instead."]
- void reportNewTargetPose(float newPlatformPositionX, float newPlatformPositionY, float newPlatformRotation);
- /**
- * reportPlatformVelocity reports current platform velocities.
- * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
- **/
- // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
- void reportPlatformVelocity(float currentPlatformVelocityX, float currentPlatformVelocityY, float currentPlatformVelocityRotation);
+ * reportPlatformVelocity reports current platform velocities.
+ * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
+ **/
+ // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
+ void reportPlatformVelocity(float currentPlatformVelocityX,
+ float currentPlatformVelocityY,
+ float currentPlatformVelocityRotation);
- ["deprecate:reportPlatformOdometryPose() has been deprecated, use OdometryListener::reportOdometryPose() instead."]
- void reportPlatformOdometryPose(float x, float y, float angle);
+ ["deprecate:reportPlatformOdometryPose() has been deprecated, use "
+ "OdometryListener::reportOdometryPose() instead."] void
+ reportPlatformOdometryPose(float x, float y, float angle);
};
interface PlatformSubUnitInterface extends PlatformUnitInterface
{
-
};
-
};
--
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