diff --git a/source/RobotAPI/applications/AronCodeGenerator/cxxopts.hpp b/source/RobotAPI/applications/AronCodeGenerator/cxxopts.hpp
index a11201123e2b6c17939c960c9b7c8239fbdc80dc..11fe04078d717a88bb6808b8c25721c113e54085 100644
--- a/source/RobotAPI/applications/AronCodeGenerator/cxxopts.hpp
+++ b/source/RobotAPI/applications/AronCodeGenerator/cxxopts.hpp
@@ -25,8 +25,8 @@ THE SOFTWARE.
#ifndef CXXOPTS_HPP_INCLUDED
#define CXXOPTS_HPP_INCLUDED
-#include <cstring>
#include <cctype>
+#include <cstring>
#include <exception>
#include <iostream>
#include <map>
@@ -52,13 +52,8 @@ namespace cxxopts
static constexpr struct
{
uint8_t major, minor, patch;
- } version =
- {
- CXXOPTS__VERSION_MAJOR,
- CXXOPTS__VERSION_MINOR,
- CXXOPTS__VERSION_PATCH
- };
-}
+ } version = {CXXOPTS__VERSION_MAJOR, CXXOPTS__VERSION_MINOR, CXXOPTS__VERSION_PATCH};
+} // namespace cxxopts
//when we ask cxxopts to use Unicode, help strings are processed using ICU,
//which results in the correct lengths being computed for strings when they
@@ -73,21 +68,16 @@ namespace cxxopts
{
typedef icu::UnicodeString String;
- inline
- String
+ inline String
toLocalString(std::string s)
{
return icu::UnicodeString::fromUTF8(std::move(s));
}
- class UnicodeStringIterator : public
- std::iterator<std::forward_iterator_tag, int32_t>
+ class UnicodeStringIterator : public std::iterator<std::forward_iterator_tag, int32_t>
{
public:
-
- UnicodeStringIterator(const icu::UnicodeString* string, int32_t pos)
- : s(string)
- , i(pos)
+ UnicodeStringIterator(const icu::UnicodeString* string, int32_t pos) : s(string), i(pos)
{
}
@@ -127,15 +117,13 @@ namespace cxxopts
int32_t i;
};
- inline
- String&
+ inline String&
stringAppend(String& s, String a)
{
return s.append(std::move(a));
}
- inline
- String&
+ inline String&
stringAppend(String& s, int n, UChar32 c)
{
for (int i = 0; i != n; ++i)
@@ -159,15 +147,13 @@ namespace cxxopts
return s;
}
- inline
- size_t
+ inline size_t
stringLength(const String& s)
{
return s.length();
}
- inline
- std::string
+ inline std::string
toUTF8String(const String& s)
{
std::string result;
@@ -176,30 +162,27 @@ namespace cxxopts
return result;
}
- inline
- bool
+ inline bool
empty(const String& s)
{
return s.isEmpty();
}
-}
+} // namespace cxxopts
namespace std
{
- inline
- cxxopts::UnicodeStringIterator
+ inline cxxopts::UnicodeStringIterator
begin(const icu::UnicodeString& s)
{
return cxxopts::UnicodeStringIterator(&s, 0);
}
- inline
- cxxopts::UnicodeStringIterator
+ inline cxxopts::UnicodeStringIterator
end(const icu::UnicodeString& s)
{
return cxxopts::UnicodeStringIterator(&s, s.length());
}
-}
+} // namespace std
//ifdef CXXOPTS_USE_UNICODE
#else
@@ -215,22 +198,19 @@ namespace cxxopts
return std::forward<T>(t);
}
- inline
- size_t
+ inline size_t
stringLength(const String& s)
{
return s.length();
}
- inline
- String&
+ inline String&
stringAppend(String& s, String a)
{
return s.append(std::move(a));
}
- inline
- String&
+ inline String&
stringAppend(String& s, size_t n, char c)
{
return s.append(n, c);
@@ -250,13 +230,12 @@ namespace cxxopts
return std::forward<T>(t);
}
- inline
- bool
+ inline bool
empty(const std::string& s)
{
return s.empty();
}
-}
+} // namespace cxxopts
//ifdef CXXOPTS_USE_UNICODE
#endif
@@ -272,54 +251,40 @@ namespace cxxopts
const std::string LQUOTE("‘");
const std::string RQUOTE("’");
#endif
- }
+ } // namespace
class Value : public std::enable_shared_from_this<Value>
{
public:
-
virtual ~Value() = default;
- virtual
- std::shared_ptr<Value>
- clone() const = 0;
+ virtual std::shared_ptr<Value> clone() const = 0;
- virtual void
- parse(const std::string& text) const = 0;
+ virtual void parse(const std::string& text) const = 0;
- virtual void
- parse() const = 0;
+ virtual void parse() const = 0;
- virtual bool
- has_default() const = 0;
+ virtual bool has_default() const = 0;
- virtual bool
- is_container() const = 0;
+ virtual bool is_container() const = 0;
- virtual bool
- has_implicit() const = 0;
+ virtual bool has_implicit() const = 0;
- virtual std::string
- get_default_value() const = 0;
+ virtual std::string get_default_value() const = 0;
- virtual std::string
- get_implicit_value() const = 0;
+ virtual std::string get_implicit_value() const = 0;
- virtual std::shared_ptr<Value>
- default_value(const std::string& value) = 0;
+ virtual std::shared_ptr<Value> default_value(const std::string& value) = 0;
- virtual std::shared_ptr<Value>
- implicit_value(const std::string& value) = 0;
+ virtual std::shared_ptr<Value> implicit_value(const std::string& value) = 0;
- virtual bool
- is_boolean() const = 0;
+ virtual bool is_boolean() const = 0;
};
class OptionException : public std::exception
{
public:
- OptionException(const std::string& message)
- : m_message(message)
+ OptionException(const std::string& message) : m_message(message)
{
}
@@ -336,9 +301,7 @@ namespace cxxopts
class OptionSpecException : public OptionException
{
public:
-
- OptionSpecException(const std::string& message)
- : OptionException(message)
+ OptionSpecException(const std::string& message) : OptionException(message)
{
}
};
@@ -346,8 +309,7 @@ namespace cxxopts
class OptionParseException : public OptionException
{
public:
- OptionParseException(const std::string& message)
- : OptionException(message)
+ OptionParseException(const std::string& message) : OptionException(message)
{
}
};
@@ -355,8 +317,8 @@ namespace cxxopts
class option_exists_error : public OptionSpecException
{
public:
- option_exists_error(const std::string& option)
- : OptionSpecException("Option " + LQUOTE + option + RQUOTE + " already exists")
+ option_exists_error(const std::string& option) :
+ OptionSpecException("Option " + LQUOTE + option + RQUOTE + " already exists")
{
}
};
@@ -364,8 +326,8 @@ namespace cxxopts
class invalid_option_format_error : public OptionSpecException
{
public:
- invalid_option_format_error(const std::string& format)
- : OptionSpecException("Invalid option format " + LQUOTE + format + RQUOTE)
+ invalid_option_format_error(const std::string& format) :
+ OptionSpecException("Invalid option format " + LQUOTE + format + RQUOTE)
{
}
};
@@ -373,9 +335,9 @@ namespace cxxopts
class option_syntax_exception : public OptionParseException
{
public:
- option_syntax_exception(const std::string& text)
- : OptionParseException("Argument " + LQUOTE + text + RQUOTE +
- " starts with a - but has incorrect syntax")
+ option_syntax_exception(const std::string& text) :
+ OptionParseException("Argument " + LQUOTE + text + RQUOTE +
+ " starts with a - but has incorrect syntax")
{
}
};
@@ -383,8 +345,8 @@ namespace cxxopts
class option_not_exists_exception : public OptionParseException
{
public:
- option_not_exists_exception(const std::string& option)
- : OptionParseException("Option " + LQUOTE + option + RQUOTE + " does not exist")
+ option_not_exists_exception(const std::string& option) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE + " does not exist")
{
}
};
@@ -392,10 +354,8 @@ namespace cxxopts
class missing_argument_exception : public OptionParseException
{
public:
- missing_argument_exception(const std::string& option)
- : OptionParseException(
- "Option " + LQUOTE + option + RQUOTE + " is missing an argument"
- )
+ missing_argument_exception(const std::string& option) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE + " is missing an argument")
{
}
};
@@ -403,10 +363,8 @@ namespace cxxopts
class option_requires_argument_exception : public OptionParseException
{
public:
- option_requires_argument_exception(const std::string& option)
- : OptionParseException(
- "Option " + LQUOTE + option + RQUOTE + " requires an argument"
- )
+ option_requires_argument_exception(const std::string& option) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE + " requires an argument")
{
}
};
@@ -414,16 +372,10 @@ namespace cxxopts
class option_not_has_argument_exception : public OptionParseException
{
public:
- option_not_has_argument_exception
- (
- const std::string& option,
- const std::string& arg
- )
- : OptionParseException(
- "Option " + LQUOTE + option + RQUOTE +
- " does not take an argument, but argument " +
- LQUOTE + arg + RQUOTE + " given"
- )
+ option_not_has_argument_exception(const std::string& option, const std::string& arg) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE +
+ " does not take an argument, but argument " + LQUOTE + arg +
+ RQUOTE + " given")
{
}
};
@@ -431,8 +383,8 @@ namespace cxxopts
class option_not_present_exception : public OptionParseException
{
public:
- option_not_present_exception(const std::string& option)
- : OptionParseException("Option " + LQUOTE + option + RQUOTE + " not present")
+ option_not_present_exception(const std::string& option) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE + " not present")
{
}
};
@@ -440,13 +392,8 @@ namespace cxxopts
class argument_incorrect_type : public OptionParseException
{
public:
- argument_incorrect_type
- (
- const std::string& arg
- )
- : OptionParseException(
- "Argument " + LQUOTE + arg + RQUOTE + " failed to parse"
- )
+ argument_incorrect_type(const std::string& arg) :
+ OptionParseException("Argument " + LQUOTE + arg + RQUOTE + " failed to parse")
{
}
};
@@ -454,10 +401,9 @@ namespace cxxopts
class option_required_exception : public OptionParseException
{
public:
- option_required_exception(const std::string& option)
- : OptionParseException(
- "Option " + LQUOTE + option + RQUOTE + " is required but not present"
- )
+ option_required_exception(const std::string& option) :
+ OptionParseException("Option " + LQUOTE + option + RQUOTE +
+ " is required but not present")
{
}
};
@@ -466,13 +412,10 @@ namespace cxxopts
{
namespace
{
- std::basic_regex<char> integer_pattern
- ("(-)?(0x)?([0-9a-zA-Z]+)|((0x)?0)");
- std::basic_regex<char> truthy_pattern
- ("(t|T)(rue)?");
- std::basic_regex<char> falsy_pattern
- ("((f|F)(alse)?)?");
- }
+ std::basic_regex<char> integer_pattern("(-)?(0x)?([0-9a-zA-Z]+)|((0x)?0)");
+ std::basic_regex<char> truthy_pattern("(t|T)(rue)?");
+ std::basic_regex<char> falsy_pattern("((f|F)(alse)?)?");
+ } // namespace
namespace detail
{
@@ -508,7 +451,9 @@ namespace cxxopts
{
template <typename U>
void
- operator()(bool, U, const std::string&) {}
+ operator()(bool, U, const std::string&)
+ {
+ }
};
template <typename T, typename U>
@@ -517,7 +462,7 @@ namespace cxxopts
{
SignedCheck<T, std::numeric_limits<T>::is_signed>()(negative, value, text);
}
- }
+ } // namespace detail
template <typename R, typename T>
R
@@ -598,9 +543,7 @@ namespace cxxopts
if (negative)
{
- value = checked_negate<T>(result,
- text,
- std::integral_constant<bool, is_signed>());
+ value = checked_negate<T>(result, text, std::integral_constant<bool, is_signed>());
}
else
{
@@ -609,7 +552,8 @@ namespace cxxopts
}
template <typename T>
- void stringstream_parser(const std::string& text, T& value)
+ void
+ stringstream_parser(const std::string& text, T& value)
{
std::stringstream in(text);
in >> value;
@@ -619,64 +563,55 @@ namespace cxxopts
}
}
- inline
- void
+ inline void
parse_value(const std::string& text, uint8_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, int8_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, uint16_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, int16_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, uint32_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, int32_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, uint64_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, int64_t& value)
{
integer_parser(text, value);
}
- inline
- void
+ inline void
parse_value(const std::string& text, bool& value)
{
std::smatch result;
@@ -698,8 +633,7 @@ namespace cxxopts
throw argument_incorrect_type(text);
}
- inline
- void
+ inline void
parse_value(const std::string& text, std::string& value)
{
value = text;
@@ -753,14 +687,11 @@ namespace cxxopts
using Self = abstract_value<T>;
public:
- abstract_value()
- : m_result(std::make_shared<T>())
- , m_store(m_result.get())
+ abstract_value() : m_result(std::make_shared<T>()), m_store(m_result.get())
{
}
- abstract_value(T* t)
- : m_store(t)
+ abstract_value(T* t) : m_store(t)
{
}
@@ -896,8 +827,7 @@ namespace cxxopts
set_default_and_implicit();
}
- standard_value(bool* b)
- : abstract_value(b)
+ standard_value(bool* b) : abstract_value(b)
{
set_default_and_implicit();
}
@@ -909,7 +839,6 @@ namespace cxxopts
}
private:
-
void
set_default_and_implicit()
{
@@ -919,7 +848,7 @@ namespace cxxopts
m_implicit_value = "true";
}
};
- }
+ } // namespace values
template <typename T>
std::shared_ptr<Value>
@@ -940,24 +869,15 @@ namespace cxxopts
class OptionDetails
{
public:
- OptionDetails
- (
- const std::string& short_,
- const std::string& long_,
- const String& desc,
- std::shared_ptr<const Value> val
- )
- : m_short(short_)
- , m_long(long_)
- , m_desc(desc)
- , m_value(val)
- , m_count(0)
+ OptionDetails(const std::string& short_,
+ const std::string& long_,
+ const String& desc,
+ std::shared_ptr<const Value> val) :
+ m_short(short_), m_long(long_), m_desc(desc), m_value(val), m_count(0)
{
}
- OptionDetails(const OptionDetails& rhs)
- : m_desc(rhs.m_desc)
- , m_count(rhs.m_count)
+ OptionDetails(const OptionDetails& rhs) : m_desc(rhs.m_desc), m_count(rhs.m_count)
{
m_value = rhs.m_value->clone();
}
@@ -970,7 +890,8 @@ namespace cxxopts
return m_desc;
}
- const Value& value() const
+ const Value&
+ value() const
{
return *m_value;
}
@@ -1026,11 +947,7 @@ namespace cxxopts
{
public:
void
- parse
- (
- std::shared_ptr<const OptionDetails> details,
- const std::string& text
- )
+ parse(std::shared_ptr<const OptionDetails> details, const std::string& text)
{
ensure_value(details);
++m_count;
@@ -1083,21 +1000,18 @@ namespace cxxopts
class KeyValue
{
public:
- KeyValue(std::string key_, std::string value_)
- : m_key(std::move(key_))
- , m_value(std::move(value_))
+ KeyValue(std::string key_, std::string value_) :
+ m_key(std::move(key_)), m_value(std::move(value_))
{
}
- const
- std::string&
+ const std::string&
key() const
{
return m_key;
}
- const
- std::string&
+ const std::string&
value() const
{
return m_value;
@@ -1120,14 +1034,12 @@ namespace cxxopts
class ParseResult
{
public:
-
ParseResult(
- const std::shared_ptr <
- std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
- >,
+ const std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<OptionDetails>>>,
std::vector<std::string>,
bool allow_unrecognised,
- int&, char**&);
+ int&,
+ char**&);
size_t
count(const std::string& o) const
@@ -1165,40 +1077,26 @@ namespace cxxopts
}
private:
+ void parse(int& argc, char**& argv);
- void
- parse(int& argc, char**& argv);
+ void add_to_option(const std::string& option, const std::string& arg);
- void
- add_to_option(const std::string& option, const std::string& arg);
+ bool consume_positional(std::string a);
- bool
- consume_positional(std::string a);
+ void parse_option(std::shared_ptr<OptionDetails> value,
+ const std::string& name,
+ const std::string& arg = "");
- void
- parse_option
- (
- std::shared_ptr<OptionDetails> value,
- const std::string& name,
- const std::string& arg = ""
- );
+ void parse_default(std::shared_ptr<OptionDetails> details);
- void
- parse_default(std::shared_ptr<OptionDetails> details);
+ void checked_parse_arg(int argc,
+ char* argv[],
+ int& current,
+ std::shared_ptr<OptionDetails> value,
+ const std::string& name);
- void
- checked_parse_arg
- (
- int argc,
- char* argv[],
- int& current,
- std::shared_ptr<OptionDetails> value,
- const std::string& name
- );
-
- const std::shared_ptr <
- std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
- > m_options;
+ const std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<OptionDetails>>>
+ m_options;
std::vector<std::string> m_positional;
std::vector<std::string>::iterator m_next_positional;
std::unordered_set<std::string> m_positional_set;
@@ -1211,19 +1109,18 @@ namespace cxxopts
class Options
{
- typedef std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
- OptionMap;
- public:
+ typedef std::unordered_map<std::string, std::shared_ptr<OptionDetails>> OptionMap;
- Options(std::string program, std::string help_string = "")
- : m_program(std::move(program))
- , m_help_string(toLocalString(std::move(help_string)))
- , m_custom_help("[OPTION...]")
- , m_positional_help("positional parameters")
- , m_show_positional(false)
- , m_allow_unrecognised(false)
- , m_options(std::make_shared<OptionMap>())
- , m_next_positional(m_positional.end())
+ public:
+ Options(std::string program, std::string help_string = "") :
+ m_program(std::move(program)),
+ m_help_string(toLocalString(std::move(help_string))),
+ m_custom_help("[OPTION...]"),
+ m_positional_help("positional parameters"),
+ m_show_positional(false),
+ m_allow_unrecognised(false),
+ m_options(std::make_shared<OptionMap>()),
+ m_next_positional(m_positional.end())
{
}
@@ -1255,70 +1152,45 @@ namespace cxxopts
return *this;
}
- ParseResult
- parse(int& argc, char**& argv);
+ ParseResult parse(int& argc, char**& argv);
- OptionAdder
- add_options(std::string group = "");
+ OptionAdder add_options(std::string group = "");
- void
- add_option
- (
- const std::string& group,
- const std::string& s,
- const std::string& l,
- std::string desc,
- std::shared_ptr<const Value> value,
- std::string arg_help
- );
+ void add_option(const std::string& group,
+ const std::string& s,
+ const std::string& l,
+ std::string desc,
+ std::shared_ptr<const Value> value,
+ std::string arg_help);
//parse positional arguments into the given option
- void
- parse_positional(std::string option);
+ void parse_positional(std::string option);
- void
- parse_positional(std::vector<std::string> options);
+ void parse_positional(std::vector<std::string> options);
- void
- parse_positional(std::initializer_list<std::string> options);
+ void parse_positional(std::initializer_list<std::string> options);
template <typename Iterator>
void
parse_positional(Iterator begin, Iterator end)
{
- parse_positional(std::vector<std::string> {begin, end});
+ parse_positional(std::vector<std::string>{begin, end});
}
- std::string
- help(const std::vector<std::string>& groups = {}) const;
+ std::string help(const std::vector<std::string>& groups = {}) const;
- const std::vector<std::string>
- groups() const;
+ const std::vector<std::string> groups() const;
- const HelpGroupDetails&
- group_help(const std::string& group) const;
+ const HelpGroupDetails& group_help(const std::string& group) const;
private:
+ void add_one_option(const std::string& option, std::shared_ptr<OptionDetails> details);
- void
- add_one_option
- (
- const std::string& option,
- std::shared_ptr<OptionDetails> details
- );
-
- String
- help_one_group(const std::string& group) const;
+ String help_one_group(const std::string& group) const;
- void
- generate_group_help
- (
- String& result,
- const std::vector<std::string>& groups
- ) const;
+ void generate_group_help(String& result, const std::vector<std::string>& groups) const;
- void
- generate_all_groups_help(String& result) const;
+ void generate_all_groups_help(String& result) const;
std::string m_program;
String m_help_string;
@@ -1339,21 +1211,15 @@ namespace cxxopts
class OptionAdder
{
public:
-
- OptionAdder(Options& options, std::string group)
- : m_options(options), m_group(std::move(group))
+ OptionAdder(Options& options, std::string group) :
+ m_options(options), m_group(std::move(group))
{
}
- OptionAdder&
- operator()
- (
- const std::string& opts,
- const std::string& desc,
- std::shared_ptr<const Value> value
- = ::cxxopts::value<bool>(),
- std::string arg_help = ""
- );
+ OptionAdder& operator()(const std::string& opts,
+ const std::string& desc,
+ std::shared_ptr<const Value> value = ::cxxopts::value<bool>(),
+ std::string arg_help = "");
private:
Options& m_options;
@@ -1365,17 +1231,14 @@ namespace cxxopts
constexpr int OPTION_LONGEST = 30;
constexpr int OPTION_DESC_GAP = 2;
- std::basic_regex<char> option_matcher
- ("--([[:alnum:]][-_[:alnum:]]+)(=(.*))?|-([[:alnum:]]+)");
+ std::basic_regex<char>
+ option_matcher("--([[:alnum:]][-_[:alnum:]]+)(=(.*))?|-([[:alnum:]]+)");
- std::basic_regex<char> option_specifier
- ("(([[:alnum:]]),)?[ ]*([[:alnum:]][-_[:alnum:]]*)?");
+ std::basic_regex<char>
+ option_specifier("(([[:alnum:]]),)?[ ]*([[:alnum:]][-_[:alnum:]]*)?");
String
- format_option
- (
- const HelpOptionDetails& o
- )
+ format_option(const HelpOptionDetails& o)
{
auto& s = o.s;
auto& l = o.l;
@@ -1414,12 +1277,7 @@ namespace cxxopts
}
String
- format_description
- (
- const HelpOptionDetails& o,
- size_t start,
- size_t width
- )
+ format_description(const HelpOptionDetails& o, size_t start, size_t width)
{
auto desc = o.desc;
@@ -1480,42 +1338,34 @@ namespace cxxopts
return result;
}
- }
+ } // namespace
- inline
- ParseResult::ParseResult
- (
- const std::shared_ptr <
- std::unordered_map<std::string, std::shared_ptr<OptionDetails>>
- > options,
+ inline ParseResult::ParseResult(
+ const std::shared_ptr<std::unordered_map<std::string, std::shared_ptr<OptionDetails>>>
+ options,
std::vector<std::string> positional,
bool allow_unrecognised,
- int& argc, char**& argv
- )
- : m_options(options)
- , m_positional(std::move(positional))
- , m_next_positional(m_positional.begin())
- , m_allow_unrecognised(allow_unrecognised)
+ int& argc,
+ char**& argv) :
+ m_options(options),
+ m_positional(std::move(positional)),
+ m_next_positional(m_positional.begin()),
+ m_allow_unrecognised(allow_unrecognised)
{
parse(argc, argv);
}
- inline
- OptionAdder
+ inline OptionAdder
Options::add_options(std::string group)
{
return OptionAdder(*this, std::move(group));
}
- inline
- OptionAdder&
- OptionAdder::operator()
- (
- const std::string& opts,
- const std::string& desc,
- std::shared_ptr<const Value> value,
- std::string arg_help
- )
+ inline OptionAdder&
+ OptionAdder::operator()(const std::string& opts,
+ const std::string& desc,
+ std::shared_ptr<const Value> value,
+ std::string arg_help)
{
std::match_results<const char*> result;
std::regex_match(opts.c_str(), result, option_specifier);
@@ -1537,11 +1387,8 @@ namespace cxxopts
throw invalid_option_format_error(opts);
}
- auto option_names = []
- (
- const std::sub_match<const char*>& short_,
- const std::sub_match<const char*>& long_
- )
+ auto option_names =
+ [](const std::sub_match<const char*>& short_, const std::sub_match<const char*>& long_)
{
if (long_.length() == 1)
{
@@ -1551,37 +1398,28 @@ namespace cxxopts
{
return std::make_tuple(short_.str(), long_.str());
}
- }
- (short_match, long_match);
+ }(short_match, long_match);
- m_options.add_option
- (
- m_group,
- std::get<0>(option_names),
- std::get<1>(option_names),
- desc,
- value,
- std::move(arg_help)
- );
+ m_options.add_option(m_group,
+ std::get<0>(option_names),
+ std::get<1>(option_names),
+ desc,
+ value,
+ std::move(arg_help));
return *this;
}
- inline
- void
+ inline void
ParseResult::parse_default(std::shared_ptr<OptionDetails> details)
{
m_results[details].parse_default(details);
}
- inline
- void
- ParseResult::parse_option
- (
- std::shared_ptr<OptionDetails> value,
- const std::string& /*name*/,
- const std::string& arg
- )
+ inline void
+ ParseResult::parse_option(std::shared_ptr<OptionDetails> value,
+ const std::string& /*name*/,
+ const std::string& arg)
{
auto& result = m_results[value];
result.parse(value, arg);
@@ -1589,16 +1427,12 @@ namespace cxxopts
m_sequential.emplace_back(value->long_name(), arg);
}
- inline
- void
- ParseResult::checked_parse_arg
- (
- int argc,
- char* argv[],
- int& current,
- std::shared_ptr<OptionDetails> value,
- const std::string& name
- )
+ inline void
+ ParseResult::checked_parse_arg(int argc,
+ char* argv[],
+ int& current,
+ std::shared_ptr<OptionDetails> value,
+ const std::string& name)
{
if (current + 1 >= argc)
{
@@ -1625,8 +1459,7 @@ namespace cxxopts
}
}
- inline
- void
+ inline void
ParseResult::add_to_option(const std::string& option, const std::string& arg)
{
auto iter = m_options->find(option);
@@ -1639,8 +1472,7 @@ namespace cxxopts
parse_option(iter->second, option, arg);
}
- inline
- bool
+ inline bool
ParseResult::consume_positional(std::string a)
{
while (m_next_positional != m_positional.end())
@@ -1675,15 +1507,13 @@ namespace cxxopts
return false;
}
- inline
- void
+ inline void
Options::parse_positional(std::string option)
{
- parse_positional(std::vector<std::string> {std::move(option)});
+ parse_positional(std::vector<std::string>{std::move(option)});
}
- inline
- void
+ inline void
Options::parse_positional(std::vector<std::string> options)
{
m_positional = std::move(options);
@@ -1692,23 +1522,20 @@ namespace cxxopts
m_positional_set.insert(m_positional.begin(), m_positional.end());
}
- inline
- void
+ inline void
Options::parse_positional(std::initializer_list<std::string> options)
{
parse_positional(std::vector<std::string>(std::move(options)));
}
- inline
- ParseResult
+ inline ParseResult
Options::parse(int& argc, char**& argv)
{
ParseResult result(m_options, m_positional, m_allow_unrecognised, argc, argv);
return result;
}
- inline
- void
+ inline void
ParseResult::parse(int& argc, char**& argv)
{
int current = 1;
@@ -1832,7 +1659,6 @@ namespace cxxopts
checked_parse_arg(argc, argv, current, opt, name);
}
}
-
}
++current;
@@ -1872,20 +1698,15 @@ namespace cxxopts
}
argc = nextKeep;
-
}
- inline
- void
- Options::add_option
- (
- const std::string& group,
- const std::string& s,
- const std::string& l,
- std::string desc,
- std::shared_ptr<const Value> value,
- std::string arg_help
- )
+ inline void
+ Options::add_option(const std::string& group,
+ const std::string& s,
+ const std::string& l,
+ std::string desc,
+ std::shared_ptr<const Value> value,
+ std::string arg_help)
{
auto stringDesc = toLocalString(std::move(desc));
auto option = std::make_shared<OptionDetails>(s, l, stringDesc, value);
@@ -1903,21 +1724,20 @@ namespace cxxopts
//add the help details
auto& options = m_help[group];
- options.options.emplace_back(HelpOptionDetails{s, l, stringDesc,
- value->has_default(), value->get_default_value(),
- value->has_implicit(), value->get_implicit_value(),
- std::move(arg_help),
- value->is_container(),
- value->is_boolean()});
+ options.options.emplace_back(HelpOptionDetails{s,
+ l,
+ stringDesc,
+ value->has_default(),
+ value->get_default_value(),
+ value->has_implicit(),
+ value->get_implicit_value(),
+ std::move(arg_help),
+ value->is_container(),
+ value->is_boolean()});
}
- inline
- void
- Options::add_one_option
- (
- const std::string& option,
- std::shared_ptr<OptionDetails> details
- )
+ inline void
+ Options::add_one_option(const std::string& option, std::shared_ptr<OptionDetails> details)
{
auto in = m_options->emplace(option, details);
@@ -1927,8 +1747,7 @@ namespace cxxopts
}
}
- inline
- String
+ inline String
Options::help_one_group(const std::string& g) const
{
typedef std::vector<std::pair<String, String>> OptionHelp;
@@ -1952,8 +1771,7 @@ namespace cxxopts
for (const auto& o : group->second.options)
{
- if (o.is_container &&
- m_positional_set.find(o.l) != m_positional_set.end() &&
+ if (o.is_container && m_positional_set.find(o.l) != m_positional_set.end() &&
!m_show_positional)
{
continue;
@@ -1972,8 +1790,7 @@ namespace cxxopts
auto fiter = format.begin();
for (const auto& o : group->second.options)
{
- if (o.is_container &&
- m_positional_set.find(o.l) != m_positional_set.end() &&
+ if (o.is_container && m_positional_set.find(o.l) != m_positional_set.end() &&
!m_show_positional)
{
continue;
@@ -1989,9 +1806,8 @@ namespace cxxopts
}
else
{
- result += toLocalString(std::string(longest + OPTION_DESC_GAP -
- stringLength(fiter->first),
- ' '));
+ result += toLocalString(
+ std::string(longest + OPTION_DESC_GAP - stringLength(fiter->first), ' '));
}
result += d;
result += '\n';
@@ -2002,13 +1818,8 @@ namespace cxxopts
return result;
}
- inline
- void
- Options::generate_group_help
- (
- String& result,
- const std::vector<std::string>& print_groups
- ) const
+ inline void
+ Options::generate_group_help(String& result, const std::vector<std::string>& print_groups) const
{
for (size_t i = 0; i != print_groups.size(); ++i)
{
@@ -2025,8 +1836,7 @@ namespace cxxopts
}
}
- inline
- void
+ inline void
Options::generate_all_groups_help(String& result) const
{
std::vector<std::string> all_groups;
@@ -2040,12 +1850,11 @@ namespace cxxopts
generate_group_help(result, all_groups);
}
- inline
- std::string
+ inline std::string
Options::help(const std::vector<std::string>& help_groups) const
{
- String result = m_help_string + "\nUsage:\n " +
- toLocalString(m_program) + " " + toLocalString(m_custom_help);
+ String result = m_help_string + "\nUsage:\n " + toLocalString(m_program) + " " +
+ toLocalString(m_custom_help);
if (m_positional.size() > 0 && m_positional_help.size() > 0)
{
@@ -2066,32 +1875,26 @@ namespace cxxopts
return toUTF8String(result);
}
- inline
- const std::vector<std::string>
+ inline const std::vector<std::string>
Options::groups() const
{
std::vector<std::string> g;
- std::transform(
- m_help.begin(),
- m_help.end(),
- std::back_inserter(g),
- [](const std::map<std::string, HelpGroupDetails>::value_type & pair)
- {
- return pair.first;
- }
- );
+ std::transform(m_help.begin(),
+ m_help.end(),
+ std::back_inserter(g),
+ [](const std::map<std::string, HelpGroupDetails>::value_type& pair)
+ { return pair.first; });
return g;
}
- inline
- const HelpGroupDetails&
+ inline const HelpGroupDetails&
Options::group_help(const std::string& group) const
{
return m_help.at(group);
}
-}
+} // namespace cxxopts
#endif //CXXOPTS_HPP_INCLUDED
diff --git a/source/RobotAPI/components/ArViz/Client/elements/point_cloud_type_traits.hpp b/source/RobotAPI/components/ArViz/Client/elements/point_cloud_type_traits.hpp
index c3d10f583b6a62c35c4ee66a12205f5f3fd51096..57bdfb84c160b6e5e7196508914d012ef02fe47c 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/point_cloud_type_traits.hpp
+++ b/source/RobotAPI/components/ArViz/Client/elements/point_cloud_type_traits.hpp
@@ -3,7 +3,6 @@
#include <SimoxUtility/meta/has_member_macros/has_member.hpp>
-
namespace armarx::viz::detail
{
@@ -13,17 +12,13 @@ namespace armarx::viz::detail
define_has_member(a);
define_has_member(label);
-
template <typename PointT>
class has_members_rgba
{
public:
- static constexpr bool value =
- has_member_r<PointT>::value && has_member_g<PointT>::value
- && has_member_b<PointT>::value && has_member_a<PointT>::value;
-
+ static constexpr bool value = has_member_r<PointT>::value && has_member_g<PointT>::value &&
+ has_member_b<PointT>::value && has_member_a<PointT>::value;
};
-}
-
+} // namespace armarx::viz::detail
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp
index 4a56a6ca012eb3b3180a757005f9a5d5633b1f82..85199992ae567657a51808fb1dd36c5be589158d 100644
--- a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp
@@ -36,7 +36,6 @@ namespace simox::alg
return conc;
}
-
template <class KeyT, class ValueT>
std::map<KeyT, ValueT>
map_from_key_value_pairs(const std::vector<KeyT>& lhs, const std::vector<ValueT>& rhs)
@@ -51,7 +50,6 @@ namespace simox::alg
return map;
}
-
template <class KeyT, class ValueT>
std::vector<ValueT>
multi_at(const std::map<KeyT, ValueT>& map,
diff --git a/source/RobotAPI/components/ik_demo/ComponentInterface.ice b/source/RobotAPI/components/ik_demo/ComponentInterface.ice
index edde6d507af83320f080fb20c61856a4036747b3..6114541b7a984664878b5636e85b588308ffa755 100644
--- a/source/RobotAPI/components/ik_demo/ComponentInterface.ice
+++ b/source/RobotAPI/components/ik_demo/ComponentInterface.ice
@@ -24,12 +24,19 @@
#pragma once
-module armar6 { module skills { module components { module armar6_ik_demo
+module armar6
{
-
- interface ComponentInterface
+ module skills
{
- // Define your interface here.
- };
+ module components
+ {
+ module armar6_ik_demo
+ {
-};};};};
+ interface ComponentInterface{
+ // Define your interface here.
+ };
+ };
+ };
+ };
+};
diff --git a/source/RobotAPI/drivers/CyberGloveUnit/CyberGloveInterface.ice b/source/RobotAPI/drivers/CyberGloveUnit/CyberGloveInterface.ice
index 1e4dd648305747cc2ecedf395f0fa2e3d98aacdb..e9b3235ec2c2238755e7be9826ec96ce8b99d0fc 100644
--- a/source/RobotAPI/drivers/CyberGloveUnit/CyberGloveInterface.ice
+++ b/source/RobotAPI/drivers/CyberGloveUnit/CyberGloveInterface.ice
@@ -63,7 +63,7 @@ module armarx
interface CyberGloveInterface
{
- string getTopicName();
+ string getTopicName();
};
};
diff --git a/source/RobotAPI/drivers/ProsthesisObserver/ProsthesisInterface.ice b/source/RobotAPI/drivers/ProsthesisObserver/ProsthesisInterface.ice
index 28219519e85357d13747a234352dd594d6f4c805..57fe20a784171867eb04b62829f37fd31d3d695f 100644
--- a/source/RobotAPI/drivers/ProsthesisObserver/ProsthesisInterface.ice
+++ b/source/RobotAPI/drivers/ProsthesisObserver/ProsthesisInterface.ice
@@ -44,7 +44,7 @@ module armarx
interface ProsthesisInterface
{
- string getTopicName();
+ string getTopicName();
};
};
diff --git a/source/RobotAPI/interface/ArViz.ice b/source/RobotAPI/interface/ArViz.ice
index bfbc8715305165f7d8d74ff39a463e3727727105..e27fd71c9e1978c3f29d232548e3a7e5b80d6a83 100644
--- a/source/RobotAPI/interface/ArViz.ice
+++ b/source/RobotAPI/interface/ArViz.ice
@@ -1,5 +1,4 @@
#pragma once
-#include <RobotAPI/interface/ArViz/Elements.ice>
#include <RobotAPI/interface/ArViz/Component.ice>
-
+#include <RobotAPI/interface/ArViz/Elements.ice>
diff --git a/source/RobotAPI/interface/ArViz/Component.ice b/source/RobotAPI/interface/ArViz/Component.ice
index 6ba528b4f87fe2dab27c6d9511612b3ae01055ed..0af7862b659cfab7071e313813c79dbdefda645b 100644
--- a/source/RobotAPI/interface/ArViz/Component.ice
+++ b/source/RobotAPI/interface/ArViz/Component.ice
@@ -1,149 +1,145 @@
#pragma once
-#include <RobotAPI/interface/ArViz/Elements.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-module armarx
-{
-module viz
-{
-module data
-{
-
-sequence <Element> ElementSeq;
-
-enum LayerAction
-{
- // Create a new layer or update an existing layer
- Layer_CREATE_OR_UPDATE,
-
- // Delete an existing layer
- Layer_DELETE,
-};
-
-struct LayerUpdate
-{
- string component;
- string name;
- LayerAction action = Layer_CREATE_OR_UPDATE;
-
- // Elements are only needed for Layer_CREATE_OR_UPDATE
- ElementSeq elements;
-};
-
-sequence <LayerUpdate> LayerUpdateSeq;
-
-struct TimestampedLayerUpdate
-{
- LayerUpdate update;
- long revision = 0;
- long timestampInMicroseconds = 0;
-};
-
-struct LayerUpdates
-{
- LayerUpdateSeq updates;
- long revision = 0;
-};
-
-struct CommitInput
-{
- LayerUpdateSeq updates;
-
- string interactionComponent;
- Ice::StringSeq interactionLayers;
-};
-
-struct CommitResult
-{
- // The revision number corresponding to the applied commit
- long revision = 0;
-
- // Interactions for the requested layers (see Layer_RECEIVE_INTERACTIONS)
- InteractionFeedbackSeq interactions;
-};
-
-struct RecordingHeader
-{
- string prefix;
- string comment;
- long firstTimestampInMicroSeconds = 0;
- long lastTimestampInMicroSeconds = 0;
- long firstRevision = 0;
- long lastRevision = 0;
-};
-
-struct RecordingBatchHeader
-{
- long index = 0;
- long firstTimestampInMicroSeconds = 0;
- long lastTimestampInMicroSeconds = 0;
- long firstRevision = 0;
- long lastRevision = 0;
-};
-
-sequence<RecordingBatchHeader> RecordingBatchHeaderSeq;
-
-struct Recording
-{
- string id;
- string comment;
- long firstTimestampInMicroSeconds = 0;
- long lastTimestampInMicroSeconds = 0;
- long firstRevision = 0;
- long lastRevision = 0;
- RecordingBatchHeaderSeq batchHeaders;
-};
-
-sequence<TimestampedLayerUpdate> TimestampedLayerUpdateSeq;
-
-struct RecordingBatch
-{
- RecordingBatchHeader header;
- TimestampedLayerUpdateSeq initialState; // Keyframe with complete state
- TimestampedLayerUpdateSeq updates; // Incremental updates on keyframe
-};
-
-sequence<Recording> RecordingSeq;
-
-struct RecordingsInfo
-{
- data::RecordingSeq recordings;
- // Equivalent to the property "HistoryPath" of ArVizStorage.
- string recordingsPath;
-};
-
-};
+#include <RobotAPI/interface/ArViz/Elements.ice>
-interface StorageInterface
+module armarx
{
- data::CommitResult commitAndReceiveInteractions(data::CommitInput input);
-
- data::LayerUpdates pullUpdatesSince(long revision);
-
- data::LayerUpdates pullUpdatesSinceAndSendInteractions(
+ module viz
+ {
+ module data
+ {
+
+ sequence<Element> ElementSeq;
+
+ enum LayerAction
+ {
+ // Create a new layer or update an existing layer
+ Layer_CREATE_OR_UPDATE,
+
+ // Delete an existing layer
+ Layer_DELETE,
+ };
+
+ struct LayerUpdate
+ {
+ string component;
+ string name;
+ LayerAction action = Layer_CREATE_OR_UPDATE;
+
+ // Elements are only needed for Layer_CREATE_OR_UPDATE
+ ElementSeq elements;
+ };
+
+ sequence<LayerUpdate> LayerUpdateSeq;
+
+ struct TimestampedLayerUpdate
+ {
+ LayerUpdate update;
+ long revision = 0;
+ long timestampInMicroseconds = 0;
+ };
+
+ struct LayerUpdates
+ {
+ LayerUpdateSeq updates;
+ long revision = 0;
+ };
+
+ struct CommitInput
+ {
+ LayerUpdateSeq updates;
+
+ string interactionComponent;
+ Ice::StringSeq interactionLayers;
+ };
+
+ struct CommitResult
+ {
+ // The revision number corresponding to the applied commit
+ long revision = 0;
+
+ // Interactions for the requested layers (see Layer_RECEIVE_INTERACTIONS)
+ InteractionFeedbackSeq interactions;
+ };
+
+ struct RecordingHeader
+ {
+ string prefix;
+ string comment;
+ long firstTimestampInMicroSeconds = 0;
+ long lastTimestampInMicroSeconds = 0;
+ long firstRevision = 0;
+ long lastRevision = 0;
+ };
+
+ struct RecordingBatchHeader
+ {
+ long index = 0;
+ long firstTimestampInMicroSeconds = 0;
+ long lastTimestampInMicroSeconds = 0;
+ long firstRevision = 0;
+ long lastRevision = 0;
+ };
+
+ sequence<RecordingBatchHeader> RecordingBatchHeaderSeq;
+
+ struct Recording
+ {
+ string id;
+ string comment;
+ long firstTimestampInMicroSeconds = 0;
+ long lastTimestampInMicroSeconds = 0;
+ long firstRevision = 0;
+ long lastRevision = 0;
+ RecordingBatchHeaderSeq batchHeaders;
+ };
+
+ sequence<TimestampedLayerUpdate> TimestampedLayerUpdateSeq;
+
+ struct RecordingBatch
+ {
+ RecordingBatchHeader header;
+ TimestampedLayerUpdateSeq initialState; // Keyframe with complete state
+ TimestampedLayerUpdateSeq updates; // Incremental updates on keyframe
+ };
+
+ sequence<Recording> RecordingSeq;
+
+ struct RecordingsInfo
+ {
+ data::RecordingSeq recordings;
+ // Equivalent to the property "HistoryPath" of ArVizStorage.
+ string recordingsPath;
+ };
+ };
+
+ interface StorageInterface
+ {
+ data::CommitResult commitAndReceiveInteractions(data::CommitInput input);
+
+ data::LayerUpdates pullUpdatesSince(long revision);
+
+ data::LayerUpdates pullUpdatesSinceAndSendInteractions(
long revision, data::InteractionFeedbackSeq interactions);
- string startRecording(string prefix);
+ string startRecording(string prefix);
- void stopRecording();
+ void stopRecording();
- data::RecordingsInfo getAllRecordings();
+ data::RecordingsInfo getAllRecordings();
- data::RecordingBatch getRecordingBatch(string recordingID, long batchIndex);
-};
+ data::RecordingBatch getRecordingBatch(string recordingID, long batchIndex);
+ };
-interface Topic
-{
- // FIXME: The old interface used this topic.
- // But this call has been superceeded by commitAndReceiveInteractions
- void updateLayers(data::LayerUpdateSeq updates);
-};
+ interface Topic
+ {
+ // FIXME: The old interface used this topic.
+ // But this call has been superceeded by commitAndReceiveInteractions
+ void updateLayers(data::LayerUpdateSeq updates);
+ };
-interface StorageAndTopicInterface extends StorageInterface, Topic
-{
-};
-
-
-};
+ interface StorageAndTopicInterface extends StorageInterface, Topic{};
+ };
};
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 5833f259e501b2e47106bc1c9195158f30fccd83..007bc1278219ad78028a708ca95c4eae805df0e4 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -6,259 +6,258 @@
module armarx
{
-module viz
-{
-module data
-{
- struct GlobalPose
- {
- float x = 0.0f;
- float y = 0.0f;
- float z = 0.0f;
- float qw = 1.0f;
- float qx = 0.0f;
- float qy = 0.0f;
- float qz = 0.0f;
- };
-
- struct Color
- {
- byte a = 255;
- byte r = 100;
- byte g = 100;
- byte b = 100;
- };
-
- module InteractionEnableFlags
- {
- const int NONE = 0;
-
- // Make an object selectable
- const int SELECT = 1;
- // Enable the context menu for an object
- const int CONTEXT_MENU = 2;
-
- // Enable translation along the three axes
- const int TRANSLATION_X = 4;
- const int TRANSLATION_Y = 8;
- const int TRANSLATION_Z = 16;
- const int TRANSLATION_LOCAL = 32;
-
- // Enable rotation along the three axes
- const int ROTATION_X = 64;
- const int ROTATION_Y = 128;
- const int ROTATION_Z = 256;
- const int ROTATION_LOCAL = 512;
-
- // Enable scaling along the three axes
- const int SCALING_X = 1024;
- const int SCALING_Y = 2048;
- const int SCALING_Z = 4096;
- const int SCALING_LOCAL = 8192;
-
- // Hide the original object during the transformation
- const int TRANSFORM_HIDE = 16384;
- };
-
- struct InteractionDescription
- {
- int enableFlags = 0;
- Ice::StringSeq contextMenuOptions;
- };
-
- module InteractionFeedbackType
- {
- const int NONE = 0;
-
- const int SELECT = 1;
- const int DESELECT = 2;
-
- const int CONTEXT_MENU_CHOSEN = 3;
-
- const int TRANSFORM = 4;
-
- // Flag to indicate state of the transformation
- const int TRANSFORM_BEGIN_FLAG = 16;
- const int TRANSFORM_DURING_FLAG = 32;
- const int TRANSFORM_END_FLAG = 64;
- };
-
- struct InteractionFeedback
- {
- // The type of interaction that happened (in the lower 4 bits)
- // The higher bits are used for flags specifying more details of the interaction
- int type = 0;
-
- // The element with which the interaction took place
- string component;
- string layer;
- string element;
- // The revision in which the interaction took place
- long revision = 0;
-
- // Chosen context menu entry is only relevant for type == CONTEXT_MENU_CHOSEN
- int chosenContextMenuEntry = 0;
-
- // Applied transformation is only relevant for type == TRANSFORM
- GlobalPose transformation;
- Vector3f scale;
- };
-
- sequence<InteractionFeedback> InteractionFeedbackSeq;
-
- module ElementFlags
- {
- const int NONE = 0;
- const int OVERRIDE_MATERIAL = 1;
- const int HIDDEN = 2;
- };
-
- class Element
- {
- string id;
- InteractionDescription interaction;
-
- GlobalPose pose;
- Vector3f scale;
- Color color;
- int flags = 0;
- };
-
- class ElementPose extends Element
- {
- };
-
- class ElementLine extends Element
- {
- Vector3f from;
- Vector3f to;
-
- float lineWidth = 10.0f;
- };
-
- class ElementBox extends Element
- {
- Vector3f size;
- };
-
- class ElementSphere extends Element
- {
- float radius = 10.0f;
- };
-
- class ElementEllipsoid extends Element
- {
- Vector3f axisLengths;
- Vector3f curvature;
- };
-
- class ElementCylinder extends Element
+ module viz
{
- float height = 10.0f;
- float radius = 10.0f;
+ module data
+ {
+ struct GlobalPose
+ {
+ float x = 0.0f;
+ float y = 0.0f;
+ float z = 0.0f;
+ float qw = 1.0f;
+ float qx = 0.0f;
+ float qy = 0.0f;
+ float qz = 0.0f;
+ };
+
+ struct Color
+ {
+ byte a = 255;
+ byte r = 100;
+ byte g = 100;
+ byte b = 100;
+ };
+
+ module InteractionEnableFlags
+ {
+ const int NONE = 0;
+
+ // Make an object selectable
+ const int SELECT = 1;
+ // Enable the context menu for an object
+ const int CONTEXT_MENU = 2;
+
+ // Enable translation along the three axes
+ const int TRANSLATION_X = 4;
+ const int TRANSLATION_Y = 8;
+ const int TRANSLATION_Z = 16;
+ const int TRANSLATION_LOCAL = 32;
+
+ // Enable rotation along the three axes
+ const int ROTATION_X = 64;
+ const int ROTATION_Y = 128;
+ const int ROTATION_Z = 256;
+ const int ROTATION_LOCAL = 512;
+
+ // Enable scaling along the three axes
+ const int SCALING_X = 1024;
+ const int SCALING_Y = 2048;
+ const int SCALING_Z = 4096;
+ const int SCALING_LOCAL = 8192;
+
+ // Hide the original object during the transformation
+ const int TRANSFORM_HIDE = 16384;
+ };
+
+ struct InteractionDescription
+ {
+ int enableFlags = 0;
+ Ice::StringSeq contextMenuOptions;
+ };
+
+ module InteractionFeedbackType
+ {
+ const int NONE = 0;
+
+ const int SELECT = 1;
+ const int DESELECT = 2;
+
+ const int CONTEXT_MENU_CHOSEN = 3;
+
+ const int TRANSFORM = 4;
+
+ // Flag to indicate state of the transformation
+ const int TRANSFORM_BEGIN_FLAG = 16;
+ const int TRANSFORM_DURING_FLAG = 32;
+ const int TRANSFORM_END_FLAG = 64;
+ };
+
+ struct InteractionFeedback
+ {
+ // The type of interaction that happened (in the lower 4 bits)
+ // The higher bits are used for flags specifying more details of the interaction
+ int type = 0;
+
+ // The element with which the interaction took place
+ string component;
+ string layer;
+ string element;
+ // The revision in which the interaction took place
+ long revision = 0;
+
+ // Chosen context menu entry is only relevant for type == CONTEXT_MENU_CHOSEN
+ int chosenContextMenuEntry = 0;
+
+ // Applied transformation is only relevant for type == TRANSFORM
+ GlobalPose transformation;
+ Vector3f scale;
+ };
+
+ sequence<InteractionFeedback> InteractionFeedbackSeq;
+
+ module ElementFlags
+ {
+ const int NONE = 0;
+ const int OVERRIDE_MATERIAL = 1;
+ const int HIDDEN = 2;
+ };
+
+ class Element
+ {
+ string id;
+ InteractionDescription interaction;
+
+ GlobalPose pose;
+ Vector3f scale;
+ Color color;
+ int flags = 0;
+ };
+
+ class ElementPose extends Element
+ {
+ };
+
+ class ElementLine extends Element
+ {
+ Vector3f from;
+ Vector3f to;
+
+ float lineWidth = 10.0f;
+ };
+
+ class ElementBox extends Element
+ {
+ Vector3f size;
+ };
+
+ class ElementSphere extends Element
+ {
+ float radius = 10.0f;
+ };
+
+ class ElementEllipsoid extends Element
+ {
+ Vector3f axisLengths;
+ Vector3f curvature;
+ };
+
+ class ElementCylinder extends Element
+ {
+ float height = 10.0f;
+ float radius = 10.0f;
+ };
+
+ class ElementCylindroid extends Element
+ {
+ Vector2f axisLengths;
+ Vector2f curvature;
+ float height;
+ };
+
+ class ElementText extends Element
+ {
+ string text;
+ };
+
+ class ElementPolygon extends Element
+ {
+ Vector3fSeq points;
+
+ Color lineColor;
+ float lineWidth = 0.0f;
+ };
+
+ class ElementPath extends Element
+ {
+ Vector3fSeq points;
+
+ float lineWidth = 10.0f;
+ };
+
+ class ElementArrow extends Element
+ {
+ float length = 100.0f;
+ float width = 10.0f;
+ };
+
+ class ElementArrowCircle extends Element
+ {
+ float radius = 100.0f;
+ float completion = 1.0f;
+ float width = 10.0f;
+ };
+
+ struct ColoredPoint
+ {
+ float x;
+ float y;
+ float z;
+ Color color;
+ };
+
+ sequence<ColoredPoint> ColoredPointList;
+
+ class ElementPointCloud extends Element
+ {
+ Ice::ByteSeq points;
+ float transparency = 0.0f;
+ float pointSizeInPixels = 1.0f;
+ };
+
+ sequence<Color> ColorSeq;
+
+ struct Face
+ {
+ int v0 = 0;
+ int v1 = 0;
+ int v2 = 0;
+ int c0 = 0;
+ int c1 = 0;
+ int c2 = 0;
+ };
+
+ sequence<Face> FaceSeq;
+
+ class ElementMesh extends Element
+ {
+ Vector3fSeq vertices;
+ ColorSeq colors;
+ FaceSeq faces;
+ };
+
+ module ModelDrawStyle
+ {
+ const int ORIGINAL = 0;
+ const int COLLISION = 1;
+ const int OVERRIDE_COLOR = 2;
+ };
+
+ class ElementRobot extends Element
+ {
+ string project;
+ string filename;
+ int drawStyle = ModelDrawStyle::ORIGINAL;
+
+ StringFloatDictionary jointValues;
+ };
+
+ class ElementObject extends Element
+ {
+ string project;
+ string filename;
+ int drawStyle = ModelDrawStyle::ORIGINAL;
+ };
+ };
};
-
- class ElementCylindroid extends Element
- {
- Vector2f axisLengths;
- Vector2f curvature;
- float height;
- };
-
- class ElementText extends Element
- {
- string text;
- };
-
- class ElementPolygon extends Element
- {
- Vector3fSeq points;
-
- Color lineColor;
- float lineWidth = 0.0f;
- };
-
- class ElementPath extends Element
- {
- Vector3fSeq points;
-
- float lineWidth = 10.0f;
- };
-
- class ElementArrow extends Element
- {
- float length = 100.0f;
- float width = 10.0f;
- };
-
- class ElementArrowCircle extends Element
- {
- float radius = 100.0f;
- float completion = 1.0f;
- float width = 10.0f;
- };
-
- struct ColoredPoint
- {
- float x;
- float y;
- float z;
- Color color;
- };
-
- sequence<ColoredPoint> ColoredPointList;
-
- class ElementPointCloud extends Element
- {
- Ice::ByteSeq points;
- float transparency = 0.0f;
- float pointSizeInPixels = 1.0f;
- };
-
- sequence<Color> ColorSeq;
-
- struct Face
- {
- int v0 = 0;
- int v1 = 0;
- int v2 = 0;
- int c0 = 0;
- int c1 = 0;
- int c2 = 0;
- };
-
- sequence<Face> FaceSeq;
-
- class ElementMesh extends Element
- {
- Vector3fSeq vertices;
- ColorSeq colors;
- FaceSeq faces;
- };
-
- module ModelDrawStyle
- {
- const int ORIGINAL = 0;
- const int COLLISION = 1;
- const int OVERRIDE_COLOR = 2;
- };
-
- class ElementRobot extends Element
- {
- string project;
- string filename;
- int drawStyle = ModelDrawStyle::ORIGINAL;
-
- StringFloatDictionary jointValues;
- };
-
- class ElementObject extends Element
- {
- string project;
- string filename;
- int drawStyle = ModelDrawStyle::ORIGINAL;
- };
-
-};
-};
};
diff --git a/source/RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice b/source/RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice
index 779b25dd1902e49409fa9c23576192c7bc5f97ba..ffa1e8c6ea1a700d620d8aed08f4496610d5f106 100644
--- a/source/RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice
+++ b/source/RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice
@@ -36,7 +36,7 @@ module armarx
/// An optional instance name, chosen by the provider.
string instanceName;
};
+
sequence<ObjectID> ObjectIDSeq;
};
};
-
diff --git a/source/RobotAPI/interface/armem.ice b/source/RobotAPI/interface/armem.ice
index f7621099de52b5a2f15b3f0f6367ec5c19471fb3..a7a5a6a086a2a5d5e1c97e12c22a6736d13e87c0 100644
--- a/source/RobotAPI/interface/armem.ice
+++ b/source/RobotAPI/interface/armem.ice
@@ -11,8 +11,7 @@
module armarx
{
- module armem
- {
+ module armem{
};
};
diff --git a/source/RobotAPI/interface/armem/actions.ice b/source/RobotAPI/interface/armem/actions.ice
index 5bb06fc4c9ec815dba87fef49a31bc13498b66fc..e3882145832b783fb25227236027cfd04e7c92ed 100644
--- a/source/RobotAPI/interface/armem/actions.ice
+++ b/source/RobotAPI/interface/armem/actions.ice
@@ -18,6 +18,7 @@ module armarx
/// Human-readable text displayed to the user.
string text;
};
+
sequence<MenuEntry> MenuEntrySeq;
/**
@@ -35,7 +36,6 @@ module armarx
MenuEntrySeq entries;
};
-
class Menu
{
MenuEntrySeq entries;
@@ -47,12 +47,14 @@ module armarx
{
armem::data::MemoryID id;
};
+
sequence<GetActionsInput> GetActionsInputSeq;
struct GetActionsOutput
{
Menu menu;
};
+
sequence<GetActionsOutput> GetActionsOutputSeq;
struct ExecuteActionInput
@@ -60,6 +62,7 @@ module armarx
armem::data::MemoryID id;
ActionPath actionPath;
};
+
sequence<ExecuteActionInput> ExecuteActionInputSeq;
struct ExecuteActionOutput
@@ -67,6 +70,7 @@ module armarx
bool success = false;
string errorMessage;
};
+
sequence<ExecuteActionOutput> ExecuteActionOutputSeq;
}
}
diff --git a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
index baad0e798bc8a3762ec28ac4394b1a3556e3c576..0d1389987e79b1d95b9cb44ea237d2d53039d088 100644
--- a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
+++ b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
@@ -1,8 +1,8 @@
#pragma once
+#include <RobotAPI/interface/core/RobotLocalization.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
-#include <RobotAPI/interface/core/RobotLocalization.ice>
module armarx
{
@@ -10,7 +10,8 @@ module armarx
{
module robot_state
{
- interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener, armarx::PlatformUnitListener, armarx::GlobalRobotPoseLocalizationListener
+ interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener,
+ armarx::PlatformUnitListener, armarx::GlobalRobotPoseLocalizationListener
{
}
}
diff --git a/source/RobotAPI/interface/armem/commit.ice b/source/RobotAPI/interface/armem/commit.ice
index 4a7008293fbe1bd2080ebf808f1bd28621792303..6471c9034262424219e35996cb1cfc12b76627ba 100644
--- a/source/RobotAPI/interface/armem/commit.ice
+++ b/source/RobotAPI/interface/armem/commit.ice
@@ -18,6 +18,7 @@ module armarx
bool clearWhenExists = false;
};
+
sequence<AddSegmentInput> AddSegmentsInput;
struct AddSegmentResult
@@ -27,8 +28,8 @@ module armarx
string errorMessage;
};
- sequence<AddSegmentResult> AddSegmentsResult;
+ sequence<AddSegmentResult> AddSegmentsResult;
struct EntityUpdate
{
@@ -39,6 +40,7 @@ module armarx
float confidence = 1.0;
armarx::core::time::dto::DateTime timeSent;
};
+
sequence<EntityUpdate> EntityUpdateList;
struct EntityUpdateResult
@@ -50,12 +52,14 @@ module armarx
string errorMessage;
};
+
sequence<EntityUpdateResult> EntityUpdateResultList;
struct Commit
{
EntityUpdateList updates;
};
+
struct CommitResult
{
EntityUpdateResultList results;
diff --git a/source/RobotAPI/interface/armem/memory.ice b/source/RobotAPI/interface/armem/memory.ice
index 63801dd4da540ae46fef76e993a862e4979409c7..01577673ef0c6bb0e25bc2f5ae8f573939f96dc7 100644
--- a/source/RobotAPI/interface/armem/memory.ice
+++ b/source/RobotAPI/interface/armem/memory.ice
@@ -7,95 +7,92 @@
module armarx
{
- module armem
+ module armem{module data{struct MemoryID{string memoryName = "";
+ string coreSegmentName = "";
+ string providerSegmentName = "";
+ string entityName = "";
+ armarx::core::time::dto::DateTime timestamp;
+ int instanceIndex = -1;
+}
+
+sequence<MemoryID> MemoryIDs;
+
+module detail
+{
+ class MemoryItem
{
- module data
- {
- struct MemoryID
- {
- string memoryName = "";
- string coreSegmentName = "";
- string providerSegmentName = "";
- string entityName = "";
- armarx::core::time::dto::DateTime timestamp;
- int instanceIndex = -1;
- }
-
- sequence<MemoryID> MemoryIDs;
-
- module detail
- {
- class MemoryItem
- {
- MemoryID id;
- };
- class TypedMemoryContainer extends MemoryItem
- {
- aron::type::dto::GenericType aronType;
- };
- }
-
- /// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
- class EntityInstanceMetadata
- {
- armarx::core::time::dto::DateTime referencedTime;
- armarx::core::time::dto::DateTime sentTime;
- armarx::core::time::dto::DateTime arrivedTime;
- armarx::core::time::dto::DateTime lastAccessedTime;
- long accessed = 0;
-
- float confidence = 1.0;
- };
- /// Ice Twin of `armarx::armem::EntityInstance`.
- class EntityInstance extends detail::MemoryItem
- {
- aron::data::dto::Dict data;
-
- EntityInstanceMetadata metadata;
- };
- sequence<EntityInstance> EntityInstanceSeq;
-
-
- /// Ice Twin of `armarx::armem::EntitySnapshot`.
- class EntitySnapshot extends detail::MemoryItem
- {
- EntityInstanceSeq instances;
- };
- dictionary<armarx::core::time::dto::DateTime, EntitySnapshot> EntityHistory;
-
-
- /// Ice Twin of `armarx::armem::Entity`.
- class Entity extends detail::MemoryItem
- {
- EntityHistory history;
- };
- dictionary<string, Entity> EntityDict;
-
-
- /// Ice Twin of `armarx::armem::ProviderSegment`.
- class ProviderSegment extends detail::TypedMemoryContainer
- {
- EntityDict entities;
- };
- dictionary<string, ProviderSegment> ProviderSegmentDict;
-
-
- /// Ice Twin of `armarx::armem::CoreSegment`.
- class CoreSegment extends detail::TypedMemoryContainer
- {
- ProviderSegmentDict providerSegments;
- };
- dictionary<string, CoreSegment> CoreSegmentDict;
-
-
- /// Ice Twin of `armarx::armem::Memory`.
- class Memory extends detail::MemoryItem
- {
- CoreSegmentDict coreSegments;
- };
- dictionary<string, Memory> MemoryDict;
-
- }
+ MemoryID id;
+ };
+ class TypedMemoryContainer extends MemoryItem
+ {
+ aron::type::dto::GenericType aronType;
};
+}
+
+/// Ice Twin of `armarx::armem::EntityInstanceMetadata`.
+class EntityInstanceMetadata
+{
+ armarx::core::time::dto::DateTime referencedTime;
+ armarx::core::time::dto::DateTime sentTime;
+ armarx::core::time::dto::DateTime arrivedTime;
+ armarx::core::time::dto::DateTime lastAccessedTime;
+ long accessed = 0;
+
+ float confidence = 1.0;
};
+
+/// Ice Twin of `armarx::armem::EntityInstance`.
+class EntityInstance extends detail::MemoryItem
+{
+ aron::data::dto::Dict data;
+
+ EntityInstanceMetadata metadata;
+};
+
+sequence<EntityInstance> EntityInstanceSeq;
+
+/// Ice Twin of `armarx::armem::EntitySnapshot`.
+class EntitySnapshot extends detail::MemoryItem
+{
+ EntityInstanceSeq instances;
+};
+
+dictionary<armarx::core::time::dto::DateTime, EntitySnapshot> EntityHistory;
+
+/// Ice Twin of `armarx::armem::Entity`.
+class Entity extends detail::MemoryItem
+{
+ EntityHistory history;
+};
+
+dictionary<string, Entity> EntityDict;
+
+/// Ice Twin of `armarx::armem::ProviderSegment`.
+class ProviderSegment extends detail::TypedMemoryContainer
+{
+ EntityDict entities;
+};
+
+dictionary<string, ProviderSegment> ProviderSegmentDict;
+
+/// Ice Twin of `armarx::armem::CoreSegment`.
+class CoreSegment extends detail::TypedMemoryContainer
+{
+ ProviderSegmentDict providerSegments;
+};
+
+dictionary<string, CoreSegment> CoreSegmentDict;
+
+/// Ice Twin of `armarx::armem::Memory`.
+class Memory extends detail::MemoryItem
+{
+ CoreSegmentDict coreSegments;
+};
+
+dictionary<string, Memory> MemoryDict;
+}
+}
+;
+}
+;
diff --git a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
index 73d27e0788c89f7d31b0c4f21c546ff276420fd6..099f12730e6f9471c0f3f91f9225fa03a1397233 100644
--- a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
+++ b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
@@ -8,117 +8,113 @@
module armarx
{
- module armem
- {
- module mns
- {
- module dto
- {
- /**
+ module armem{module mns{
+ module dto{/**
* A memory server can implement the reading and/or writing
* memory interface. They should be handled individually.
* Additionally, it can implement prediction or actions interfaces,
* which is currently the case for all working memories.
*/
- struct MemoryServerInterfaces
- {
- server::ReadingMemoryInterface* reading;
- server::WritingMemoryInterface* writing;
- server::PredictingMemoryInterface* prediction;
- server::actions::ActionsInterface* actions;
- };
- dictionary<string, MemoryServerInterfaces> MemoryServerInterfacesMap;
-
+ struct MemoryServerInterfaces{server::ReadingMemoryInterface * reading;
+ server::WritingMemoryInterface* writing;
+ server::PredictingMemoryInterface* prediction;
+ server::actions::ActionsInterface* actions;
+};
+dictionary<string, MemoryServerInterfaces> MemoryServerInterfacesMap;
- /**
+/**
* @brief Register a memory server.
*/
- struct RegisterServerInput
- {
- string name;
- MemoryServerInterfaces server;
+struct RegisterServerInput
+{
+ string name;
+ MemoryServerInterfaces server;
- bool existOk = true;
- };
- struct RegisterServerResult
- {
- bool success;
- string errorMessage;
- };
+ bool existOk = true;
+};
+struct RegisterServerResult
+{
+ bool success;
+ string errorMessage;
+};
- /**
+/**
* @brief Remove a memory server.
*/
- struct RemoveServerInput
- {
- string name;
- bool notExistOk = true;
- };
- struct RemoveServerResult
- {
- bool success;
- string errorMessage;
- };
-
- /**
+struct RemoveServerInput
+{
+ string name;
+ bool notExistOk = true;
+};
+
+struct RemoveServerResult
+{
+ bool success;
+ string errorMessage;
+};
+
+/**
* @brief Resolve a memory name.
*/
- struct ResolveServerInput
- {
- string name;
- };
- struct ResolveServerResult
- {
- bool success;
- string errorMessage;
+struct ResolveServerInput
+{
+ string name;
+};
- MemoryServerInterfaces server;
- };
+struct ResolveServerResult
+{
+ bool success;
+ string errorMessage;
+ MemoryServerInterfaces server;
+};
- /**
+/**
* @brief Get all registered entries.
*/
- struct GetAllRegisteredServersResult
- {
- bool success;
- string errorMessage;
-
- MemoryServerInterfacesMap servers;
- };
+struct GetAllRegisteredServersResult
+{
+ bool success;
+ string errorMessage;
+ MemoryServerInterfacesMap servers;
+};
- /**
+/**
* @brief Wait until a server is registered.
*/
- struct WaitForServerInput
- {
- string name;
- };
- struct WaitForServerResult
- {
- bool success;
- string errorMessage;
+struct WaitForServerInput
+{
+ string name;
+};
- MemoryServerInterfaces server;
- };
- };
+struct WaitForServerResult
+{
+ bool success;
+ string errorMessage;
+ MemoryServerInterfaces server;
+};
+}
+;
- interface MemoryNameSystemInterface
- {
- dto::RegisterServerResult registerServer(dto::RegisterServerInput input);
- dto::RemoveServerResult removeServer(dto::RemoveServerInput input);
- dto::GetAllRegisteredServersResult getAllRegisteredServers();
+interface MemoryNameSystemInterface
+{
+ dto::RegisterServerResult registerServer(dto::RegisterServerInput input);
+ dto::RemoveServerResult removeServer(dto::RemoveServerInput input);
- dto::ResolveServerResult resolveServer(dto::ResolveServerInput input);
+ dto::GetAllRegisteredServersResult getAllRegisteredServers();
- ["amd"] // Asynchronous Method Dispatch
- dto::WaitForServerResult waitForServer(dto::WaitForServerInput input);
- };
- }
+ dto::ResolveServerResult resolveServer(dto::ResolveServerInput input);
- };
+ ["amd"] // Asynchronous Method Dispatch
+ dto::WaitForServerResult
+ waitForServer(dto::WaitForServerInput input);
};
+}
+}
+;
+}
+;
diff --git a/source/RobotAPI/interface/armem/prediction.ice b/source/RobotAPI/interface/armem/prediction.ice
index a2aae725e3ef5a399ccfacf819d07eb56693f8e4..2ede00d2b530dff200cec8a38cfa06ca6bd553d7 100644
--- a/source/RobotAPI/interface/armem/prediction.ice
+++ b/source/RobotAPI/interface/armem/prediction.ice
@@ -15,8 +15,8 @@ module armarx
struct PredictionEngine
{
string engineID;
- }
- sequence<PredictionEngine> PredictionEngineSeq;
+ } sequence<PredictionEngine> PredictionEngineSeq;
+
dictionary<armem::data::MemoryID, PredictionEngineSeq> EngineSupportMap;
// Settings to use for a given prediction (e.g. which engine to use)
@@ -31,8 +31,7 @@ module armarx
{
armem::data::MemoryID snapshotID;
PredictionSettings settings;
- }
- sequence<PredictionRequest> PredictionRequestSeq;
+ } sequence<PredictionRequest> PredictionRequestSeq;
// The result of a single prediction.
// If successful, it contains the predicted data.
@@ -43,8 +42,7 @@ module armarx
armem::data::MemoryID snapshotID;
aron::data::dto::Dict prediction;
- }
- sequence<PredictionResult> PredictionResultSeq;
+ } sequence<PredictionResult> PredictionResultSeq;
};
};
};
diff --git a/source/RobotAPI/interface/armem/query.ice b/source/RobotAPI/interface/armem/query.ice
index c672e42ddf7b5444b37b4a78a7f813f67054f82a..20e6ff1064e14d179fe461899ab66c0876a74864 100644
--- a/source/RobotAPI/interface/armem/query.ice
+++ b/source/RobotAPI/interface/armem/query.ice
@@ -24,6 +24,7 @@ module armarx
class EntityQuery
{
};
+
sequence<EntityQuery> EntityQuerySeq;
module entity
@@ -32,17 +33,20 @@ module armarx
class All extends EntityQuery
{
};
+
/// Get a single snapshot (default for latest).
class Single extends EntityQuery
{
- armarx::core::time::dto::DateTime timestamp; // -1 for latest
+ armarx::core::time::dto::DateTime timestamp; // -1 for latest
};
+
/// Get snapshots based on a time range (default for all).
class TimeRange extends EntityQuery
{
- armarx::core::time::dto::DateTime minTimestamp; // -1 for oldest
- armarx::core::time::dto::DateTime maxTimestamp; // -1 for latest
+ armarx::core::time::dto::DateTime minTimestamp; // -1 for oldest
+ armarx::core::time::dto::DateTime maxTimestamp; // -1 for latest
};
+
/**
* @brief Get snapshots based on an index range (default for all).
*
@@ -55,11 +59,10 @@ module armarx
*/
class IndexRange extends EntityQuery
{
- long first = 0; ///< First index to get.
- long last = -1; ///< Last index to get (inclusive).
+ long first = 0; ///< First index to get.
+ long last = -1; ///< Last index to get (inclusive).
};
-
/**
* @brief Get snapshot(s) around timestamp.
*
@@ -104,41 +107,43 @@ module armarx
* - #maxEntries < 0 => all elements before timestamp
*/
class BeforeTime extends EntityQuery
+
{
armarx::core::time::dto::DateTime timestamp;
long maxEntries = 1;
}
-
}
-
/// Which entities to get from a provider segment?
class ProviderSegmentQuery
{
EntityQuerySeq entityQueries;
};
+
sequence<ProviderSegmentQuery> ProviderSegmentQuerySeq;
module provider
{
class All extends ProviderSegmentQuery
{
};
+
class Single extends ProviderSegmentQuery
{
string entityName;
};
+
class Regex extends ProviderSegmentQuery
{
string entityNameRegex;
};
}
-
/// Which provider segments to get from a core segment?
class CoreSegmentQuery
{
ProviderSegmentQuerySeq providerSegmentQueries;
};
+
sequence<CoreSegmentQuery> CoreSegmentQuerySeq;
module core
@@ -146,23 +151,25 @@ module armarx
class All extends CoreSegmentQuery
{
};
+
class Single extends CoreSegmentQuery
{
string providerSegmentName;
};
+
class Regex extends CoreSegmentQuery
{
string providerSegmentNameRegex;
};
}
-
/// Which core segments to get from a memory?
class MemoryQuery
{
CoreSegmentQuerySeq coreSegmentQueries;
QueryTarget::QueryTargetEnum target = QueryTarget::QueryTargetEnum::WM;
};
+
sequence<MemoryQuery> MemoryQuerySeq;
dictionary<string, MemoryQuerySeq> MemoryQueriesDict;
@@ -171,17 +178,18 @@ module armarx
class All extends MemoryQuery
{
};
+
class Single extends MemoryQuery
{
string coreSegmentName;
};
+
class Regex extends MemoryQuery
{
string coreSegmentNameRegex;
};
}
-
/// Which memories to get from the distributed memory system?
class DistributedMemoryQuery
{
@@ -196,6 +204,7 @@ module armarx
/// If false, no AronData is transferred.
bool withData = true;
};
+
struct Result
{
bool success = false;
diff --git a/source/RobotAPI/interface/armem/server.ice b/source/RobotAPI/interface/armem/server.ice
index 5c7a32c4734ede6124ba8c4e028ce3dcd98bb556..8d541ce6241a7651e65720ff4781e51f959f684a 100644
--- a/source/RobotAPI/interface/armem/server.ice
+++ b/source/RobotAPI/interface/armem/server.ice
@@ -1,6 +1,6 @@
#pragma once
#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
diff --git a/source/RobotAPI/interface/armem/server/ActionsInterface.ice b/source/RobotAPI/interface/armem/server/ActionsInterface.ice
index 8fa6754f7e1e0c961c4a5ff9c9bb317dc9fc3aef..3ba13f1d545d09c12dd22ca24738f8e7d3ea9716 100644
--- a/source/RobotAPI/interface/armem/server/ActionsInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ActionsInterface.ice
@@ -12,8 +12,10 @@ module armarx
{
interface ActionsInterface
{
- actions::data::GetActionsOutputSeq getActions(actions::data::GetActionsInputSeq inputs);
- actions::data::ExecuteActionOutputSeq executeActions(actions::data::ExecuteActionInputSeq inputs);
+ actions::data::GetActionsOutputSeq getActions(
+ actions::data::GetActionsInputSeq inputs);
+ actions::data::ExecuteActionOutputSeq executeActions(
+ actions::data::ExecuteActionInputSeq inputs);
};
}
}
diff --git a/source/RobotAPI/interface/armem/server/MemoryInterface.ice b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
index ddfcb5b2bdbcdfe8685ce6d4380d7fdbe283396a..e40a0ade92eed16521b43a0c9edb6fb65e452c13 100644
--- a/source/RobotAPI/interface/armem/server/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
@@ -1,15 +1,12 @@
#pragma once
-#include <RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/RecordingMemoryInterface.ice>
-
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
+#include <RobotAPI/interface/armem/server/ActionsInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/RecordingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice>
#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
-
-#include <RobotAPI/interface/armem/server/ActionsInterface.ice>
-
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
module armarx
@@ -18,22 +15,15 @@ module armarx
{
module server
{
- interface LongTermMemoryInterface extends ReplayingMemoryInterface, RecordingMemoryInterface
- {
- };
+ interface LongTermMemoryInterface extends ReplayingMemoryInterface,
+ RecordingMemoryInterface{};
- interface WorkingMemoryInterface extends ReadingMemoryInterface, WritingMemoryInterface
- {
- };
+ interface WorkingMemoryInterface extends ReadingMemoryInterface,
+ WritingMemoryInterface{};
- interface MemoryInterface extends
- WorkingMemoryInterface,
- LongTermMemoryInterface,
- PredictingMemoryInterface,
- actions::ActionsInterface,
- client::MemoryListenerInterface
- {
- };
+ interface MemoryInterface extends WorkingMemoryInterface, LongTermMemoryInterface,
+ PredictingMemoryInterface, actions::ActionsInterface,
+ client::MemoryListenerInterface{};
};
};
};
diff --git a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
index fa9d74f160dc12e05fd6b1395d03b85b36384bea..fe5eb0ecacd875e3478689baaeb30b3178fba7ec 100644
--- a/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ObjectMemoryInterface.ice
@@ -24,9 +24,8 @@
#pragma once
#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
-
-#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice>
#include <RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.ice>
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice>
module armarx
@@ -37,26 +36,21 @@ module armarx
{
interface ObjectInstanceSegmentInterface extends
- armarx::objpose::ObjectPoseStorageInterface
- {
+ armarx::objpose::ObjectPoseStorageInterface{
- };
+ };
interface FamiliarObjectInstanceSegmentInterface extends
- armarx::objpose::FamiliarObjectPoseStorageInterface
- {
+ armarx::objpose::FamiliarObjectPoseStorageInterface{
- };
+ };
- interface ObjectMemoryInterface extends
- MemoryInterface
- , ObjectInstanceSegmentInterface
- , FamiliarObjectInstanceSegmentInterface
+ interface ObjectMemoryInterface extends MemoryInterface, ObjectInstanceSegmentInterface,
+ FamiliarObjectInstanceSegmentInterface
{
void reloadKnownObjectClasses();
};
-
};
};
};
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
index aeae3745854d595ba7799a399df43cf2e33922b7..a69676fa686bf82c31a1cf92c96bdfc8ed406813 100644
--- a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -5,24 +5,23 @@
module armarx
{
- module armem
- {
- module server
+ module armem
{
- interface PredictingMemoryInterface
- {
+ module server{interface PredictingMemoryInterface{
/* Request multiple predictions from the memory.
* The timestamp to requst a prediction for is encoded in the MemoryIDs.
*/
- prediction::data::PredictionResultSeq
- predict(prediction::data::PredictionRequestSeq requests);
+ prediction::data::PredictionResultSeq predict(
+ prediction::data::PredictionRequestSeq requests);
- /* Get a map from memory segments to the prediction engines they support.
+ /* Get a map from memory segments to the prediction engines they support.
* Best used with the container_map operations to easily retrieve
* the available engine selection for fully evaluated MemoryIDs.
*/
- prediction::data::EngineSupportMap getAvailableEngines();
- }
- };
- };
+ prediction::data::EngineSupportMap getAvailableEngines();
+ }
};
+}
+;
+}
+;
diff --git a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
index 8a0d185d6092ada17170d652850633d52a5eb89d..c580aeb45efafc5325ee8d07d12e3e03f0603ea4 100644
--- a/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReadingMemoryInterface.ice
@@ -12,7 +12,6 @@ module armarx
{
module dto
{
-
}
interface ReadingMemoryInterface
diff --git a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
index bd831fe2294dd8476c6fb3b3a73fb776c2acf2d2..3217e3338a42d1224cc3b8b4ff8a945222bf2449 100644
--- a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
@@ -5,7 +5,7 @@
module armarx
{
module armem
- {
+ {
module server
{
module dto
@@ -45,25 +45,30 @@ module armarx
RecordingMode::RecordingModeEnum mode;
float frequency;
};
- dictionary <armarx::armem::data::MemoryID, RecordingModeConfiguration> Configuration;
- struct StartRecordResult {
+ dictionary<armarx::armem::data::MemoryID, RecordingModeConfiguration> Configuration;
+
+ struct StartRecordResult
+ {
bool success;
string errorMessage;
};
- struct StopRecordResult {
+ struct StopRecordResult
+ {
bool success;
string errorMessage;
};
- struct RecordStatusResult {
+ struct RecordStatusResult
+ {
bool success;
string errorMessage;
RecordStatus status;
};
- struct StartRecordInput {
+ struct StartRecordInput
+ {
armarx::core::time::dto::DateTime executionTime;
string recordingID;
armarx::core::time::dto::DateTime startTime;
diff --git a/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
index d0825d8385f07e35ba7aca6ac0c95a5a1a43a767..81e1204355f0c98bd71a0f4517d9707d35bda0a9 100644
--- a/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/ReplayingMemoryInterface.ice
@@ -6,11 +6,10 @@
module armarx
{
module armem
- {
+ {
module server
{
- interface ReplayingMemoryInterface
- {
+ interface ReplayingMemoryInterface{
};
};
diff --git a/source/RobotAPI/interface/armem/structure.ice b/source/RobotAPI/interface/armem/structure.ice
index 2331a9e9be618c4c7c0b24c55fd34340a3f71eab..adfc9ce9ccfe5ce612d00261d52d083e63d0e693 100644
--- a/source/RobotAPI/interface/armem/structure.ice
+++ b/source/RobotAPI/interface/armem/structure.ice
@@ -10,10 +10,12 @@ module armarx
{
module data
{
- struct GetServerStructureResult {
+ struct GetServerStructureResult
+ {
bool success;
string errorMessage;
- armarx::armem::data::Memory serverStructure; //structure of the Server without data (all Segments...)
+ armarx::armem::data::Memory
+ serverStructure; //structure of the Server without data (all Segments...)
};
};
};
diff --git a/source/RobotAPI/interface/aron.ice b/source/RobotAPI/interface/aron.ice
index 2bbcc667f3d5f065d7c10e3c94f7df32739fe8c4..704ed53fc6934c1dfda92ac0db34a7df88547e5c 100644
--- a/source/RobotAPI/interface/aron.ice
+++ b/source/RobotAPI/interface/aron.ice
@@ -4,8 +4,7 @@
module armarx
{
- module aron
- {
+ module aron{
};
};
diff --git a/source/RobotAPI/interface/aron/test/AronConversionTestInterface.ice b/source/RobotAPI/interface/aron/test/AronConversionTestInterface.ice
index 924f40c6d8664123c822eb9f7eb338d8d50b52d5..aad852c198ecf136ea0f0b100e1c63bf8c67b6b1 100644
--- a/source/RobotAPI/interface/aron/test/AronConversionTestInterface.ice
+++ b/source/RobotAPI/interface/aron/test/AronConversionTestInterface.ice
@@ -26,36 +26,41 @@
#include <RobotAPI/interface/aron/Aron.ice>
-module armarx { module aron { module test
+module armarx
{
+ module aron
+ {
+ module test
+ {
-module dto
-{
+ module dto
+ {
- struct TestAronConversionRequest
- {
- string aronClassName;
- ::armarx::aron::data::dto::Dict probe;
- };
- struct TestAronConversionResponse
- {
- bool success;
- string errorMessage;
+ struct TestAronConversionRequest
+ {
+ string aronClassName;
+ ::armarx::aron::data::dto::Dict probe;
+ };
- ::armarx::aron::data::dto::Dict probe;
- };
+ struct TestAronConversionResponse
+ {
+ bool success;
+ string errorMessage;
-};
+ ::armarx::aron::data::dto::Dict probe;
+ };
+ };
-module dti
-{
+ module dti
+ {
- interface AronConversionTestInterface
- {
- dto::TestAronConversionResponse testAronConversion(dto::TestAronConversionRequest req);
+ interface AronConversionTestInterface
+ {
+ dto::TestAronConversionResponse testAronConversion(
+ dto::TestAronConversionRequest req);
+ };
+ };
+ };
};
-
};
-
-};};};
diff --git a/source/RobotAPI/interface/components/CartesianPositionControlInterface.ice b/source/RobotAPI/interface/components/CartesianPositionControlInterface.ice
index 13741869c90df9117d6f326036ae92b6e6a24ce0..053159c440c59eb73b0626783d39ab114c5fba35 100644
--- a/source/RobotAPI/interface/components/CartesianPositionControlInterface.ice
+++ b/source/RobotAPI/interface/components/CartesianPositionControlInterface.ice
@@ -37,6 +37,5 @@ module armarx
void resetFTOffset(string side);
int getFTTresholdExceededCounter(string side);
void emulateFTTresholdExceeded(string side);
-
};
};
diff --git a/source/RobotAPI/interface/components/FrameTrackingInterface.ice b/source/RobotAPI/interface/components/FrameTrackingInterface.ice
index ba04341101e0102c622216b9a35f0a77028ca333..5cf9f29f88888f9fbacf26d7da58593e7af23441 100644
--- a/source/RobotAPI/interface/components/FrameTrackingInterface.ice
+++ b/source/RobotAPI/interface/components/FrameTrackingInterface.ice
@@ -30,16 +30,15 @@ module armarx
{
void enableTracking(bool enable);
void setFrame(string frameName);
- ["cpp:const"]
- idempotent
- string getFrame();
+ ["cpp:const"] idempotent string getFrame();
void lookAtFrame(string frameName);
void lookAtPointInGlobalFrame(Vector3f point);
bool isLookingAtPointInGlobalFrame(Vector3f point, float max_diff);
void lookAtPointInRobotFrame(Vector3f point);
- void scanInConfigurationSpace(float yawFrom, float yawTo, ::Ice::FloatSeq pitchValues, float velocity);
+ void scanInConfigurationSpace(
+ float yawFrom, float yawTo, ::Ice::FloatSeq pitchValues, float velocity);
void scanInWorkspace(::armarx::Vector3fSeq points, float maxVelocity, float acceleration);
void moveJointsTo(float yaw, float pitch);
};
diff --git a/source/RobotAPI/interface/components/NaturalIKInterface.ice b/source/RobotAPI/interface/components/NaturalIKInterface.ice
index 40a8d2fc22ccf48e92d9d43f056413d42d50ea03..57eddcc68b7c5566c1539610591947c42f064b54 100644
--- a/source/RobotAPI/interface/components/NaturalIKInterface.ice
+++ b/source/RobotAPI/interface/components/NaturalIKInterface.ice
@@ -24,6 +24,7 @@
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
+
#include <RobotAPI/interface/aron.ice>
module armarx
@@ -36,6 +37,7 @@ module armarx
interface NaturalIKInterface
{
- NaturalIKResult solveIK(string side, Eigen::Matrix4f target, bool setOrientation, aron::data::dto::Dict args);
+ NaturalIKResult solveIK(
+ string side, Eigen::Matrix4f target, bool setOrientation, aron::data::dto::Dict args);
};
};
diff --git a/source/RobotAPI/interface/components/ObstacleAvoidance/DSObstacleAvoidanceInterface.ice b/source/RobotAPI/interface/components/ObstacleAvoidance/DSObstacleAvoidanceInterface.ice
index 42ed92db3ba81fe2a0255bab1e9a98c9f386991a..743747c2b5fc0b443c8f07e5d81f53feeb2068b4 100644
--- a/source/RobotAPI/interface/components/ObstacleAvoidance/DSObstacleAvoidanceInterface.ice
+++ b/source/RobotAPI/interface/components/ObstacleAvoidance/DSObstacleAvoidanceInterface.ice
@@ -48,19 +48,15 @@ module armarx
double weight_power;
double agent_safety_margin;
};
-
};
- interface DSObstacleAvoidanceInterface extends
- ObstacleAvoidanceInterface, ObstacleDetectionInterface
+ interface DSObstacleAvoidanceInterface extends ObstacleAvoidanceInterface,
+ ObstacleDetectionInterface
{
- dsobstacleavoidance::Config getConfig();
-
- void
- writeDebugPlots(string filename);
+ dsobstacleavoidance::Config getConfig();
+ void writeDebugPlots(string filename);
};
-
};
diff --git a/source/RobotAPI/interface/components/ObstacleAvoidance/DynamicObstacleManagerInterface.ice b/source/RobotAPI/interface/components/ObstacleAvoidance/DynamicObstacleManagerInterface.ice
index df0f5596b78a783c94e6ae21fc1a0cfdf0e5a16e..10299e3e4cdf1c7cf7673bcde661f5bb313181fb 100644
--- a/source/RobotAPI/interface/components/ObstacleAvoidance/DynamicObstacleManagerInterface.ice
+++ b/source/RobotAPI/interface/components/ObstacleAvoidance/DynamicObstacleManagerInterface.ice
@@ -44,27 +44,22 @@ module armarx
interface DynamicObstacleManagerInterface
{
- void
- add_decayable_obstacle(Eigen::Vector2f e_origin, float e_rx, float e_ry, float e_yaw);
+ void add_decayable_obstacle(Eigen::Vector2f e_origin, float e_rx, float e_ry, float e_yaw);
- void
- add_decayable_line_segment(Eigen::Vector2f line_start, Eigen::Vector2f line_end);
+ void add_decayable_line_segment(Eigen::Vector2f line_start, Eigen::Vector2f line_end);
- void
- add_decayable_line_segments(dynamicobstaclemanager::LineSegments lines);
+ void add_decayable_line_segments(dynamicobstaclemanager::LineSegments lines);
- void
- remove_all_decayable_obstacles();
+ void remove_all_decayable_obstacles();
- void
- directly_update_obstacle(string name, Eigen::Vector2f e_origin, float e_rx, float e_ry, float e_yaw);
+ void directly_update_obstacle(
+ string name, Eigen::Vector2f e_origin, float e_rx, float e_ry, float e_yaw);
- void
- remove_obstacle(string name);
+ void remove_obstacle(string name);
void wait_unitl_obstacles_are_ready();
- float distanceToObstacle(Eigen::Vector2f agentPosition, float safetyRadius, Eigen::Vector2f goal);
+ float distanceToObstacle(
+ Eigen::Vector2f agentPosition, float safetyRadius, Eigen::Vector2f goal);
};
};
-
diff --git a/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice b/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice
index 529f4201fb92327ca9b26262e335b06036044441..872c812cf312c9c29df9112861bb713900794485 100644
--- a/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice
+++ b/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice
@@ -41,16 +41,12 @@ module armarx
Eigen::Vector3f goal;
float safety_margin;
};
-
};
interface ObstacleAvoidanceInterface
{
- Eigen::Vector3f
- modulateVelocity(obstacleavoidance::Agent agent);
-
+ Eigen::Vector3f modulateVelocity(obstacleavoidance::Agent agent);
};
-
};
diff --git a/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.ice b/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.ice
index 0a0435b203c00767deeb7e52fc4af93244c3a080..0d53f21002358e210d6702306cb82d91c8bdb528 100644
--- a/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.ice
+++ b/source/RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.ice
@@ -32,48 +32,41 @@ module armarx
{
module obstacledetection
- {
-
- struct Obstacle
- {
- string name;
- double posX = 0;
- double posY = 0;
- double posZ = 0;
- double yaw = 0;
- double axisLengthX = 0;
- double axisLengthY = 0;
- double axisLengthZ = 0;
- double refPosX = 0;
- double refPosY = 0;
- double refPosZ = 0;
- double safetyMarginX = 0;
- double safetyMarginY = 0;
- double safetyMarginZ = 0;
- double curvatureX = 1;
- double curvatureY = 1;
- double curvatureZ = 1;
- };
+ {
+
+ struct Obstacle
+ {
+ string name;
+ double posX = 0;
+ double posY = 0;
+ double posZ = 0;
+ double yaw = 0;
+ double axisLengthX = 0;
+ double axisLengthY = 0;
+ double axisLengthZ = 0;
+ double refPosX = 0;
+ double refPosY = 0;
+ double refPosZ = 0;
+ double safetyMarginX = 0;
+ double safetyMarginY = 0;
+ double safetyMarginZ = 0;
+ double curvatureX = 1;
+ double curvatureY = 1;
+ double curvatureZ = 1;
+ };
sequence<obstacledetection::Obstacle> ObstacleList;
+ };
- };
-
-
- interface ObstacleDetectionInterface
- {
- void
- updateObstacle(obstacledetection::Obstacle obstacle);
-
- void
- removeObstacle(string obstacle_name);
- obstacledetection::ObstacleList
- getObstacles();
+ interface ObstacleDetectionInterface
+ {
+ void updateObstacle(obstacledetection::Obstacle obstacle);
- void
- updateEnvironment();
+ void removeObstacle(string obstacle_name);
- };
+ obstacledetection::ObstacleList getObstacles();
+ void updateEnvironment();
+ };
};
diff --git a/source/RobotAPI/interface/components/RobotHealthInterface.ice b/source/RobotAPI/interface/components/RobotHealthInterface.ice
index 0832146d934a45cf35dd2d42591a4b4949f8d15d..45c5660ae3f4c6082a522f52251e64a7cd1bad41 100644
--- a/source/RobotAPI/interface/components/RobotHealthInterface.ice
+++ b/source/RobotAPI/interface/components/RobotHealthInterface.ice
@@ -30,7 +30,9 @@ module armarx
enum RobotHealthState
{
- HealthOK, HealthWarning, HealthError
+ HealthOK,
+ HealthWarning,
+ HealthError
};
struct RobotHealthHeartbeatArgs
@@ -54,7 +56,7 @@ module armarx
void resetRequiredTags();
void heartbeat(string identifier, armarx::core::time::dto::DateTime referenceTime);
-
+
string getTopicName();
};
@@ -75,7 +77,7 @@ module armarx
armarx::core::time::dto::DateTime lastReferenceTimestamp;
- //< Time delta to now() when arrived at heart beat component
+ //< Time delta to now() when arrived at heart beat component
armarx::core::time::dto::Duration timeSinceLastArrival;
//< Time delta to reference timestamp sent by component
@@ -83,7 +85,7 @@ module armarx
armarx::core::time::dto::Duration timeSyncDelayAndIce;
- bool required; //
+ bool required; //
bool enabled;
armarx::core::time::dto::Duration maximumCycleTimeWarning;
@@ -100,7 +102,6 @@ module armarx
RobotHealthEntries entries;
};
-
interface RobotHealthComponentInterface extends RobotHealthInterface
{
RobotHealthInfo getSummary();
diff --git a/source/RobotAPI/interface/components/TrajectoryPlayerInterface.ice b/source/RobotAPI/interface/components/TrajectoryPlayerInterface.ice
index 7807f84419960a8219f5a809feccf66e08d6f76a..e87849a93da2369ea5713121c8d50d2a5b4177dc 100644
--- a/source/RobotAPI/interface/components/TrajectoryPlayerInterface.ice
+++ b/source/RobotAPI/interface/components/TrajectoryPlayerInterface.ice
@@ -22,10 +22,11 @@
#pragma once
-#include <RobotAPI/interface/core/Trajectory.ice>
-#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
+
#include <RobotAPI/interface/aron.ice>
+#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/components/ViewSelectionInterface.ice b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
old mode 100755
new mode 100644
index 9ba19073af9c83d0a63fc9ea419afbf192cf4777..606bd193c5f32b66887d549aa62b3b98eded02e3
--- a/source/RobotAPI/interface/components/ViewSelectionInterface.ice
+++ b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
@@ -23,19 +23,18 @@
#pragma once
-#include <RobotAPI/interface/core/PoseBase.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/PoseBase.ice>
module armarx
{
const int DEFAULT_VIEWTARGET_PRIORITY = 50;
- ["cpp:virtual"]
- class ViewTargetBase
+ ["cpp:virtual"] class ViewTargetBase
{
armarx::FramedPositionBase target;
@@ -50,8 +49,7 @@ module armarx
string source;
};
- ["cpp:virtual"]
- class SaliencyMapBase
+ ["cpp:virtual"] class SaliencyMapBase
{
string name;
@@ -83,16 +81,10 @@ module armarx
};
-
interface ViewSelectionObserver
{
void onActivateAutomaticViewSelection();
void onDeactivateAutomaticViewSelection();
void nextViewTarget(long timestamp);
};
-
};
-
-
-
-
diff --git a/source/RobotAPI/interface/core/BlackWhitelist.ice b/source/RobotAPI/interface/core/BlackWhitelist.ice
index dc93760a9530067a1254b35770783e87559b5ff6..74f7df313de2e7146c123836ce3e56850c4c3ed0 100644
--- a/source/RobotAPI/interface/core/BlackWhitelist.ice
+++ b/source/RobotAPI/interface/core/BlackWhitelist.ice
@@ -41,7 +41,6 @@ module armarx
StringListUpdate whitelist;
};
-
interface BlackWhitelistInterface
{
void updateBlackWhitelist(BlackWhitelistUpdate update);
@@ -52,4 +51,3 @@ module armarx
void updateBlackWhitelist(BlackWhitelistUpdate update);
}
};
-
diff --git a/source/RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice b/source/RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice
index a876489d1f7f4042817f61c8b2fe751b97f06690..9dfd12d610a6fc6e89758d8ca4c53fd650bb0312 100644
--- a/source/RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice
+++ b/source/RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice
@@ -29,30 +29,28 @@ module armarx
{
struct CartesianNaturalPositionControllerConfig
{
- float maxPositionAcceleration = 500;
- float maxOrientationAcceleration = 1;
- float maxNullspaceAcceleration = 2;
+ float maxPositionAcceleration = 500;
+ float maxOrientationAcceleration = 1;
+ float maxNullspaceAcceleration = 2;
Ice::FloatSeq maxJointVelocity;
Ice::FloatSeq maxNullspaceVelocity;
Ice::FloatSeq jointCosts;
- float jointLimitAvoidanceKp = 0.1;
- float elbowKp = 1;
- float nullspaceTargetKp = 1;
+ float jointLimitAvoidanceKp = 0.1;
+ float elbowKp = 1;
+ float nullspaceTargetKp = 1;
- float thresholdOrientationNear = 0.1;
- float thresholdOrientationReached = 0.05;
- float thresholdPositionNear = 50;
- float thresholdPositionReached = 5;
+ float thresholdOrientationNear = 0.1;
+ float thresholdOrientationReached = 0.05;
+ float thresholdPositionNear = 50;
+ float thresholdPositionReached = 5;
float maxTcpPosVel = 80;
float maxTcpOriVel = 1;
float maxElbPosVel = 80;
- float KpOri = 1;
- float KpPos = 1;
+ float KpOri = 1;
+ float KpPos = 1;
};
};
-
-
diff --git a/source/RobotAPI/interface/core/CartesianPositionControllerConfig.ice b/source/RobotAPI/interface/core/CartesianPositionControllerConfig.ice
index 0c1418a257091bead62d86a0629967ba8bfde77b..f28cd8108ce083b5c35f2861c72e45bd1986155d 100644
--- a/source/RobotAPI/interface/core/CartesianPositionControllerConfig.ice
+++ b/source/RobotAPI/interface/core/CartesianPositionControllerConfig.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
module armarx
{
@@ -42,8 +42,4 @@ module armarx
float thresholdPositionNear = -1;
float thresholdPositionReached = -1;
};
-
-
-
};
-
diff --git a/source/RobotAPI/interface/core/CartesianSelection.ice b/source/RobotAPI/interface/core/CartesianSelection.ice
index 6fc3d9b0897a8195766ba58aca46fb2b781b6daa..444ca24f869d773654be1501226b87b167bab11b 100644
--- a/source/RobotAPI/interface/core/CartesianSelection.ice
+++ b/source/RobotAPI/interface/core/CartesianSelection.ice
@@ -33,6 +33,4 @@ module armarx
eAll = 15
};
};
-
};
-
diff --git a/source/RobotAPI/interface/core/CartesianWaypointControllerConfig.ice b/source/RobotAPI/interface/core/CartesianWaypointControllerConfig.ice
index 5a509ea7bb2b6cf16c5e71ab4928116ef278dbca..411649209d0ffd46623934bfa61f029e7c0fdd03 100644
--- a/source/RobotAPI/interface/core/CartesianWaypointControllerConfig.ice
+++ b/source/RobotAPI/interface/core/CartesianWaypointControllerConfig.ice
@@ -26,23 +26,21 @@ module armarx
{
struct CartesianWaypointControllerConfig
{
- float maxPositionAcceleration = 500;
- float maxOrientationAcceleration = 1;
- float maxNullspaceAcceleration = 2;
+ float maxPositionAcceleration = 500;
+ float maxOrientationAcceleration = 1;
+ float maxNullspaceAcceleration = 2;
- float kpJointLimitAvoidance = 1;
- float jointLimitAvoidanceScale = 2;
+ float kpJointLimitAvoidance = 1;
+ float jointLimitAvoidanceScale = 2;
- float thresholdOrientationNear = 0.1;
- float thresholdOrientationReached = 0.05;
- float thresholdPositionNear = 50;
- float thresholdPositionReached = 5;
+ float thresholdOrientationNear = 0.1;
+ float thresholdOrientationReached = 0.05;
+ float thresholdPositionNear = 50;
+ float thresholdPositionReached = 5;
float maxOriVel = 1;
float maxPosVel = 80;
- float kpOri = 1;
- float kpPos = 1;
+ float kpOri = 1;
+ float kpPos = 1;
};
};
-
-
diff --git a/source/RobotAPI/interface/core/FTSensorValue.ice b/source/RobotAPI/interface/core/FTSensorValue.ice
index ed93a5259aff4a2e22d801387a88032ae22e4eb7..d2d912c1254f7f6098209d6bb9a35017078134e0 100644
--- a/source/RobotAPI/interface/core/FTSensorValue.ice
+++ b/source/RobotAPI/interface/core/FTSensorValue.ice
@@ -33,5 +33,4 @@ module armarx
Eigen::Vector3f force;
Eigen::Vector3f torque;
};
-
};
diff --git a/source/RobotAPI/interface/core/FramedPoseBase.ice b/source/RobotAPI/interface/core/FramedPoseBase.ice
index b4947429a1e360c808a896b6cf38bd8008259f87..5bea2ebc15a94a2c1ef6bd4a26f8c6f076a3f3e2 100644
--- a/source/RobotAPI/interface/core/FramedPoseBase.ice
+++ b/source/RobotAPI/interface/core/FramedPoseBase.ice
@@ -22,64 +22,61 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
#include <RobotAPI/interface/core/PoseBase.ice>
module armarx
{
- /**
+ /**
* [FramedDirectionBase] defines a vector with regard to an agent and a frame within the agent.
* If agent is empty and frame is set to armarx::GlobalFrame, vector is defined in global frame.
* @param frame Name of frame.
* @param frame Name of agent.
*/
- ["cpp:virtual"]
- class FramedDirectionBase extends Vector3Base
+ ["cpp:virtual"] class FramedDirectionBase extends Vector3Base
{
string frame;
string agent;
};
- /**
+ /**
* [FramedPoseBase] defines a pose with regard to an agent and a frame within the agent.
* If agent is empty and frame is set to armarx::GlobalFrame, pose is defined in global frame.
* @param frame Name of frame.
* @param frame Name of agent.
*/
- ["cpp:virtual"]
- class FramedPoseBase extends PoseBase
+ ["cpp:virtual"] class FramedPoseBase extends PoseBase
{
string frame;
string agent;
};
-
- /**
+
+ /**
* [FramedPositionBase] defines a position with regard to an agent and a frame within the agent.
* If agent is empty and frame is set to armarx::GlobalFrame, position is defined in global frame.
* @param frame Name of frame.
* @param frame Name of agent.
*/
- ["cpp:virtual"]
- class FramedPositionBase extends Vector3Base
+ ["cpp:virtual"] class FramedPositionBase extends Vector3Base
{
string frame;
string agent;
};
- /**
+ /**
* [FramedOrientationBase] defines an orientation in quaternion with regard to an agent and a frame within the agent.
* If agent is empty and frame is set to armarx::GlobalFrame, orientation in quaternion is defined in global frame.
* @param frame Name of frame.
* @param frame Name of agent.
*/
- ["cpp:virtual"]
- class FramedOrientationBase extends QuaternionBase
+ ["cpp:virtual"] class FramedOrientationBase extends QuaternionBase
{
string frame;
string agent;
};
- /**
+ /**
* FramedDirectionMap is a map of FramedDirectionBases and corresponding agent nodes identified by name.
* @see FramedDirectionBase
*/
@@ -89,41 +86,30 @@ module armarx
* @see FramedPositionBase
*/
dictionary<string, FramedPositionBase> FramedPositionMap;
-
- /**
+
+ /**
* PoseMedianFilterBase filters poses with a median filter.
*/
- ["cpp:virtual"]
- class PoseMedianFilterBase extends MedianFilterBase
- {
+ ["cpp:virtual"] class PoseMedianFilterBase extends MedianFilterBase {
};
/**
* PoseMedianOffsetFilterBase filters poses with median filter and subsequent offset filter.
*/
- ["cpp:virtual"]
- class PoseMedianOffsetFilterBase extends PoseMedianFilterBase
- {
+ ["cpp:virtual"] class PoseMedianOffsetFilterBase extends PoseMedianFilterBase {
};
-
-
- ["cpp:virtual"]
- class MedianDerivativeFilterV3Base extends PoseMedianFilterBase
- {
- int offsetWindowSize;
- };
+
+
+ ["cpp:virtual"] class MedianDerivativeFilterV3Base extends PoseMedianFilterBase
+ { int offsetWindowSize; };
/**
* PoseAverageFilterBase filters poses with an average filter.
*/
- ["cpp:virtual"]
- class PoseAverageFilterBase extends AverageFilterBase
- {
+ ["cpp:virtual"] class PoseAverageFilterBase extends AverageFilterBase {
};
-
};
-
diff --git a/source/RobotAPI/interface/core/GeometryBase.ice b/source/RobotAPI/interface/core/GeometryBase.ice
index 3a3208019ebb02754b3cc2061ea9aea1e92fe9f5..b2faa5f18f60381669be3c81cf6f8db4889edf96 100644
--- a/source/RobotAPI/interface/core/GeometryBase.ice
+++ b/source/RobotAPI/interface/core/GeometryBase.ice
@@ -1,46 +1,47 @@
#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 <ArmarXCore/interface/serialization/Eigen.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+
/**
* Messages that can also be found in ROS package 'geometry_msgs'
* http://docs.ros.org/en/jade/api/geometry_msgs/html/index-msg.html
*/
module armarx
-{
-
+{
+
struct FrameHeader
- {
- string parentFrame; // base frame
- string frame; // child frame
+ {
+ string parentFrame; // base frame
+ string frame; // child frame
- string agent; // the robot
+ string agent; // the robot
long timestampInMicroSeconds = 0;
- }
-
- struct TransformStamped
- {
- FrameHeader header;
- Eigen::Matrix4f transform; // [mm]
- }
-
- struct Twist
- {
- // Linear (x,y,z) and angular (roll, pitch, yaw) velocities
- Eigen::Vector3f linear; // [mm/s]
- Eigen::Vector3f angular; // [rad/s]
- }
-
- struct TwistStamped
- {
- FrameHeader header;
- Twist twist;
- }
+ }
+
+ struct TransformStamped
+
+ {
+ FrameHeader header;
+ Eigen::Matrix4f transform; // [mm]
+ }
+
+ struct Twist
+ {
+ // Linear (x,y,z) and angular (roll, pitch, yaw) velocities
+ Eigen::Vector3f linear; // [mm/s]
+ Eigen::Vector3f angular; // [rad/s]
+ }
+
+ struct TwistStamped
+ {
+ FrameHeader header;
+ Twist twist;
+ }
} // module armarx
\ No newline at end of file
diff --git a/source/RobotAPI/interface/core/LinkedPoseBase.ice b/source/RobotAPI/interface/core/LinkedPoseBase.ice
index 2aaa1b30c2f78337a74852141273f3e400bb89aa..985bceac1b1e7fc6104e8d83a3ed93e32c9509ec 100644
--- a/source/RobotAPI/interface/core/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/core/LinkedPoseBase.ice
@@ -27,11 +27,10 @@
module armarx
{
- /**
+ /**
* [LinkedPoseBase]
*/
- ["cpp:virtual"]
- class LinkedPoseBase extends FramedPoseBase
+ ["cpp:virtual"] class LinkedPoseBase extends FramedPoseBase
{
SharedRobotInterface* referenceRobot;
/**
@@ -40,12 +39,11 @@ module armarx
*/
void changeFrame(string newFrame);
};
-
- /**
+
+ /**
* [LinkedDirectionBase]
*/
- ["cpp:virtual"]
- class LinkedDirectionBase extends FramedDirectionBase
+ ["cpp:virtual"] class LinkedDirectionBase extends FramedDirectionBase
{
SharedRobotInterface* referenceRobot;
/**
@@ -55,4 +53,3 @@ module armarx
void changeFrame(string newFrame);
};
};
-
diff --git a/source/RobotAPI/interface/core/OrientedPoint.ice b/source/RobotAPI/interface/core/OrientedPoint.ice
index 088d4deda1a6bcdb94b25cf37a947c6c3a6bd2b7..f965fadc5baa6be03e402d6dc0ef2f75696bb664 100644
--- a/source/RobotAPI/interface/core/OrientedPoint.ice
+++ b/source/RobotAPI/interface/core/OrientedPoint.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
module armarx
{
@@ -47,13 +47,9 @@ module armarx
* @param frame Name of frame.
* @param frame Name of agent.
*/
- ["cpp:virtual"]
- class FramedOrientedPointBase extends OrientedPointBase
+ ["cpp:virtual"] class FramedOrientedPointBase extends OrientedPointBase
{
string frame;
string agent;
};
-
-
};
-
diff --git a/source/RobotAPI/interface/core/PoseBase.ice b/source/RobotAPI/interface/core/PoseBase.ice
index 81e24b0da8d56f11c0c1fcdcfd2ad016b7d50391..cfe93764d30141bf6224bd56da14fcb9be600056 100644
--- a/source/RobotAPI/interface/core/PoseBase.ice
+++ b/source/RobotAPI/interface/core/PoseBase.ice
@@ -22,12 +22,12 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
module armarx
{
- /**
+ /**
* [Vector2Base] defines a 2D vector with x and y.
*/
class Vector2Base extends VariantDataClass
@@ -35,6 +35,7 @@ module armarx
float x = zeroInt;
float y = zeroInt;
};
+
/**
* List of [Vector3Base].
*/
@@ -49,12 +50,13 @@ module armarx
float y = zeroInt;
float z = zeroInt;
};
- /**
+
+ /**
* List of [Vector3Base].
*/
sequence<Vector3Base> Vector3BaseList;
- /**
+ /**
* [QuaternionBase] defines a quaternion with
* @param qw Rotation angle.
* @param qx x-coordinate of normalized rotation axis.
@@ -69,21 +71,18 @@ module armarx
float qz = zeroInt;
};
- /**
+ /**
* [PoseBase] defines a pose with position in [Vector3Base] and orientation in [QuaternionBase].
* @param position Position as 3D vector in x, y, and z [Vector3Base].
* @param orientation Orientation as quaternion [QuaternionBase].
*/
- ["cpp:virtual"]
- class PoseBase extends VariantDataClass
+ ["cpp:virtual"] class PoseBase extends VariantDataClass
{
Vector3Base position;
QuaternionBase orientation;
};
- /**
+ /**
* List of [PoseBase].
*/
sequence<PoseBase> PoseBaseList;
-
};
-
diff --git a/source/RobotAPI/interface/core/RobotLocalization.ice b/source/RobotAPI/interface/core/RobotLocalization.ice
index 1d65d3a1102b1197713cf0d0d40834cfbd64b0e8..cefbd9d2c3560198b3166f21500a0c905b341e9a 100644
--- a/source/RobotAPI/interface/core/RobotLocalization.ice
+++ b/source/RobotAPI/interface/core/RobotLocalization.ice
@@ -28,8 +28,9 @@
#include <RobotAPI/interface/core/GeometryBase.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
-module armarx{
- interface GlobalRobotPoseProvider extends armem::server::MemoryInterface
+module armarx
+{
+ interface GlobalRobotPoseProvider extends armem::server::MemoryInterface
{
// timestamp in microseconds
PoseBase getGlobalRobotPose(long timestamp, string robotName);
@@ -44,7 +45,7 @@ module armarx{
{
void reportGlobalRobotPoseCorrection(TransformStamped global_T_odom);
}
-
+
interface OdometryListener
{
void reportOdometryVelocity(TwistStamped platformVelocity);
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index 6b6ad3bd501a57603a8da4226cd92e7f59ba1796..d826cd08f3dc759b3a9b18b137b833d013df8bb2 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -23,16 +23,16 @@
*/
#pragma once
+#include <Ice/BuiltinSequences.ice>
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/events/SimulatorResetEvent.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
-#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
-
-#include <Ice/BuiltinSequences.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
module armarx
{
@@ -84,52 +84,33 @@ module armarx
interface SharedRobotNodeInterface extends SharedObjectInterface
{
- ["cpp:const"] idempotent
- float getJointValue();
- ["cpp:const"] idempotent
- string getName();
-
- ["cpp:const"] idempotent
- PoseBase getLocalTransformation();
+ ["cpp:const"] idempotent float getJointValue();
+ ["cpp:const"] idempotent string getName();
- ["cpp:const"] idempotent
- FramedPoseBase getGlobalPose();
+ ["cpp:const"] idempotent PoseBase getLocalTransformation();
- ["cpp:const"] idempotent
- FramedPoseBase getPoseInRootFrame();
+ ["cpp:const"] idempotent FramedPoseBase getGlobalPose();
- ["cpp:const"] idempotent
- JointType getType();
- ["cpp:const"] idempotent
- Vector3Base getJointTranslationDirection();
- ["cpp:const"] idempotent
- Vector3Base getJointRotationAxis();
+ ["cpp:const"] idempotent FramedPoseBase getPoseInRootFrame();
- ["cpp:const"] idempotent
- bool hasChild(string name, bool recursive);
- ["cpp:const"] idempotent
- string getParent();
- ["cpp:const"] idempotent
- NameList getChildren();
- ["cpp:const"] idempotent
- NameList getAllParents(string name);
+ ["cpp:const"] idempotent JointType getType();
+ ["cpp:const"] idempotent Vector3Base getJointTranslationDirection();
+ ["cpp:const"] idempotent Vector3Base getJointRotationAxis();
- ["cpp:const"] idempotent
- float getJointValueOffest();
- ["cpp:const"] idempotent
- float getJointLimitHigh();
- ["cpp:const"] idempotent
- float getJointLimitLow();
+ ["cpp:const"] idempotent bool hasChild(string name, bool recursive);
+ ["cpp:const"] idempotent string getParent();
+ ["cpp:const"] idempotent NameList getChildren();
+ ["cpp:const"] idempotent NameList getAllParents(string name);
- ["cpp:const"] idempotent
- Vector3Base getCoM();
+ ["cpp:const"] idempotent float getJointValueOffest();
+ ["cpp:const"] idempotent float getJointLimitHigh();
+ ["cpp:const"] idempotent float getJointLimitLow();
- ["cpp:const"] idempotent
- Ice::FloatSeq getInertia();
+ ["cpp:const"] idempotent Vector3Base getCoM();
- ["cpp:const"] idempotent
- float getMass();
+ ["cpp:const"] idempotent Ice::FloatSeq getInertia();
+ ["cpp:const"] idempotent float getMass();
};
@@ -144,8 +125,7 @@ module armarx
/**
* @return returns the RobotStateComponent this robot belongs to
*/
- ["cpp:const"] idempotent
- RobotStateComponentInterface* getRobotStateComponent();
+ ["cpp:const"] idempotent RobotStateComponentInterface* getRobotStateComponent();
SharedRobotNodeInterface* getRobotNode(string name);
SharedRobotNodeInterface* getRootNode();
@@ -154,8 +134,7 @@ module armarx
/**
* @return The timestamp of the last joint value update (not the global pose update).
*/
- ["cpp:const"] idempotent
- TimestampBase getTimestamp();
+ ["cpp:const"] idempotent TimestampBase getTimestamp();
RobotNodeSetInfo getRobotNodeSet(string name);
NameList getRobotNodeSets();
@@ -173,6 +152,7 @@ module armarx
class RobotInfoNode;
sequence<RobotInfoNode> RobotInfoNodeList;
+
class RobotInfoNode
{
string name;
@@ -181,23 +161,19 @@ module armarx
RobotInfoNodeList children;
};
-
/**
* The interface used by the RobotStateComponent which allows creating
* snapshots of a robot configuration or retrieving a proxy to a constantly
* updating synchronized robot.
*/
- interface RobotStateComponentInterface extends
- KinematicUnitListener,
- GlobalRobotPoseLocalizationListener,
- SimulatorResetEvent
+ interface RobotStateComponentInterface extends KinematicUnitListener,
+ GlobalRobotPoseLocalizationListener, SimulatorResetEvent
{
/**
* @return proxy to the shared robot which constantly updates all joint values
*/
- ["cpp:const"]
- idempotent
- SharedRobotInterface* getSynchronizedRobot() throws NotInitializedException;
+ ["cpp:const"] idempotent SharedRobotInterface* getSynchronizedRobot()
+ throws NotInitializedException;
/**
* @return proxy to a copy of the shared robot with non updating joint values
@@ -209,69 +185,58 @@ module armarx
* @return Snapshot
*
* */
- SharedRobotInterface* getRobotSnapshotAtTimestamp(double time) throws NotInitializedException;
+ SharedRobotInterface* getRobotSnapshotAtTimestamp(double time)
+ throws NotInitializedException;
/**
* Return the joint values from past timestamp. The time that can be gone back depends on the robotstatecomponent configuration.
* @return Jointname-jointvalue map
*
* */
- ["cpp:const"]
- idempotent
- NameValueMap getJointConfigAtTimestamp(double time) throws NotInitializedException;
+ ["cpp:const"] idempotent NameValueMap getJointConfigAtTimestamp(double time)
+ throws NotInitializedException;
/**
* Return the Robot configuration, including joint values and global pose of the root node, from past timestamp. The time that can be gone back depends on the robotstatecomponent configuration.
* @return Robot configuration containing jointvalue map and globalpose
*
* */
- ["cpp:const"]
- idempotent
- RobotStateConfig getRobotStateAtTimestamp(double time) throws NotInitializedException;
+ ["cpp:const"] idempotent RobotStateConfig getRobotStateAtTimestamp(double time)
+ throws NotInitializedException;
/**
* @return the robot xml filename as specified in the configuration
*/
- ["cpp:const"]
- idempotent
- string getRobotFilename();
+ ["cpp:const"] idempotent string getRobotFilename();
/**
* @return All dependent packages, which might contain a robot file.
*/
- ["cpp:const"]
- idempotent
- Ice::StringSeq getArmarXPackages();
+ ["cpp:const"] idempotent Ice::StringSeq getArmarXPackages();
/**
* @return The name of the robot represented by this component. Same as
* getSynchronizedRobot()->getName()
*
*/
- ["cpp:const"]
- idempotent string getRobotName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getRobotName() throws NotInitializedException;
- ["cpp:const"]
- idempotent string getRobotStateTopicName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getRobotStateTopicName() throws NotInitializedException;
- /**
+ /**
* @return The scaling of the robot model represented by this component.
*
*/
- ["cpp:const"]
- idempotent float getScaling();
+ ["cpp:const"] idempotent float getScaling();
- /**
+ /**
* @return The name of the robot node set that is represented by this component.
*
*/
- ["cpp:const"]
- idempotent string getRobotNodeSetName() throws NotInitializedException;
-
- ["cpp:const"]
- idempotent RobotInfoNode getRobotInfo();
+ ["cpp:const"] idempotent string getRobotNodeSetName() throws NotInitializedException;
+ ["cpp:const"] idempotent RobotInfoNode getRobotInfo();
};
interface RobotStateListenerInterface
@@ -279,5 +244,4 @@ module armarx
void reportGlobalRobotRootPose(FramedPoseBase globalPose, long timestamp, bool poseChanged);
void reportJointValues(NameValueMap jointAngles, long timestamp, bool aValueChanged);
};
-
};
diff --git a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
index 1a6115fbe83d4c534876f27d54113156ba2c8d8f..6b7c3ec01286835131a4c535c246cb199c7ef864 100644
--- a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
+++ b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
@@ -23,16 +23,12 @@
#pragma once
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
module armarx
{
["amd"] interface RobotStateObserverInterface extends ObserverInterface
- {
- ["cpp:const"]
- idempotent DatafieldRefBase getPoseDatafield(string nodeName);
- };
+ { ["cpp:const"] idempotent DatafieldRefBase getPoseDatafield(string nodeName); };
};
-
diff --git a/source/RobotAPI/interface/core/TopicTimingTest.ice b/source/RobotAPI/interface/core/TopicTimingTest.ice
index 3afe98c177d5736060810a4be03bf0111e04bca4..9f2d3acf908d390e58171f1f30082407d2d45309 100644
--- a/source/RobotAPI/interface/core/TopicTimingTest.ice
+++ b/source/RobotAPI/interface/core/TopicTimingTest.ice
@@ -4,28 +4,27 @@
module armarx
{
-module topic_timing
-{
- struct SmallData
+ module topic_timing
{
- long sentTimestamp = 0;
- };
+ struct SmallData
+ {
+ long sentTimestamp = 0;
+ };
- sequence <float> FloatSeq;
+ sequence<float> FloatSeq;
- struct BigData
- {
- long sentTimestamp = 0;
+ struct BigData
+ {
+ long sentTimestamp = 0;
- Ice::FloatSeq data;
- };
+ Ice::FloatSeq data;
+ };
- interface Topic
- {
- void reportSmall(SmallData data);
+ interface Topic
+ {
+ void reportSmall(SmallData data);
- void reportBig(BigData data);
+ void reportBig(BigData data);
+ };
};
-
-};
};
diff --git a/source/RobotAPI/interface/core/Trajectory.ice b/source/RobotAPI/interface/core/Trajectory.ice
index 3b0bc1cb621b4859604ae701ca3e88be727b020a..724da0698f6bcc0e597eb02b8a0af2c32c531756 100644
--- a/source/RobotAPI/interface/core/Trajectory.ice
+++ b/source/RobotAPI/interface/core/Trajectory.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
module armarx
{
@@ -38,15 +38,13 @@ module armarx
sequence<LimitlessState> LimitlessStateSeq;
- /**
+ /**
* [TrajectoryBase] defines a n-dimension trajectory with n deriviations.
*
*/
- ["cpp:virtual"]
- class TrajectoryBase extends VariantDataClass
+ ["cpp:virtual"] class TrajectoryBase extends VariantDataClass
{
- ["protected"]
- Ice::StringSeq dimensionNames;
+ ["protected"] Ice::StringSeq dimensionNames;
/**
* first vector dimension is the frame of the trajectory
* second vector dimension is dimension of trajectory (e.g. which joint).
@@ -58,7 +56,4 @@ module armarx
["protected"] LimitlessStateSeq limitless;
};
-
-
};
-
diff --git a/source/RobotAPI/interface/mdb/MotionDatabase.ice b/source/RobotAPI/interface/mdb/MotionDatabase.ice
index 2ca77b0b92f86b2945925949fd239678e35a78ba..de0a0427e3a9627a5361cf3df88d1d130f751007 100644
--- a/source/RobotAPI/interface/mdb/MotionDatabase.ice
+++ b/source/RobotAPI/interface/mdb/MotionDatabase.ice
@@ -1,146 +1,187 @@
#include <Glacier2/Session.ice>
-module MotionDatabase {
- exception InternalErrorException {
- string errorMessage;
- };
-
- exception InvalidParameterException {
- string parameterName;
- };
-
- exception NotAuthorizedException {};
- exception TooManyOpenFilesException {};
-
- class Institution;
- class MotionDescriptionTreeNode;
- class File;
- class Motion;
- class Project;
- class Subject;
- class MoCapObject;
-
- sequence<byte> ByteSequence;
- sequence<long> LongSequence;
- sequence<string> StringSequence;
- sequence<Institution> InstitutionList;
- sequence<MotionDescriptionTreeNode> MotionDescriptionTreeNodeList;
- sequence<File> FileList;
- sequence<Motion> MotionList;
- sequence<Project> ProjectList;
- sequence<Subject> SubjectList;
- sequence<MoCapObject> MoCapObjectList;
-
- dictionary<string, short> StringShortDictionary;
-
- enum VisibilityLevel { Public, Protected, Internal };
-
- class Institution {
- long id;
- string acronym;
- string name;
- };
-
- class MotionDescriptionTreeNode {
- long id;
- string label;
- MotionDescriptionTreeNodeList children;
- };
-
- class DatabaseObject {
- long id;
- long createdDate;
- string createdUser;
- long modifiedDate;
- string modifiedUser;
- StringSequence writeGroups;
- StringSequence readProtectedGroups;
- StringShortDictionary fileTypeCounts;
- };
-
- class File {
- long id;
- long createdDate;
- string createdUser;
- string fileName;
- string fileType;
- long attachedToId;
- string description;
- VisibilityLevel visibility;
- File originatedFrom;
- };
-
- class Motion extends DatabaseObject {
- Institution associatedInstitution;
- MotionDescriptionTreeNodeList motionDescriptions;
- Project associatedProject;
- SubjectList associatedSubjects;
- MoCapObjectList associatedObjects;
- string date;
- string comment;
- };
-
- class Project extends DatabaseObject {
- string name;
- string comment;
- };
-
- class Subject extends DatabaseObject {
- string firstName;
- string lastName;
- string comment;
- byte gender;
- short age;
- short weight;
- short height;
- StringShortDictionary anthropometricsTable;
- };
-
- class MoCapObject extends DatabaseObject {
- string label;
- string comment;
- string modelSettingsJSON;
- };
-
- interface FileReader {
- void destroy();
-
- idempotent long getSize() throws InternalErrorException;
- ByteSequence readChunk(long length) throws InternalErrorException, InvalidParameterException;
- idempotent void seek(long pos) throws InternalErrorException, InvalidParameterException;
- };
-
- interface FileWriter {
- void destroy();
-
- void writeChunk(ByteSequence data) throws InternalErrorException;
- };
-
- interface MotionDatabaseSession extends Glacier2::Session {
- idempotent string pingServer(string echoString);
-
- idempotent InstitutionList listInstitutions() throws InternalErrorException;
- idempotent MotionDescriptionTreeNodeList getMotionDescriptionTree() throws InternalErrorException;
-
- idempotent Motion getMotion(long motionId) throws InternalErrorException, InvalidParameterException;
- idempotent long countMotions(LongSequence filterMotionDescription, LongSequence filterProject, LongSequence filterInstitution,
- LongSequence filterSubject, LongSequence filterObject, string motionDescriptionSearchTerm) throws InternalErrorException,
- InvalidParameterException;
- idempotent MotionList listMotions(LongSequence filterMotionDescription, LongSequence filterProject, LongSequence filterInstitution,
- LongSequence filterSubject, LongSequence filterObject, string motionDescriptionSearchTerm, string sortField, long limit,
- long offset) throws InternalErrorException, InvalidParameterException;
- idempotent ProjectList listProjects() throws InternalErrorException;
- idempotent SubjectList listSubjects() throws InternalErrorException;
- idempotent MoCapObjectList listObjects() throws InternalErrorException;
-
- idempotent File getFile(long fileId) throws InternalErrorException, InvalidParameterException;
- idempotent FileList listFiles(long databaseObjectId) throws InternalErrorException, InvalidParameterException;
- idempotent FileReader* getFileReader(long fileId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException,
- TooManyOpenFilesException;
-
- FileWriter* getFileWriter(long databaseObjectId, string fileName, string fileType, string description, VisibilityLevel visibility,
- optional(1) long originatedFromId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException,
- TooManyOpenFilesException;
- void deleteFile(long fileId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException;
- };
+module MotionDatabase
+{
+ exception InternalErrorException
+ {
+ string errorMessage;
+ };
+
+ exception InvalidParameterException
+ {
+ string parameterName;
+ };
+
+ exception NotAuthorizedException{};
+ exception TooManyOpenFilesException{};
+
+ class Institution;
+ class MotionDescriptionTreeNode;
+ class File;
+ class Motion;
+ class Project;
+ class Subject;
+ class MoCapObject;
+
+ sequence<byte> ByteSequence;
+ sequence<long> LongSequence;
+ sequence<string> StringSequence;
+ sequence<Institution> InstitutionList;
+ sequence<MotionDescriptionTreeNode> MotionDescriptionTreeNodeList;
+ sequence<File> FileList;
+ sequence<Motion> MotionList;
+ sequence<Project> ProjectList;
+ sequence<Subject> SubjectList;
+ sequence<MoCapObject> MoCapObjectList;
+
+ dictionary<string, short> StringShortDictionary;
+
+ enum VisibilityLevel
+ {
+ Public,
+ Protected,
+ Internal
+ };
+
+ class Institution
+ {
+ long id;
+ string acronym;
+ string name;
+ };
+
+ class MotionDescriptionTreeNode
+ {
+ long id;
+ string label;
+ MotionDescriptionTreeNodeList children;
+ };
+
+ class DatabaseObject
+ {
+ long id;
+ long createdDate;
+ string createdUser;
+ long modifiedDate;
+ string modifiedUser;
+ StringSequence writeGroups;
+ StringSequence readProtectedGroups;
+ StringShortDictionary fileTypeCounts;
+ };
+
+ class File
+ {
+ long id;
+ long createdDate;
+ string createdUser;
+ string fileName;
+ string fileType;
+ long attachedToId;
+ string description;
+ VisibilityLevel visibility;
+ File originatedFrom;
+ };
+
+ class Motion extends DatabaseObject
+ {
+ Institution associatedInstitution;
+ MotionDescriptionTreeNodeList motionDescriptions;
+ Project associatedProject;
+ SubjectList associatedSubjects;
+ MoCapObjectList associatedObjects;
+ string date;
+ string comment;
+ };
+
+ class Project extends DatabaseObject
+ {
+ string name;
+ string comment;
+ };
+
+ class Subject extends DatabaseObject
+ {
+ string firstName;
+ string lastName;
+ string comment;
+ byte gender;
+ short age;
+ short weight;
+ short height;
+ StringShortDictionary anthropometricsTable;
+ };
+
+ class MoCapObject extends DatabaseObject
+ {
+ string label;
+ string comment;
+ string modelSettingsJSON;
+ };
+
+ interface FileReader
+ {
+ void destroy();
+
+ idempotent long getSize() throws InternalErrorException;
+ ByteSequence readChunk(long length) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent void seek(long pos) throws InternalErrorException, InvalidParameterException;
+ };
+
+ interface FileWriter
+ {
+ void destroy();
+
+ void writeChunk(ByteSequence data) throws InternalErrorException;
+ };
+
+ interface MotionDatabaseSession extends Glacier2::Session
+ {
+ idempotent string pingServer(string echoString);
+
+ idempotent InstitutionList listInstitutions() throws InternalErrorException;
+ idempotent MotionDescriptionTreeNodeList getMotionDescriptionTree()
+ throws InternalErrorException;
+
+ idempotent Motion getMotion(long motionId) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent long countMotions(LongSequence filterMotionDescription,
+ LongSequence filterProject,
+ LongSequence filterInstitution,
+ LongSequence filterSubject,
+ LongSequence filterObject,
+ string motionDescriptionSearchTerm)
+ throws InternalErrorException,
+ InvalidParameterException;
+ idempotent MotionList listMotions(LongSequence filterMotionDescription,
+ LongSequence filterProject,
+ LongSequence filterInstitution,
+ LongSequence filterSubject,
+ LongSequence filterObject,
+ string motionDescriptionSearchTerm,
+ string sortField,
+ long limit,
+ long offset) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent ProjectList listProjects() throws InternalErrorException;
+ idempotent SubjectList listSubjects() throws InternalErrorException;
+ idempotent MoCapObjectList listObjects() throws InternalErrorException;
+
+ idempotent File getFile(long fileId) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent FileList listFiles(long databaseObjectId) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent FileReader *getFileReader(long fileId) throws InternalErrorException,
+ InvalidParameterException, NotAuthorizedException, TooManyOpenFilesException;
+
+ FileWriter *getFileWriter(long databaseObjectId,
+ string fileName,
+ string fileType,
+ string description,
+ VisibilityLevel visibility,
+ optional(1) long originatedFromId) throws InternalErrorException,
+ InvalidParameterException, NotAuthorizedException, TooManyOpenFilesException;
+ void deleteFile(long fileId) throws InternalErrorException, InvalidParameterException,
+ NotAuthorizedException;
+ };
};
diff --git a/source/RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.ice
index b7c819ec05d886d40f51723451411070f3930022..4c05c1bd09d9959375be0a95c6bde0c57f6b726b 100644
--- a/source/RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/FamiliarObjectPoseStorageInterface.ice
@@ -27,17 +27,13 @@
#include <RobotAPI/interface/aron/Aron.ice>
-module armarx
-{
- module objpose
- {
- sequence<::armarx::aron::data::dto::Dict> ProvidedFamiliarObjectPoseSeq;
-
- interface FamiliarObjectPoseStorageInterface
- {
- void reportFamiliarObjectPoses(string providerName, ProvidedFamiliarObjectPoseSeq data);
- };
-
- }
+module armarx{
+ module objpose{sequence<::armarx::aron::data::dto::Dict> ProvidedFamiliarObjectPoseSeq;
+interface FamiliarObjectPoseStorageInterface
+{
+ void reportFamiliarObjectPoses(string providerName, ProvidedFamiliarObjectPoseSeq data);
};
+}
+}
+;
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice b/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
index 7eef5984e466173433e340cf45711be4fd187c95..2016d076bc29a049ad37ca4fe95eb1481bde89bf 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
@@ -34,12 +34,14 @@ module armarx
module objpose
{
interface ObjectPoseProvider;
+
struct ProviderInfo
{
ObjectPoseProvider* proxy;
ObjectType objectType = AnyObject;
armarx::data::ObjectIDSeq supportedObjects;
};
+
dictionary<string, ProviderInfo> ProviderInfoMap;
@@ -57,7 +59,9 @@ module armarx
{
bool success;
};
+
dictionary<armarx::data::ObjectID, ObjectRequestResult> ObjectRequestResultMap;
+
struct RequestObjectsOutput
{
ObjectRequestResultMap results;
@@ -85,6 +89,4 @@ module armarx
void reportObjectPoses(string providerName, data::ProvidedObjectPoseSeq candidates);
};
};
-
};
-
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index a069da9078a11beeb140d5477dd847beb85cf2c3..063ff205910ed11e9d5046606d140ea80bdd5490 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -28,9 +28,8 @@
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
-
-#include <RobotAPI/interface/objectpose/object_pose_types.ice>
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.ice>
+#include <RobotAPI/interface/objectpose/object_pose_types.ice>
module armarx
@@ -46,6 +45,7 @@ module armarx
string provider;
provider::RequestObjectsInput request;
};
+
struct ObjectRequestResult
{
/// Name of the provider who was requested.
@@ -53,7 +53,9 @@ module armarx
string providerName;
provider::ObjectRequestResult result;
};
+
dictionary<armarx::data::ObjectID, ObjectRequestResult> ObjectRequestResultMap;
+
struct RequestObjectsOutput
{
/// The results per objectID.
@@ -79,6 +81,7 @@ module armarx
*/
PoseBase poseInFrame;
};
+
struct AttachObjectToRobotNodeOutput
{
bool success = false;
@@ -96,6 +99,7 @@ module armarx
*/
bool commitAttachedPose = true;
};
+
struct DetachObjectFromRobotNodeOutput
{
/// Whether the object was attached before.
@@ -109,8 +113,8 @@ module armarx
* detaching until they are provided again.
*/
bool commitAttachedPose = true;
- }
- struct DetachAllObjectsFromRobotNodesOutput
+ } struct DetachAllObjectsFromRobotNodesOutput
+
{
/// Number of objects that have been detached.
int numDetached = 0;
@@ -121,8 +125,8 @@ module armarx
string agent;
Ice::StringSeq frames;
};
- sequence<AgentFrames> AgentFramesSeq;
+ sequence<AgentFrames> AgentFramesSeq;
enum HeadMovementAction
{
@@ -131,6 +135,7 @@ module armarx
/// Head movement is stopping.
HeadMovementAction_Stopping
};
+
struct SignalHeadMovementInput
{
HeadMovementAction action;
@@ -146,6 +151,7 @@ module armarx
*/
long discardUpdatesIntervalMilliSeconds = -1;
};
+
struct SignalHeadMovementOutput
{
/// The time until new updates will be discarded.
@@ -159,7 +165,9 @@ module armarx
armarx::core::time::dto::Duration timeWindow;
armem::prediction::data::PredictionSettings settings;
};
+
sequence<ObjectPosePredictionRequest> ObjectPosePredictionRequestSeq;
+
struct ObjectPosePredictionResult
{
bool success = false;
@@ -167,10 +175,10 @@ module armarx
data::ObjectPose prediction;
};
+
sequence<ObjectPosePredictionResult> ObjectPosePredictionResultSeq;
- interface ObjectPoseStorageInterface extends
- ObjectPoseTopic
+ interface ObjectPoseStorageInterface extends ObjectPoseTopic
{
// Object poses
@@ -191,11 +199,14 @@ module armarx
// Attaching
/// Attach an object to a robot node.
- AttachObjectToRobotNodeOutput attachObjectToRobotNode(AttachObjectToRobotNodeInput input);
+ AttachObjectToRobotNodeOutput attachObjectToRobotNode(
+ AttachObjectToRobotNodeInput input);
/// Detach an attached object from a robot node.
- DetachObjectFromRobotNodeOutput detachObjectFromRobotNode(DetachObjectFromRobotNodeInput input);
+ DetachObjectFromRobotNodeOutput detachObjectFromRobotNode(
+ DetachObjectFromRobotNodeInput input);
/// Detach all objects from robot nodes.
- DetachAllObjectsFromRobotNodesOutput detachAllObjectsFromRobotNodes(DetachAllObjectsFromRobotNodesInput input);
+ DetachAllObjectsFromRobotNodesOutput detachAllObjectsFromRobotNodes(
+ DetachAllObjectsFromRobotNodesInput input);
AgentFramesSeq getAttachableFrames();
@@ -211,14 +222,11 @@ module armarx
// Predicting
// Request predictions for the poses of the given objects at the given timestamps.
- ObjectPosePredictionResultSeq
- predictObjectPoses(ObjectPosePredictionRequestSeq requests);
+ ObjectPosePredictionResultSeq predictObjectPoses(
+ ObjectPosePredictionRequestSeq requests);
// Get the prediction engines available for use with this storage interface.
armem::prediction::data::PredictionEngineSeq getAvailableObjectPoseEngines();
-
};
};
-
};
-
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index 6f6d5cfc83adab6023212dc3996bb5745efd89e2..c39d283ce3c90394f68aa00f9e5cdb8f16235c1d 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -26,9 +26,9 @@
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
#include <ArmarXCore/interface/core/time.ice>
-#include <RobotAPI/interface/core/PoseBase.ice>
-#include <RobotAPI/interface/core/NameValueMap.ice>
#include <RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice>
+#include <RobotAPI/interface/core/NameValueMap.ice>
+#include <RobotAPI/interface/core/PoseBase.ice>
module armarx
@@ -39,11 +39,11 @@ module armarx
// ObjectTypeEnum is now renamed to ObjectType
enum ObjectType
{
- AnyObject, KnownObject, UnknownObject
+ AnyObject,
+ KnownObject,
+ UnknownObject
};
-
-
class AABB
{
Vector3Base center;
@@ -61,7 +61,6 @@ module armarx
Vector3Base extents;
};
-
module data
{
/**
@@ -69,13 +68,12 @@ module armarx
*
* @see `armarx::objpose::PoseManifoldGaussian`
*/
- class PoseManifoldGaussian // class => optional
+ class PoseManifoldGaussian // class => optional
{
PoseBase mean;
Ice::FloatSeq covariance6x6;
};
-
/// An object pose provided by an ObjectPoseProvider.
struct ProvidedObjectPose
{
@@ -110,6 +108,7 @@ module armarx
/// [Optional] Object bounding box in object's local coordinate frame.
Box localOOBB;
};
+
sequence<ProvidedObjectPose> ProvidedObjectPoseSeq;
@@ -156,8 +155,8 @@ module armarx
/// Object bounding box in object's local coordinate frame. May be null.
Box localOOBB;
};
- sequence<ObjectPose> ObjectPoseSeq;
+ sequence<ObjectPose> ObjectPoseSeq;
class ObjectAttachmentInfo
{
@@ -167,7 +166,5 @@ module armarx
PoseBase poseInFrame;
};
}
-
};
};
-
diff --git a/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice b/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
index b60aa19c3db3bd5d7f1a68937758e401745f3ef0..d44be89966a647439b27715ae02f97a2c35179c5 100644
--- a/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
@@ -25,6 +25,7 @@
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.ice>
module armarx
@@ -38,13 +39,13 @@ module armarx
armarx::objpose::ObjectType objectType = AnyObject;
ApertureType preshape = AnyAperture;
ApproachType approach = AnyApproach;
-
};
sequence<string> StringSeq;
dictionary<string, int> IntMap;
- interface GraspCandidateObserverInterface extends ObserverInterface, GraspCandidatesTopicInterface
+ interface GraspCandidateObserverInterface extends ObserverInterface,
+ GraspCandidatesTopicInterface
{
InfoMap getAvailableProvidersWithInfo();
StringSeq getAvailableProviderNames();
@@ -68,9 +69,6 @@ module armarx
BimanualGraspCandidateSeq getSelectedBimanualCandidates();
void clearCandidatesByProvider(string providerName);
-
};
};
-
};
-
diff --git a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
index 71f5598e0ed0bed5df5099579b4d08738d436091..c737524a0b828653b8e011cc692ffb0d16fc5a7a 100644
--- a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
@@ -1,4 +1,4 @@
- /*
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -22,14 +22,11 @@
#pragma once
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
module armarx
{
- interface KinematicUnitObserverInterface extends ObserverInterface, KinematicUnitListener
- {
- };
+ interface KinematicUnitObserverInterface extends ObserverInterface, KinematicUnitListener{};
};
-
diff --git a/source/RobotAPI/interface/observers/ObserverFilters.ice b/source/RobotAPI/interface/observers/ObserverFilters.ice
index ad2df8e05f197f8e773b168d40bff82acc014d8c..ec636f0de9e6b3c9497d7bfb273c69600ac85e04 100644
--- a/source/RobotAPI/interface/observers/ObserverFilters.ice
+++ b/source/RobotAPI/interface/observers/ObserverFilters.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
module armarx
{
@@ -34,73 +34,56 @@ module armarx
const string magnitudeinrange = "magnitudeinrange";
};
- /**
+ /**
* OffsetFilterBase implements a filter which stores the measurement in the first run as an offset.
* This offset is subtracted from subsequent measurements.
*/
- ["cpp:virtual"]
- class OffsetFilterBase extends DatafieldFilterBase
- {
+ ["cpp:virtual"] class OffsetFilterBase extends DatafieldFilterBase {
};
- /**
+ /**
* MatrixMaxFilterBase implements a filter which returns the maximum coefficient of a matrix.
*/
- ["cpp:virtual"]
- class MatrixMaxFilterBase extends DatafieldFilterBase
- {
+ ["cpp:virtual"] class MatrixMaxFilterBase extends DatafieldFilterBase {
};
- /**
+ /**
* MatrixMinFilterBase implements a filter which returns the minimum coefficient of a matrix.
*/
- ["cpp:virtual"]
- class MatrixMinFilterBase extends DatafieldFilterBase
- {
+ ["cpp:virtual"] class MatrixMinFilterBase extends DatafieldFilterBase {
};
-
- /**
+
+ /**
* MatrixMinFilterBase implements a filter which returns the mean value of all coefficients of a matrix.
*/
- ["cpp:virtual"]
- class MatrixAvgFilterBase extends DatafieldFilterBase
- {
+ ["cpp:virtual"] class MatrixAvgFilterBase extends DatafieldFilterBase {
};
- /**
+ /**
* MatrixPercentileFilterBase implements a filter which returns a subset of the smallest coefficients of a matrix.
* The matrix is transformed int a vector which is sorted in a ascending order. The subset consists of the first entries
* of the sorted vector. The size of the subset is defined by parameter percentile which ranges from 0.0 to 1.0.
*/
- ["cpp:virtual"]
- class MatrixPercentileFilterBase extends DatafieldFilterBase
- {
- float percentile;
- };
+ ["cpp:virtual"] class MatrixPercentileFilterBase extends DatafieldFilterBase
+ { float percentile; };
- /**
+ /**
* MatrixPercentilesFilterBase implements a filter which returns a subset of the smallest coefficients of a matrix.
* The matrix is transformed int a vector which is sorted in a ascending order. The subset consists of the first entries
* of the sorted vector. The size of the subset is defined by parameter percentiles.
*/
- ["cpp:virtual"]
- class MatrixPercentilesFilterBase extends DatafieldFilterBase
- {
- int percentiles;
- };
-
- /**
+ ["cpp:virtual"] class MatrixPercentilesFilterBase extends DatafieldFilterBase
+ { int percentiles; };
+
+ /**
* MatrixCumulativeFrequencyFilterBase implements a filter which returns a matrix filtered by Cumulative Frequency filter.
* The entries of the filtered matrix range between the provided min and max values.
*/
- ["cpp:virtual"]
- class MatrixCumulativeFrequencyFilterBase extends DatafieldFilterBase
+ ["cpp:virtual"] class MatrixCumulativeFrequencyFilterBase extends DatafieldFilterBase
{
float min;
float max;
int bins;
};
-
};
-
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index 20709f1fedeb65bb3766d2008607ee750a74965a..780704954d6a6f77f5bc8ed7a56a939fe1b992b4 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -1,4 +1,4 @@
- /*
+/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
@@ -22,15 +22,13 @@
#pragma once
-#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
-
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
+#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
module armarx
{
- interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener, GlobalRobotPoseLocalizationListener
- {
- };
+ interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener,
+ GlobalRobotPoseLocalizationListener{};
};
diff --git a/source/RobotAPI/interface/observers/SpeechObserverInterface.ice b/source/RobotAPI/interface/observers/SpeechObserverInterface.ice
index 33d6c1758ac04b0235812e8bbf5e6537eda9e830..81e123a465bc32b54870d9ad868a779aefe74426 100644
--- a/source/RobotAPI/interface/observers/SpeechObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/SpeechObserverInterface.ice
@@ -24,14 +24,12 @@
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+
#include <RobotAPI/interface/speech/SpeechInterface.ice>
module armarx
{
- interface SpeechObserverInterface extends ObserverInterface, TextToSpeechStateInterface, TextListenerInterface
- {
- };
-
+ interface SpeechObserverInterface extends ObserverInterface, TextToSpeechStateInterface,
+ TextListenerInterface{};
};
-
diff --git a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
index 0a352add1aee10b6fa2642e70b479513cb2f32d9..9bdd6b17e60707ff0e5084537929b88f4dce2e7a 100644
--- a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
+++ b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
@@ -32,4 +32,3 @@ module armarx
void stopSelfLocalisationProcess();
};
};
-
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index f22738bda8b71cac09faf71620e226135ac93532..04ed44b5411d5268760165e85e0091940b42e35e 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -107,15 +107,15 @@ module armarx
dto::SkillDescriptionMap
getSkillDescriptions(); // get all skilldescriptions from all providers
- optional(2) dto::SkillStatusUpdate
- getSkillExecutionStatus(dto::SkillExecutionID executionId);
+ optional(2) dto::SkillStatusUpdate getSkillExecutionStatus(
+ dto::SkillExecutionID executionId);
dto::SkillStatusUpdateMap
getSkillExecutionStatuses(); // returns the current executions from all providers
- dto::SkillStatusUpdate
- executeSkill(dto::SkillExecutionRequest
- skillExecutionRequest); // blocks until skill is finished.
+ dto::SkillStatusUpdate executeSkill(
+ dto::SkillExecutionRequest
+ skillExecutionRequest); // blocks until skill is finished.
dto::SkillExecutionID executeSkillAsync(
dto::SkillExecutionRequest
@@ -127,8 +127,8 @@ module armarx
// notify a skill to stop ASAP.
provider::dto::AbortSkillResult abortSkill(dto::SkillExecutionID executionId);
- provider::dto::AbortSkillResult
- abortSkillAsync(dto::SkillExecutionID executionId);
+ provider::dto::AbortSkillResult abortSkillAsync(
+ dto::SkillExecutionID executionId);
};
}
}
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index 3066c962e45326fecfdf8f08c6985bb89bf6c3d7..5f327376c7c59196be8129a2bd4a7c0a3baaf0bf 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -173,8 +173,8 @@ module armarx
dto::SkillDescriptionMap getSkillDescriptions();
- optional(2) dto::SkillStatusUpdate
- getSkillExecutionStatus(dto::SkillExecutionID executionId);
+ optional(2) dto::SkillStatusUpdate getSkillExecutionStatus(
+ dto::SkillExecutionID executionId);
dto::SkillStatusUpdateMap
getSkillExecutionStatuses(); // returns all current skill executions
@@ -184,12 +184,12 @@ module armarx
// This method returns a status update where the status is ALWAYS one of the terminating values
dto::SkillStatusUpdate executeSkill(dto::SkillExecutionRequest executionInfo);
- dto::SkillExecutionID
- executeSkillAsync(dto::SkillExecutionRequest executionInfo);
+ dto::SkillExecutionID executeSkillAsync(
+ dto::SkillExecutionRequest executionInfo);
- dto::ParameterUpdateResult
- updateSkillParameters(dto::SkillExecutionID executionId,
- aron::data::dto::Dict params); // add params to a skill
+ dto::ParameterUpdateResult updateSkillParameters(
+ dto::SkillExecutionID executionId,
+ aron::data::dto::Dict params); // add params to a skill
// try to kill a skill as soon as possible. When the skill is stopped depends on the implementation.
dto::AbortSkillResult abortSkill(dto::SkillExecutionID skill);
diff --git a/source/RobotAPI/interface/skills/StatechartListenerInterface.ice b/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
index 084633cdcdc1772c7f8f960b3119707dc612373f..2c53130fd7d62d47b11540fe696eb22b2e2d860d 100644
--- a/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
+++ b/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
@@ -28,8 +28,6 @@ module armarx
{
module dti
{
- interface StatechartListenerInterface extends armarx::ProfilerListener
- {
- };
+ interface StatechartListenerInterface extends armarx::ProfilerListener{};
}
}
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index 8356ea1652d93a496cc0f811bdf4c9bb22496f0f..b8bc3e14761262d630d4e4d3bc02ef4b5367dc3f 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -32,7 +32,7 @@ module armarx
*/
enum AudioEncoding
{
- PCM /*!< digitized PCM audio data (uncompressed) */
+ PCM /*!< digitized PCM audio data (uncompressed) */
};
sequence<byte> AudioChunk;
@@ -81,8 +81,7 @@ module armarx
* \param string vector params.
*/
- void reportTextWithParams(string text,Ice::StringSeq params);
-
+ void reportTextWithParams(string text, Ice::StringSeq params);
};
enum TextToSpeechStateType
@@ -107,6 +106,4 @@ module armarx
{
void publishFeedback(FeedbackType type, bool sign);
};
-
};
-
diff --git a/source/RobotAPI/interface/units/ATINetFTUnit.ice b/source/RobotAPI/interface/units/ATINetFTUnit.ice
index 8339b68f57dc76ea7847068dff53ea88f2c2c350..40a7d036017ae87f104be012daa053cc7aa8e766 100644
--- a/source/RobotAPI/interface/units/ATINetFTUnit.ice
+++ b/source/RobotAPI/interface/units/ATINetFTUnit.ice
@@ -24,9 +24,10 @@
#pragma once
+#include <ArmarXCore/interface/core/UserException.ice>
+
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <ArmarXCore/interface/core/UserException.ice>
module armarx
{
@@ -54,4 +55,3 @@ module armarx
bool isComponentOnline();
};
};
-
diff --git a/source/RobotAPI/interface/units/CyberGloveInterface.ice b/source/RobotAPI/interface/units/CyberGloveInterface.ice
index de433915cb5ed25bf064c0c2408718c0914fd458..166ee83da203e90df47a4fa70e8d385e38f187de 100644
--- a/source/RobotAPI/interface/units/CyberGloveInterface.ice
+++ b/source/RobotAPI/interface/units/CyberGloveInterface.ice
@@ -60,7 +60,6 @@ module armarx
void reportGloveValues(CyberGloveValues gloveValues);
/*void reportMotorValues(string name, float position1, float pwm1, float position2, float pwm2);*/
};
-
};
#endif
diff --git a/source/RobotAPI/interface/units/CyberGloveObserverInterface.ice b/source/RobotAPI/interface/units/CyberGloveObserverInterface.ice
index f2482bec8564029ae9775909f9e681d428e39b1d..b89bd9fe1091ef2c98a07a481902c1a1dcb7215c 100644
--- a/source/RobotAPI/interface/units/CyberGloveObserverInterface.ice
+++ b/source/RobotAPI/interface/units/CyberGloveObserverInterface.ice
@@ -25,15 +25,14 @@
#pragma once
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+
#include <RobotAPI/interface/units/CyberGloveInterface.ice>
module armarx
-{
+{
interface CyberGloveObserverInterface extends ObserverInterface, CyberGloveListenerInterface
{
CyberGloveValues getLatestValues();
};
};
-
-
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index 8d0c2985c273e46a7343ea1ff77a344c2bd200de..5737239bcea41235ba6300ddf280cd90feb3fcfd 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -24,52 +24,53 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
-{
- /**
+{
+ /**
* Implements an interface to a ForceTorqueUnit.
**/
interface ForceTorqueUnitInterface extends armarx::SensorActorUnitInterface
{
- /**
+ /**
* setOffset allows to define offset forces and torques which are subtracted from the measured values.
* @param forceOffsets Offset forces in x, y, and z.
* @param torqueOffsets Offset torques in x, y, and z.
**/
void setOffset(FramedDirectionBase forceOffsets, FramedDirectionBase torqueOffsets);
- /**
+ /**
* setToNull allows to reset the ForceTorqueUnit by setting the measured values to zero.
**/
void setToNull();
};
- /**
+ /**
* Implements an interface to a ForceTorqueUnitListener
**/
interface ForceTorqueUnitListener
{
- /**
+ /**
* reportSensorValues reports measured forces and torques from the ForceTorqueUnit to ForceTorqueObserver.
* @param sensorNodeName Name of force/torque sensor.
* @param forces Measured forces.
* @param torques Measured torques.
**/
- void reportSensorValues(string sensorNodeName, FramedDirectionBase forces, FramedDirectionBase torques);
+ void reportSensorValues(
+ string sensorNodeName, FramedDirectionBase forces, FramedDirectionBase torques);
};
- /**
+ /**
* Implements an interface to a ForceTorqueUnitObserver. Provides topics on measured forces and torques which can be subscribed.
**/
interface ForceTorqueUnitObserverInterface extends ObserverInterface, ForceTorqueUnitListener
{
- /**
+ /**
* getForceDatafield returns a reference on the force topic.
* @param nodeName Name of force sensor topic.
**/
@@ -79,11 +80,10 @@ module armarx
* @param nodeName Name of torque sensor topic.
**/
DatafieldRefBase getTorqueDatafield(string nodeName) throws UserException;
- /**
+ /**
* createNulledDatafield resets the force/torque topic.
* @param forceTorqueDatafieldRef Reference of torque/torque sensor topic.
**/
DatafieldRefBase createNulledDatafield(DatafieldRefBase forceTorqueDatafieldRef);
};
};
-
diff --git a/source/RobotAPI/interface/units/GamepadUnit.ice b/source/RobotAPI/interface/units/GamepadUnit.ice
index c63ddcfdad36942cfcca6c65155c8e96c6847f79..ab61426270944c830a6f3f9fe0f2a0b71e6963f8 100644
--- a/source/RobotAPI/interface/units/GamepadUnit.ice
+++ b/source/RobotAPI/interface/units/GamepadUnit.ice
@@ -25,21 +25,21 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Matrix.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- struct GamepadData {
+ struct GamepadData
+ {
float leftStickX;
float leftStickY;
float rightStickX;
@@ -60,22 +60,20 @@ module armarx
bool theMiddleButton;
bool leftStickButton;
bool rightStickButton;
-
};
+
interface GamepadUnitInterface // extends armarx::SensorActorUnitInterface
{
void vibrate();
};
interface GamepadUnitListener
- {
- void reportGamepadState(string device, string name, GamepadData values, TimestampBase timestamp);
+ {
+ void reportGamepadState(
+ string device, string name, GamepadData values, TimestampBase timestamp);
};
- /**
+ /**
* Implements an interface to an GamepadUnitObserver.
**/
- interface GamepadUnitObserverInterface extends ObserverInterface, GamepadUnitListener
- {
- };
-
+ interface GamepadUnitObserverInterface extends ObserverInterface, GamepadUnitListener{};
};
diff --git a/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice b/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
index 6ae5638174ec0293a4a3ab73fea68e869a397cf9..12504b02be49535c2d99f4fce438066be3414626 100644
--- a/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
+++ b/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
@@ -24,9 +24,10 @@
#pragma once
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/RequestableService.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotAPI/interface/objectpose/object_pose_types.ice>
module armarx
@@ -38,11 +39,18 @@ module armarx
AnyObject, KnownObject, UnknownObject
};*/
- enum ApproachType {
- AnyApproach, TopApproach, SideApproach
+ enum ApproachType
+ {
+ AnyApproach,
+ TopApproach,
+ SideApproach
};
- enum ApertureType {
- AnyAperture, OpenAperture, PreshapedAperture
+
+ enum ApertureType
+ {
+ AnyAperture,
+ OpenAperture,
+ PreshapedAperture
};
class BoundingBox
@@ -60,6 +68,7 @@ module armarx
int segmentationLabelID = -1;
BoundingBox bbox;
};
+
class GraspCandidateExecutionHints
{
ApertureType preshape = AnyAperture;
@@ -67,6 +76,7 @@ module armarx
string graspTrajectoryName;
//string graspTrajectoryPackage;
};
+
class GraspCandidateReachabilityInfo
{
bool reachable = false;
@@ -76,8 +86,6 @@ module armarx
float maxOriError = 0;
};
-
-
class GraspCandidate
{
PoseBase graspPose;
@@ -85,14 +93,15 @@ module armarx
PoseBase tcpPoseInHandRoot;
Vector3Base approachVector;
- string sourceFrame; // frame where graspPose is located
- string targetFrame; // frame which should be moved to graspPose
+ string sourceFrame; // frame where graspPose is located
+ string targetFrame; // frame which should be moved to graspPose
string side;
float graspSuccessProbability;
armarx::objpose::ObjectType objectType = AnyObject;
- int groupNr = -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
+ int groupNr =
+ -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
string providerName;
GraspCandidateSourceInfo sourceInfo; // (optional)
@@ -114,13 +123,14 @@ module armarx
Vector3Base inwardsVectorRight;
Vector3Base inwardsVectorLeft;
- string sourceFrame; // frame where graspPose is located
- string targetFrame; // frame which should be moved to graspPose
+ string sourceFrame; // frame where graspPose is located
+ string targetFrame; // frame which should be moved to graspPose
//float graspSuccessProbability;
armarx::objpose::ObjectType objectType = AnyObject;
- int groupNr = -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
+ int groupNr =
+ -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
string providerName;
GraspCandidateSourceInfo sourceInfo; // (optional)
@@ -137,7 +147,6 @@ module armarx
dictionary<string, GraspCandidate> GraspCandidateDict;
sequence<BimanualGraspCandidate> BimanualGraspCandidateSeq;
-
class ProviderInfo
{
armarx::objpose::ObjectType objectType = AnyObject;
@@ -151,14 +160,10 @@ module armarx
{
void reportProviderInfo(string providerName, ProviderInfo info);
void reportGraspCandidates(string providerName, GraspCandidateSeq candidates);
- void reportBimanualGraspCandidates(string providerName, BimanualGraspCandidateSeq candidates);
-
+ void reportBimanualGraspCandidates(string providerName,
+ BimanualGraspCandidateSeq candidates);
};
- interface GraspCandidateProviderInterface extends RequestableServiceListenerInterface
- {
- };
+ interface GraspCandidateProviderInterface extends RequestableServiceListenerInterface{};
};
-
};
-
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index dcaec0c5c534e1455bb28692837f93e30276f654..3d9b8771c773ab08d491b1f06691662e48532d76 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -24,43 +24,38 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Matrix.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Implements an interface to a HapitcUnit.
*/
- interface HapticUnitInterface extends armarx::SensorActorUnitInterface
- {
- };
- /**
+ interface HapticUnitInterface extends armarx::SensorActorUnitInterface{};
+ /**
* Implements an interface to a HapitcUnitListener.
*/
interface HapticUnitListener
{
- /**
+ /**
* reportSensorValues reports the tactile sensor values from a given sensor device.
* @param device Name of tactile sensor device.
* @param values Matrix of taxels.
* @param timestamp Timestamp of the measurement.
**/
- void reportSensorValues(string device, string name, MatrixFloatBase values, TimestampBase timestamp);
+ void reportSensorValues(
+ string device, string name, MatrixFloatBase values, TimestampBase timestamp);
};
- /**
+ /**
* Implements an interface to a HapitcUnitObserver.
*/
- interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener
- {
- };
-
+ interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener{};
};
-
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index d053a371f82b53fadc12c47e543dec8acd23d244..604f2574489e01e993558cb663ebc338eceb5114 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -24,23 +24,23 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Implements an interface to a HeadIKUnit.
**/
interface HeadIKUnitInterface extends armarx::SensorActorUnitInterface
{
- /**
+ /**
* setCycleTime allows to set the cycle time with which the head IK is solved and the head is controlled within a periodic task.
* @param milliseconds Cycle time in milliseconds.
**/
@@ -51,15 +51,12 @@ module armarx
* @param targetPosition in x, y, and z.
**/
void setHeadTarget(string robotNodeSetName, FramedPositionBase targetPosition);
-
};
-
interface HeadIKUnitListener
{
- void reportHeadTargetChanged(NameValueMap targetJointAngles, FramedPositionBase targetPosition);
+ void reportHeadTargetChanged(NameValueMap targetJointAngles,
+ FramedPositionBase targetPosition);
};
-
};
-
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
index 9acedc051830e4389af38d9e63a951b772a5d271..510a0509ea8ea15f4744ba77fefc8db5367b78e5 100644
--- a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
+++ b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
@@ -25,58 +25,55 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Matrix.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Struct IMUData with which IMU sensor data is represented. It incorporates following entries:
* @param orientationQuaternion Orientation in quaternion.
* @param magneticRotation Magnetic rotation.
* @param gyroscopeRotation Rotation of gyroscope.
* @param acceleration Acceleration of IMU sensor device.
**/
- struct IMUData {
+ struct IMUData
+ {
Ice::FloatSeq orientationQuaternion;
Ice::FloatSeq magneticRotation;
- Ice::FloatSeq gyroscopeRotation;
+ Ice::FloatSeq gyroscopeRotation;
Ice::FloatSeq acceleration;
};
- /**
+
+ /**
* Implements an interface to an InertialMeasurementUnit.
**/
- interface InertialMeasurementUnitInterface extends armarx::SensorActorUnitInterface
- {
- };
- /**
+ interface InertialMeasurementUnitInterface extends armarx::SensorActorUnitInterface{};
+ /**
* Implements an interface to an InertialMeasurementUnitListener.
**/
interface InertialMeasurementUnitListener
- {
- /**
+ {
+ /**
* reportSensorValues reports the IMU sensor values from a given sensor device.
* @param device Name of IMU sensor device.
* @param values IMU sensor data.
* @param timestamp Timestamp of the measurement.
**/
- void reportSensorValues(string device, string name, IMUData values, TimestampBase timestamp);
+ void reportSensorValues(
+ string device, string name, IMUData values, TimestampBase timestamp);
};
- /**
+ /**
* Implements an interface to an InertialMeasurementUnitObserver.
**/
- interface InertialMeasurementUnitObserverInterface extends ObserverInterface, InertialMeasurementUnitListener
- {
- };
-
+ interface InertialMeasurementUnitObserverInterface extends ObserverInterface,
+ InertialMeasurementUnitListener{};
};
-
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 3cc99f54cb8aa8785c3bfc7de09df8f5d7cf885e..be470e01ed1bad33aca7f0c56d42688bd12fde8f 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -24,21 +24,20 @@
#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/NameValueMap.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Struct RangeViolation for checking whether a given value is in given bounds:
**/
struct RangeViolation
{
- /**
+ /**
* @param rangeFrom Lower bound.
* @param rangeTo Upper bound.
* @param actualValue Actual value to be checked.
@@ -48,18 +47,19 @@ module armarx
float actualValue;
};
- /**
+ /**
* @param RangeViolationSequence Sequence of values and corresponding bounds to be checked.
**/
sequence<RangeViolation> RangeViolationSequence;
- /**
+ /**
* @throws OutOfRangeException Raised if value is violating the bounds.
**/
exception OutOfRangeException extends UserException
{
RangeViolationSequence violation;
};
- /**
+
+ /**
* [ControlMode] defines the different modes which a KinematicUnit can be controlled.
**/
enum ControlMode
@@ -71,7 +71,8 @@ module armarx
eTorqueControl,
ePositionVelocityControl
};
- /**
+
+ /**
* [OperationStatus] defines whether a KinematicUnit is online, offline, or initialized.
**/
enum OperationStatus
@@ -80,6 +81,7 @@ module armarx
eOnline,
eInitialized
};
+
/**
* [ErrorStatus] defines the error status of a KinematicUnit.
**/
@@ -89,6 +91,7 @@ module armarx
eWarning,
eError
};
+
/**
* JointStatus combines OperationStatus and ErrorStatus to describe the status of a joint.
* @see OperationStatus
@@ -98,11 +101,12 @@ module armarx
{
OperationStatus operation;
ErrorStatus error;
-
+
bool enabled;
bool emergencyStop;
};
- /**
+
+ /**
* ControlModeNotSupportedException Raised if a mode is requested which is not supported
* @see ControlMode
**/
@@ -110,14 +114,14 @@ module armarx
{
ControlMode mode;
};
- /**
+ /**
* KinematicUnitUnavailable Raised if the resource KinematicUnit is not available.
**/
exception KinematicUnitUnavailable extends ResourceUnavailableException
{
StringStringDictionary nodeOwners;
};
- /**
+ /**
* KinematicUnitNotOwnedException Raised if the resource KinematicUnit is not owned.
**/
exception KinematicUnitNotOwnedException extends ResourceNotOwnedException
@@ -137,7 +141,8 @@ module armarx
* [NameStatusMap] defined. This data container is mostly used to a status to e.g. a joint which is identified by name.
**/
dictionary<string, JointStatus> NameStatusMap;
- /**
+
+ /**
* Implements an interface to an KinematicUnit.
**/
@@ -172,14 +177,15 @@ module armarx
* After usage joints should be released so that another component can get access to these joints.
*/
void releaseJoints(Ice::StringSeq joints) throws KinematicUnitNotOwnedException;
-
+
/**
*
* switchControlMode allows switching control modes of joints specified in targetJointModes.
* @param targetJointModes defines target control modes and corresponding joints.
*/
- void switchControlMode(NameControlModeMap targetJointModes) throws ControlModeNotSupportedException;
-
+ void switchControlMode(NameControlModeMap targetJointModes)
+ throws ControlModeNotSupportedException;
+
/*
* Depending on the chosen control mode, one or more of the following functions need to be called
* to set all necessary parameters.
@@ -189,13 +195,15 @@ module armarx
void setJointAngles(NameValueMap targetJointAngles) throws OutOfRangeException;
void setJointVelocities(NameValueMap targetJointVelocities) throws OutOfRangeException;
void setJointTorques(NameValueMap targetJointTorques) throws OutOfRangeException;
- void setJointAccelerations(NameValueMap targetJointAccelerations) throws OutOfRangeException;
- void setJointDecelerations(NameValueMap targetJointDecelerations) throws OutOfRangeException;
-
- ["cpp:const"] NameValueMap getJointAngles();
- ["cpp:const"] NameValueMap getJointVelocities();
+ void setJointAccelerations(NameValueMap targetJointAccelerations)
+ throws OutOfRangeException;
+ void setJointDecelerations(NameValueMap targetJointDecelerations)
+ throws OutOfRangeException;
+
+ ["cpp:const"] NameValueMap getJointAngles();
+ ["cpp:const"] NameValueMap getJointVelocities();
["cpp:const"] Ice::StringSeq getJoints();
-
+
/*!
* Returns the current control mode setup of all joints.
* @return List with current control modes
@@ -205,39 +213,32 @@ module armarx
/**
* @return the robot xml filename as specified in the configuration
*/
- ["cpp:const"]
- idempotent
- string getRobotFilename();
+ ["cpp:const"] idempotent string getRobotFilename();
/**
* @return All dependent packages, which might contain a robot file.
*/
- ["cpp:const"]
- idempotent
- Ice::StringSeq getArmarXPackages();
+ ["cpp:const"] idempotent Ice::StringSeq getArmarXPackages();
/**
* @return The name of the robot used by this component.
*
*/
- ["cpp:const"]
- idempotent string getRobotName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getRobotName() throws NotInitializedException;
/**
* @return The name of the robot node set that is used by this component.
*
*/
- ["cpp:const"]
- idempotent string getRobotNodeSetName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getRobotNodeSetName() throws NotInitializedException;
/**
* @return The name of the report topic that is offered by this unit.
*
*/
- ["cpp:const"]
- idempotent string getReportTopicName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getReportTopicName() throws NotInitializedException;
- /*
+ /*
* NYI
*/
//void set Trajectory(...);
@@ -251,74 +252,78 @@ module armarx
* @return
*
*/
- ["cpp:const"]
- DebugInfo getDebugInfo();
+ ["cpp:const"] DebugInfo getDebugInfo();
};
-
-
- /**
+ /**
* Implements an interface to an KinematicUnitListener.
**/
interface KinematicUnitListener
{
- /**
+ /**
* reportControlModeChanged reports if a ControlMode has changed.
* @param actualJointModes Map of control modes and corresponding joint names.
* @param aValueChanged Is set to true if a mode has changed.
**/
- void reportControlModeChanged(NameControlModeMap actualJointModes, long timestamp, bool aValueChanged);
- /**
+ void reportControlModeChanged(
+ NameControlModeMap actualJointModes, long timestamp, bool aValueChanged);
+ /**
* reportJointAngles reports joint angle values.
* @param actualJointAngles Map of joint angle values and corresponding joint names.
* @param aValueChanged Is set to true if a joint angle value has changed.
**/
void reportJointAngles(NameValueMap actualJointAngles, long timestamp, bool aValueChanged);
-
- /**
+
+ /**
* reportJointVelocities reports joint angle velocities.
* @param actualJointVelocities Map of joint angle velocities and corresponding joint names.
* @param aValueChanged Is set to true if a joint angle velocity has changed.
**/
- void reportJointVelocities(NameValueMap actualJointVelocities, long timestamp, bool aValueChanged);
-
- /**
+ void reportJointVelocities(
+ NameValueMap actualJointVelocities, long timestamp, bool aValueChanged);
+
+ /**
* reportJointTorques reports joint torques.
* @param actualJointTorques Map of joint torques and corresponding joint names.
* @param aValueChanged Is set to true if a joint torque has changed.
**/
- void reportJointTorques(NameValueMap actualJointTorques, long timestamp, bool aValueChanged);
-
- /**
+ void reportJointTorques(
+ NameValueMap actualJointTorques, long timestamp, bool aValueChanged);
+
+ /**
* reportJointAccelerations reports joint accelerations.
* @param actualJointAccelerations Map of joint accelerations and corresponding joint names.
* @param aValueChanged Is set to true if a joint acceleration has changed.
**/
- void reportJointAccelerations(NameValueMap actualJointAccelerations, long timestamp, bool aValueChanged);
-
- /**
+ void reportJointAccelerations(
+ NameValueMap actualJointAccelerations, long timestamp, bool aValueChanged);
+
+ /**
* reportJointCurrents reports joint currents.
* @param actualJointCurrents Map of joint currents and corresponding joint names.
* @param aValueChanged Is set to true if a joint current has changed.
**/
- void reportJointCurrents(NameValueMap actualJointCurrents, long timestamp, bool aValueChanged);
-
- /**
+ void reportJointCurrents(
+ NameValueMap actualJointCurrents, long timestamp, bool aValueChanged);
+
+ /**
* reportJointMotorTemperatures reports joint motor temperatures.
* @param actualJointMotorTemperatures Map of joint motor temperatures and corresponding joint names.
* @param aValueChanged Is set to true if a joint motor temperature has changed.
**/
- void reportJointMotorTemperatures(NameValueMap actualJointMotorTemperatures, long timestamp, bool aValueChanged);
-
- /**
+ void reportJointMotorTemperatures(
+ NameValueMap actualJointMotorTemperatures, long timestamp, bool aValueChanged);
+
+ /**
* reportJointStatuses reports current joint statuses.
* @param actualJointStatuses Map of joint statuses and corresponding joint names.
* @param aValueChanged Is set to true if a joint status has changed.
**/
- void reportJointStatuses(NameStatusMap actualJointStatuses, long timestamp, bool aValueChanged);
+ void reportJointStatuses(
+ NameStatusMap actualJointStatuses, long timestamp, bool aValueChanged);
};
-
+
/*interface KinematicUnitHandInterface extends KinematicUnitInterface
{
void open();
@@ -335,5 +340,4 @@ module armarx
void reportTactileSensorRawData(NameValueMap actualTactileSensorRawData);
void reportTactileSensorContactData(NameValueMap actualTactileSensorContactData);
};*/
-
};
diff --git a/source/RobotAPI/interface/units/LaserScannerUnit.ice b/source/RobotAPI/interface/units/LaserScannerUnit.ice
index cf3a48562253065449dcdceb30030573f1a85e87..98477fc262a32fac283a863459378f8ee0db7d5e 100644
--- a/source/RobotAPI/interface/units/LaserScannerUnit.ice
+++ b/source/RobotAPI/interface/units/LaserScannerUnit.ice
@@ -25,21 +25,20 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Matrix.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Struct LaserScanStep with which a single scan step is represented. It incorporates following entries:
* @param angle Angle in which direction a distance was measured [rad].
* @param distance The measured distance [mm].
@@ -65,20 +64,17 @@ module armarx
interface LaserScannerUnitInterface extends armarx::SensorActorUnitInterface
{
- ["cpp:const"]
- idempotent string getReportTopicName() throws NotInitializedException;
+ ["cpp:const"] idempotent string getReportTopicName() throws NotInitializedException;
- ["cpp:const"]
- LaserScannerInfoSeq getConnectedDevices();
+ ["cpp:const"] LaserScannerInfoSeq getConnectedDevices();
};
interface LaserScannerUnitListener
{
- void reportSensorValues(string device, string name, LaserScan values, TimestampBase timestamp);
- };
-
- interface LaserScannerUnitObserverInterface extends ObserverInterface, LaserScannerUnitListener
- {
+ void reportSensorValues(
+ string device, string name, LaserScan values, TimestampBase timestamp);
};
+ interface LaserScannerUnitObserverInterface extends ObserverInterface,
+ LaserScannerUnitListener{};
};
diff --git a/source/RobotAPI/interface/units/LocalizationUnitInterface.ice b/source/RobotAPI/interface/units/LocalizationUnitInterface.ice
index 8799ee4f0e75822c2c6d59dfb77212213ec1f7bf..bbb188591db956d71b96c9ead006a83f5c4e9b6e 100644
--- a/source/RobotAPI/interface/units/LocalizationUnitInterface.ice
+++ b/source/RobotAPI/interface/units/LocalizationUnitInterface.ice
@@ -24,30 +24,26 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <RobotAPI/interface/core/RobotLocalization.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
-{
-
+{
+
interface LocalizationUnitInterface extends SensorActorUnitInterface
{
void reportGlobalRobotPoseCorrection(TransformStamped global_T_odom);
};
- interface LocalizationUnitListener
- {
-
+ interface LocalizationUnitListener{
+
};
- interface LocalizationSubUnitInterface extends LocalizationUnitInterface
- {
+ interface LocalizationSubUnitInterface extends LocalizationUnitInterface{
};
-
};
diff --git a/source/RobotAPI/interface/units/MetaWearIMU.ice b/source/RobotAPI/interface/units/MetaWearIMU.ice
index 7cd97f8e43df797e4915242fbd8e3db59f09bec7..2701487c516ebac76c7e4dc3cb752979d0212993 100644
--- a/source/RobotAPI/interface/units/MetaWearIMU.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMU.ice
@@ -24,14 +24,16 @@
#pragma once
-#include <RobotAPI/interface/core/PoseBase.ice>
-#include <RobotAPI/interface/units/UnitInterface.ice>
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <RobotAPI/interface/core/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+
module armarx
{
- struct MetaWearIMUData {
+ struct MetaWearIMUData
+ {
Ice::FloatSeq orientationQuaternion;
Ice::FloatSeq magnetic;
Ice::FloatSeq gyro;
@@ -42,8 +44,5 @@ module armarx
{
void reportIMUValues(string name, MetaWearIMUData data, TimestampBase timestamp);
};
- interface MetaWearIMUObserverInterface extends ObserverInterface, MetaWearIMUListener
- {
- };
+ interface MetaWearIMUObserverInterface extends ObserverInterface, MetaWearIMUListener{};
};
-
diff --git a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
index c360a1e100cc6a124ed93a376af76c2e7b46a457..13f79c71378539e39ddd6a67e68b188e9c13148d 100644
--- a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
@@ -29,7 +29,8 @@ module armarx
{
sequence<float> FloatSeq;
- struct MetaWearIMUDataExt {
+ struct MetaWearIMUDataExt
+ {
FloatSeq orientationQuaternion;
FloatSeq magnetic;
FloatSeq gyro;
@@ -41,4 +42,3 @@ module armarx
void reportIMUValues(string name, MetaWearIMUDataExt data);
};
};
-
diff --git a/source/RobotAPI/interface/units/MultiHandUnitInterface.ice b/source/RobotAPI/interface/units/MultiHandUnitInterface.ice
index 4f107495c73a0fab746b6ef5d3607f0e6c430b5b..1308c97206b46a15b7b7ec6e2aaf955041bc2489 100644
--- a/source/RobotAPI/interface/units/MultiHandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/MultiHandUnitInterface.ice
@@ -37,6 +37,7 @@ module armarx
string handName;
//Ice::StringSeq jointNames;
};
+
sequence<HandInfo> HandInfoSeq;
interface MultiHandUnitInterface
@@ -46,4 +47,3 @@ module armarx
NameValueMap getJointValues(string handName);
};
};
-
diff --git a/source/RobotAPI/interface/units/OptoForceUnit.ice b/source/RobotAPI/interface/units/OptoForceUnit.ice
index 8b893b11bb1fe323ee69f5498af434584d993cfc..acd5a4f1d3232785c9714f776c945e33173d62e0 100644
--- a/source/RobotAPI/interface/units/OptoForceUnit.ice
+++ b/source/RobotAPI/interface/units/OptoForceUnit.ice
@@ -25,21 +25,20 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/Matrix.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Implements an interface to an OptoForceUnit.
**/
interface OptoForceUnitInterface //extends armarx::SensorActorUnitInterface
@@ -47,25 +46,22 @@ module armarx
void startRecording(string filepath);
void stopRecording();
};
- /**
+ /**
* Implements an interface to an OptoForceUnitListener.
**/
interface OptoForceUnitListener
- {
- /**
+ {
+ /**
* reportSensorValues reports the IMU sensor values from a given sensor device.
* @param device Name of IMU sensor device.
* @param values IMU sensor data.
* @param timestamp Timestamp of the measurement.
**/
- void reportSensorValues(string device, string name, float fx, float fy, float fz, TimestampBase timestamp);
+ void reportSensorValues(
+ string device, string name, float fx, float fy, float fz, TimestampBase timestamp);
};
- /**
+ /**
* Implements an interface to an OptoForceUnitObserver.
**/
- interface OptoForceUnitObserverInterface extends ObserverInterface, OptoForceUnitListener
- {
- };
-
+ interface OptoForceUnitObserverInterface extends ObserverInterface, OptoForceUnitListener{};
};
-
diff --git a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
index 7d14330d295e1aab314d66842ba2f5cedefba8e6..3ec6fcde73fe339238f81d65447c39fa8e83c87d 100644
--- a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
+++ b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
@@ -22,10 +22,11 @@
#pragma once
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <ArmarXCore/interface/observers/Timestamp.ice>
-#include <ArmarXCore/interface/core/UserException.ice>
module armarx
{
@@ -38,20 +39,30 @@ module armarx
};
- interface OrientedTactileSensorUnitInterface extends armarx::SensorActorUnitInterface
- {
+ interface OrientedTactileSensorUnitInterface extends armarx::SensorActorUnitInterface{
//bool loadCalibration(int accel_offset_x, int accel_offset_y, int accel_offset_z, int gyro_offset_x, int gyro_offset_y, int gyro_offset_z, int mag_offset_x, int mag_offset_y, int mag_offset_z, int accel_radius, int mag_radius );
};
- interface OrientedTactileSensorUnitListener
+ interface OrientedTactileSensorUnitListener
{
- void reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, float accelerationRate, float accelx, float accely, float accelz, TimestampBase timestamp);
+ void reportSensorValues(int id,
+ float pressure,
+ float qw,
+ float qx,
+ float qy,
+ float qz,
+ float pressureRate,
+ float rotationRate,
+ float accelerationRate,
+ float accelx,
+ float accely,
+ float accelz,
+ TimestampBase timestamp);
};
- interface OrientedTactileSensorUnitObserverInterface extends ObserverInterface, OrientedTactileSensorUnitListener
- {
+ interface OrientedTactileSensorUnitObserverInterface extends ObserverInterface,
+ OrientedTactileSensorUnitListener{
- };
+ };
};
-
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index f83ad97cf10f83c8975a8c79f1b44deecd594d4e..88bfe4ebf08d261bbd5326c8d365577ff7333604 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -115,7 +115,5 @@ module armarx
reportPlatformOdometryPose(float x, float y, float angle);
};
- interface PlatformSubUnitInterface extends PlatformUnitInterface
- {
- };
+ interface PlatformSubUnitInterface extends PlatformUnitInterface{};
};
diff --git a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
index 7864ce45e391d73cc63b1e9a8875fc8527bd2b18..b98482721d34f3c7a7fbe109ee7ca517353096e1 100644
--- a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
@@ -24,11 +24,11 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/PoseBase.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
+#include <RobotAPI/interface/core/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
@@ -57,7 +57,8 @@ 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(PoseBase relativeTarget, float positionalAccuracy, float orientationalAccuracy);
+ void moveRelative(
+ PoseBase relativeTarget, float positionalAccuracy, float orientationalAccuracy);
/**
* setMaxVelocities allows to specify max velocities in translation and orientation.
* @param positionalVelocity Max translation velocity.
@@ -90,6 +91,4 @@ module armarx
**/
void reportRobotVelocity(PoseBase currentRobotvelocity);
};
-
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/DSControllerBase.ice b/source/RobotAPI/interface/units/RobotUnit/DSControllerBase.ice
index 4b68726211fb66a76d68a5253f7b667d6cd39691..e3f9912aa1ddace166a1538469c71cbd221db673 100644
--- a/source/RobotAPI/interface/units/RobotUnit/DSControllerBase.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/DSControllerBase.ice
@@ -55,11 +55,9 @@ module armarx
float positionErrorTolerance;
float dsAdaptorEpsilon;
-
};
- interface DSControllerInterface extends NJointControllerInterface
- {
+ interface DSControllerInterface extends NJointControllerInterface{
};
@@ -80,9 +78,9 @@ module armarx
float torqueLimit = 1;
float NullTorqueLimit = 0.2;
-// string tcpName = "";
+ // string tcpName = "";
-// Ice::FloatSeq desiredPosition;
+ // Ice::FloatSeq desiredPosition;
Ice::FloatSeq left_desiredQuaternion;
Ice::FloatSeq right_desiredQuaternion;
@@ -94,7 +92,6 @@ module armarx
float nullspaceDamping;
-
string gmmParamsFile = "";
float positionErrorTolerance;
@@ -127,11 +124,9 @@ module armarx
Ice::FloatSeq forceRightOffset;
};
-
interface DSBimanualControllerInterface extends NJointControllerInterface
{
void setToDefaultTarget();
-
};
class DSJointCarryControllerConfig extends NJointControllerConfig
@@ -166,7 +161,6 @@ module armarx
Ice::FloatSeq defaultRotationStiffness;
};
-
interface DSJointCarryControllerInterface extends NJointControllerInterface
{
void setGuardInHandPosition(Ice::FloatSeq guardCenterToHandsCenter);
@@ -176,5 +170,4 @@ module armarx
void setGuardObsAvoidVel(Ice::FloatSeq guardZVel);
float getGMMVel();
};
-
};
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointActiveImpedanceController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointActiveImpedanceController.ice
index da687c5d0dd5770d34be1ed680d81f2711543606..d076e749285b9857af73da62eee58db1e107e52d 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointActiveImpedanceController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointActiveImpedanceController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -41,7 +41,6 @@ module armarx
string deviceName;
};
-
interface NJointActiveImpedanceControllerInterface extends NJointControllerInterface
{
void setControllerTarget(float position, float kp, float kd);
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualCartesianAdmittanceController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualCartesianAdmittanceController.ice
index 044d9f64fae26fc6a4f842ca2e82bea5eab8fca9..4f1cdd3083586ea9674b1b8954979aa09a163a43 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualCartesianAdmittanceController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualCartesianAdmittanceController.ice
@@ -24,8 +24,8 @@
#include <ArmarXCore/interface/serialization/Eigen.ice>
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -48,6 +48,7 @@ module armarx
float k;
float d;
};
+
struct Impedance
{
Eigen::Vector3f KpXYZ;
@@ -55,6 +56,7 @@ module armarx
Eigen::Vector3f KdXYZ;
Eigen::Vector3f KdRPY;
};
+
struct Admittance
{
Eigen::Vector3f KpXYZ;
@@ -64,6 +66,7 @@ module armarx
Eigen::Vector3f KmXYZ;
Eigen::Vector3f KmRPY;
};
+
struct Force
{
Eigen::Vector3f wrenchXYZ;
@@ -116,16 +119,17 @@ module armarx
void setDesiredJointValuesRight(Ice::FloatSeq cfg);
void setNullspaceConfig(detail::NJBmanCartAdmCtrl::Nullspace nullspace);
void setAdmittanceConfig(detail::NJBmanCartAdmCtrl::Admittance admittanceObject);
- void setForceConfig(detail::NJBmanCartAdmCtrl::Force left, detail::NJBmanCartAdmCtrl::Force right);
- void setImpedanceConfig(detail::NJBmanCartAdmCtrl::Impedance left, detail::NJBmanCartAdmCtrl::Impedance right);
+ void setForceConfig(detail::NJBmanCartAdmCtrl::Force left,
+ detail::NJBmanCartAdmCtrl::Force right);
+ void setImpedanceConfig(detail::NJBmanCartAdmCtrl::Impedance left,
+ detail::NJBmanCartAdmCtrl::Impedance right);
["cpp:const"] Eigen::Matrix4f getBoxPose();
void setBoxPose(Eigen::Matrix4f pose);
void setBoxWidth(float w);
void setBoxVelocity(Eigen::Vector3f velXYZ, Eigen::Vector3f velRPY);
- void setBoxPoseAndVelocity(Eigen::Matrix4f pose,
- Eigen::Vector3f velXYZ,
- Eigen::Vector3f velRPY);
+ void setBoxPoseAndVelocity(
+ Eigen::Matrix4f pose, Eigen::Vector3f velXYZ, Eigen::Vector3f velRPY);
void moveBoxPose(Eigen::Matrix4f pose);
void moveBoxPosition(Eigen::Vector3f pos);
@@ -135,8 +139,4 @@ module armarx
// Eigen::Vector3f velRPY;
*/
};
-
-
-
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceController.ice
index a173e758341b325de617a2775404ff1de982cb8b..5c27307a9a1c9d4ffa8ce19a147fb2340503a53b 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -59,8 +59,8 @@ module armarx
Ice::FloatSeq KdAdmittance;
Ice::FloatSeq KmAdmittance;
Ice::FloatSeq KmPID;
-// Ice::FloatSeq objectKp;
-// Ice::FloatSeq objectKd;
+ // Ice::FloatSeq objectKp;
+ // Ice::FloatSeq objectKd;
// pid force controller parameters
Ice::FloatSeq targetWrench;
@@ -74,20 +74,20 @@ module armarx
float massLeft;
Ice::FloatSeq CoMVecLeft;
- Ice::FloatSeq forceOffsetLeft;
+ Ice::FloatSeq forceOffsetLeft;
Ice::FloatSeq torqueOffsetLeft;
float massRight;
Ice::FloatSeq CoMVecRight;
- Ice::FloatSeq forceOffsetRight;
+ Ice::FloatSeq forceOffsetRight;
Ice::FloatSeq torqueOffsetRight;
-// // flags for testing variants
-// int dmpFeedType; // 0: no dmp, 1: frame, 2: vel, 3: acc, 4: force
-// int method; // 1,2,3,4 four diffrent method w.r.t inertia trick; default (0): normal method
-// int jcMethod; // 0: lin's paper, default: Jc = J
-// int pdotMethod; // 0: numerical differential, 1: paper, Tau - Tau.Transpose, 2 test, default: zero matrix
-// int graspingType; // 0: fixed to obj, 1, fixed to hand, 2, dynamically from hand pose, defualt: identity
+ // // flags for testing variants
+ // int dmpFeedType; // 0: no dmp, 1: frame, 2: vel, 3: acc, 4: force
+ // int method; // 1,2,3,4 four diffrent method w.r.t inertia trick; default (0): normal method
+ // int jcMethod; // 0: lin's paper, default: Jc = J
+ // int pdotMethod; // 0: numerical differential, 1: paper, Tau - Tau.Transpose, 2 test, default: zero matrix
+ // int graspingType; // 0: fixed to obj, 1, fixed to hand, 2, dynamically from hand pose, defualt: identity
float knull;
float dnull;
@@ -95,7 +95,6 @@ module armarx
float torqueLimit;
float forceThreshold;
-
};
interface NJointBimanualForceControllerInterface extends NJointControllerInterface
@@ -104,15 +103,9 @@ module armarx
bool isFinished();
void runDMP(Ice::DoubleSeq goals);
-// void setViaPoints(double canVal, Ice::DoubleSeq point);
+ // void setViaPoints(double canVal, Ice::DoubleSeq point);
void setGoals(Ice::DoubleSeq goals);
void setViaPoints(double u, Ice::DoubleSeq viapoint);
double getVirtualTime();
-
-
};
-
-
-
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceMPController.ice
index 49acfeefb9fec34ea497c6209d8a0b1c3c846c9b..66f0f3b61783f779e7759cc468ec32afa26dcdf9 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualForceMPController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -67,10 +67,8 @@ module armarx
Ice::FloatSeq rightForceOffset;
string debugName;
-
};
-
interface NJointBimanualForceMPControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(string whichMP, Ice::StringSeq trajfiles);
@@ -81,4 +79,3 @@ module armarx
void setViaPoints(string whichDMP, double canVal, Ice::DoubleSeq viaPoint);
};
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualObjLevelController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualObjLevelController.ice
index 7488ad443518fc4fbce80b247a2a0070acafd5e5..a03826f6b1c33d2a611d6c06a42a3e599194f7b3 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointBimanualObjLevelController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointBimanualObjLevelController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -59,8 +59,8 @@ module armarx
Ice::FloatSeq KdAdmittance;
Ice::FloatSeq KmAdmittance;
Ice::FloatSeq KmPID;
-// Ice::FloatSeq objectKp;
-// Ice::FloatSeq objectKd;
+ // Ice::FloatSeq objectKp;
+ // Ice::FloatSeq objectKd;
// pid force controller parameters
Ice::FloatSeq targetWrench;
@@ -74,20 +74,20 @@ module armarx
float massLeft;
Ice::FloatSeq CoMVecLeft;
- Ice::FloatSeq forceOffsetLeft;
+ Ice::FloatSeq forceOffsetLeft;
Ice::FloatSeq torqueOffsetLeft;
float massRight;
Ice::FloatSeq CoMVecRight;
- Ice::FloatSeq forceOffsetRight;
+ Ice::FloatSeq forceOffsetRight;
Ice::FloatSeq torqueOffsetRight;
-// // flags for testing variants
-// int dmpFeedType; // 0: no dmp, 1: frame, 2: vel, 3: acc, 4: force
-// int method; // 1,2,3,4 four diffrent method w.r.t inertia trick; default (0): normal method
-// int jcMethod; // 0: lin's paper, default: Jc = J
-// int pdotMethod; // 0: numerical differential, 1: paper, Tau - Tau.Transpose, 2 test, default: zero matrix
-// int graspingType; // 0: fixed to obj, 1, fixed to hand, 2, dynamically from hand pose, defualt: identity
+ // // flags for testing variants
+ // int dmpFeedType; // 0: no dmp, 1: frame, 2: vel, 3: acc, 4: force
+ // int method; // 1,2,3,4 four diffrent method w.r.t inertia trick; default (0): normal method
+ // int jcMethod; // 0: lin's paper, default: Jc = J
+ // int pdotMethod; // 0: numerical differential, 1: paper, Tau - Tau.Transpose, 2 test, default: zero matrix
+ // int graspingType; // 0: fixed to obj, 1, fixed to hand, 2, dynamically from hand pose, defualt: identity
float knull;
float dnull;
@@ -97,7 +97,6 @@ module armarx
Ice::FloatSeq forceThreshold;
double ftCalibrationTime;
-
};
interface NJointBimanualObjLevelControllerInterface extends NJointControllerInterface
@@ -105,9 +104,10 @@ module armarx
void learnDMPFromFiles(Ice::StringSeq trajfiles);
bool isFinished();
void runDMP(Ice::DoubleSeq goals, double timeDuration);
- void runDMPWithVirtualStart(Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
+ void runDMPWithVirtualStart(
+ Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
-// void setViaPoints(double canVal, Ice::DoubleSeq point);
+ // void setViaPoints(double canVal, Ice::DoubleSeq point);
void setGoals(Ice::DoubleSeq goals);
void setViaPoints(double u, Ice::DoubleSeq viapoint);
void removeAllViaPoints();
@@ -148,7 +148,6 @@ module armarx
float jointVelLimit;
float jointLimitAvoidanceKp;
-
};
interface NJointBimanualObjLevelVelControllerInterface extends NJointControllerInterface
@@ -156,7 +155,8 @@ module armarx
void learnDMPFromFiles(Ice::StringSeq trajfiles);
bool isFinished();
void runDMP(Ice::DoubleSeq goals, double timeDuration);
- void runDMPWithVirtualStart(Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
+ void runDMPWithVirtualStart(
+ Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
void setGoals(Ice::DoubleSeq goals);
void setViaPoints(double u, Ice::DoubleSeq viapoint);
@@ -235,21 +235,27 @@ module armarx
Ice::FloatSeq forceThreshold;
double ftCalibrationTime;
-
};
interface NJointBimanualObjLevelMultiMPControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
- void learnMultiDMPFromFiles(Ice::StringSeq objFileNames, Ice::StringSeq leftFileNames, Ice::StringSeq rightFileNames);
+ void learnMultiDMPFromFiles(Ice::StringSeq objFileNames,
+ Ice::StringSeq leftFileNames,
+ Ice::StringSeq rightFileNames);
bool isFinished();
- void runDMP(Ice::DoubleSeq goalObj, Ice::DoubleSeq goalLeft, Ice::DoubleSeq goalRight, double timeDuration);
- void runDMPWithVirtualStart(Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
-
-// void setViaPoints(double canVal, Ice::DoubleSeq point);
+ void runDMP(Ice::DoubleSeq goalObj,
+ Ice::DoubleSeq goalLeft,
+ Ice::DoubleSeq goalRight,
+ double timeDuration);
+ void runDMPWithVirtualStart(
+ Ice::DoubleSeq starts, Ice::DoubleSeq goals, double timeDuration);
+
+ // void setViaPoints(double canVal, Ice::DoubleSeq point);
void setGoals(Ice::DoubleSeq goals);
- void setMultiMPGoals(Ice::DoubleSeq goalObj, Ice::DoubleSeq goalLeft, Ice::DoubleSeq goalRight);
+ void setMultiMPGoals(
+ Ice::DoubleSeq goalObj, Ice::DoubleSeq goalLeft, Ice::DoubleSeq goalRight);
void setViaPoints(double u, Ice::DoubleSeq viapoint);
void removeAllViaPoints();
@@ -266,6 +272,4 @@ module armarx
Ice::FloatSeq getCurrentObjVel();
Ice::FloatSeq getCurrentObjForce();
};
-
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianNaturalPositionController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianNaturalPositionController.ice
index 7516fa77cb26ca6355da211e1db459d640337eee..19d376df5f2f07fdf41007adeb010b5b5526dc66 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianNaturalPositionController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianNaturalPositionController.ice
@@ -22,12 +22,12 @@
#pragma once
+#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
-#include <RobotAPI/interface/core/FTSensorValue.ice>
#include <RobotAPI/interface/core/CartesianNaturalPositionControllerConfig.ice>
-#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
+#include <RobotAPI/interface/core/FTSensorValue.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -49,7 +49,10 @@ module armarx
void setConfig(CartesianNaturalPositionControllerConfig cfg);
void setTarget(Eigen::Matrix4f tcpTarget, Eigen::Vector3f elbowTarget, bool setOrientation);
- void setTargetFeedForward(Eigen::Matrix4f tcpTarget, Eigen::Vector3f elbowTarget, bool setOrientation, Eigen::Vector6f ffVel);
+ void setTargetFeedForward(Eigen::Matrix4f tcpTarget,
+ Eigen::Vector3f elbowTarget,
+ bool setOrientation,
+ Eigen::Vector6f ffVel);
void setFeedForwardVelocity(Eigen::Vector6f vel);
void clearFeedForwardVelocity();
void setNullspaceTarget(Ice::FloatSeq nullspaceTarget);
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
index d53e0347f931497b77b67474d813570edcacc70f..dc76b734dc079139a45963b37273cf8a703340ac 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -34,10 +34,9 @@ module armarx
string tcpName = "";
};
-
-
interface NJointCartesianTorqueControllerInterface extends NJointControllerInterface
{
- void setControllerTarget(float forceX, float forceY, float forceZ, float torqueX, float torqueY, float torqueZ);
+ void setControllerTarget(
+ float forceX, float forceY, float forceZ, float torqueX, float torqueY, float torqueZ);
};
};
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
index d9bf18450de19a2a01959f46f17e40b6fedd5bac..d1c8cf9990fdc8a960053d34ee3c396bd53071a9 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -41,14 +41,20 @@ module armarx
{
string nodeSetName = "";
string tcpName = "";
- NJointCartesianVelocityControllerMode::CartesianSelection mode = NJointCartesianVelocityControllerMode::eAll;
+ NJointCartesianVelocityControllerMode::CartesianSelection mode =
+ NJointCartesianVelocityControllerMode::eAll;
};
-
-
interface NJointCartesianVelocityControllerInterface extends NJointControllerInterface
{
- void setControllerTarget(float x, float y, float z, float roll, float pitch, float yaw, float avoidJointLimitsKp, NJointCartesianVelocityControllerMode::CartesianSelection mode);
+ void setControllerTarget(float x,
+ float y,
+ float z,
+ float roll,
+ float pitch,
+ float yaw,
+ float avoidJointLimitsKp,
+ NJointCartesianVelocityControllerMode::CartesianSelection mode);
void setTorqueKp(StringFloatDictionary torqueKp);
void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
};
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice
index a8d12ab7a089772dd546bce271ccd345e05916b8..b823c143b7f30ba65b89ed09ba9b88a055ce5f34 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/CartesianSelection.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -42,7 +42,9 @@ module armarx
interface NJointCartesianVelocityControllerWithRampInterface extends NJointControllerInterface
{
- void setMaxAccelerations(float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration);
+ void setMaxAccelerations(float maxPositionAcceleration,
+ float maxOrientationAcceleration,
+ float maxNullspaceAcceleration);
void setTargetVelocity(float vx, float vy, float vz, float vrx, float vry, float vrz);
void immediateHardStop();
void setJointLimitAvoidanceScale(float scale);
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
index f02c8e8ee8720f7a45fb730f155986016cdb0331..04754194d28cbec7eba1ad299b3266995ea36aca 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice
@@ -24,9 +24,9 @@
#include <ArmarXCore/interface/serialization/Eigen.ice>
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
-#include <RobotAPI/interface/core/FTSensorValue.ice>
#include <RobotAPI/interface/core/CartesianWaypointControllerConfig.ice>
+#include <RobotAPI/interface/core/FTSensorValue.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -57,9 +57,11 @@ module armarx
void setWaypoints(Eigen::Matrix4fSeq wps);
void setWaypoint(Eigen::Matrix4f wp);
void setWaypointAx(Ice::FloatSeq wp);
- void setConfigAndWaypoints(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4fSeq wps);
- void setConfigAndWaypoint(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4f wp);
-
+ void setConfigAndWaypoints(NJointCartesianWaypointControllerRuntimeConfig cfg,
+ Eigen::Matrix4fSeq wps);
+ void setConfigAndWaypoint(NJointCartesianWaypointControllerRuntimeConfig cfg,
+ Eigen::Matrix4f wp);
+
FTSensorValue getFTSensorValue();
void setCurrentFTAsOffset();
void stopMovement();
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index f1056467092843c4928f63ba9dcba119ac8c0ebd..f528d6e2b26011956c2e03d2eda47f956cf646b7 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -22,10 +22,10 @@
#pragma once
-#include <ArmarXGui/interface/WidgetDescription.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
+#include <ArmarXGui/interface/WidgetDescription.ice>
module armarx
{
@@ -35,13 +35,15 @@ module armarx
module RobotUnitControllerNames
{
const string NJointTrajectoryController = "NJointTrajectoryController";
- const string NJointGlobalTCPController = "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
+ const string NJointGlobalTCPController =
+ "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
const string NJointTCPController = "NJointTCPController";
const string NJointCartesianVelocityController = "NJointCartesianVelocityController";
};
-
- class NJointControllerConfig {};
+ class NJointControllerConfig
+ {
+ };
struct NJointControllerDescription
{
@@ -52,6 +54,7 @@ module armarx
bool deletable;
bool internal;
};
+
sequence<NJointControllerDescription> NJointControllerDescriptionSeq;
struct NJointControllerStatus
@@ -62,6 +65,7 @@ module armarx
bool error = false;
long timestampUSec = 0;
};
+
sequence<NJointControllerStatus> NJointControllerStatusSeq;
struct NJointControllerDescriptionWithStatus
@@ -69,6 +73,7 @@ module armarx
NJointControllerStatus status;
NJointControllerDescription description;
};
+
sequence<NJointControllerDescriptionWithStatus> NJointControllerDescriptionWithStatusSeq;
interface NJointControllerInterface
@@ -82,7 +87,8 @@ module armarx
["cpp:const"] idempotent bool hasControllerError();
["cpp:const"] idempotent NJointControllerStatus getControllerStatus();
["cpp:const"] idempotent NJointControllerDescription getControllerDescription();
- ["cpp:const"] idempotent NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus();
+ ["cpp:const"] idempotent NJointControllerDescriptionWithStatus
+ getControllerDescriptionWithStatus();
// This method is not used by anybody and just produces cyclic dependencies
// If you were able to create/get an NJointController, you know the RobotUnit already.
//["cpp:const"] idempotent RobotUnitInterface* getRobotUnit();
@@ -92,10 +98,11 @@ module armarx
void deleteController() throws LogicError;
void deactivateAndDeleteController() throws LogicError;
- ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
- void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
+ ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary
+ getFunctionDescriptions();
+ void callDescribedFunction(string fuinctionName, StringVariantBaseMap values)
+ throws InvalidArgumentException;
};
dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCurrentController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCurrentController.ice
index 06e648137cca85c6cd913cc5377e247188d196a5..d6731c9e3e15119dca1191a6c49b0e9628122afd 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCurrentController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCurrentController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -39,7 +39,6 @@ module armarx
string deviceName;
};
-
interface NJointCurrentControllerInterface extends NJointControllerInterface
{
void setControllerTarget(float current);
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
index dd31d78e4e848fc8cf9d3b3bcbe99423a2215777..4ac7375a53079e17e0573a96c925b5cc2dc9c962 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -58,5 +58,4 @@ module armarx
void setMPWeights(DoubleSeqSeq weights);
DoubleSeqSeq getMPWeights();
};
-
};
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index 178edf202298befc0236ca0e048cc65456601e44..deebf2e38ba0df7fcbc14b7c1816403dc24c6096 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -22,11 +22,11 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
-#include <RobotAPI/interface/core/Trajectory.ice>
-
#include <ArmarXCore/interface/serialization/Eigen.ice>
+#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
+
module armarx
{
module NJointTaskSpaceDMPControllerMode
@@ -63,7 +63,8 @@ module armarx
string nodeSetName = "";
string tcpName = "";
string frameName = "";
- NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::eAll;
+ NJointTaskSpaceDMPControllerMode::CartesianSelection mode =
+ NJointTaskSpaceDMPControllerMode::eAll;
double maxLinearVel;
double maxAngularVel;
@@ -79,7 +80,6 @@ module armarx
float vel_filter;
};
-
interface NJointTaskSpaceDMPControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
@@ -98,7 +98,8 @@ module armarx
void pauseDMP();
void resumeDMP();
- void setControllerTarget(float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
+ void setControllerTarget(float avoidJointLimitsKp,
+ NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
void setTorqueKp(StringFloatDictionary torqueKp);
void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
string getDMPAsString();
@@ -111,7 +112,6 @@ module armarx
void setLinearVelocityKp(float kp);
void setAngularVelocityKd(float kd);
void setAngularVelocityKp(float kp);
-
};
class NJointCCDMPControllerConfig extends NJointControllerConfig
@@ -144,8 +144,8 @@ module armarx
// velocity controller configuration
string nodeSetName = "";
string tcpName = "";
- NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::eAll;
-
+ NJointTaskSpaceDMPControllerMode::CartesianSelection mode =
+ NJointTaskSpaceDMPControllerMode::eAll;
};
interface NJointCCDMPControllerInterface extends NJointControllerInterface
@@ -158,7 +158,8 @@ module armarx
void setViaPoints(int dmpId, double canVal, Ice::DoubleSeq point);
void setGoals(int dmpId, Ice::DoubleSeq goals);
- void setControllerTarget(float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
+ void setControllerTarget(float avoidJointLimitsKp,
+ NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
void setTorqueKp(StringFloatDictionary torqueKp);
void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
};
@@ -186,8 +187,8 @@ module armarx
Ice::FloatSeq leftDesiredJointValues;
Ice::FloatSeq rightDesiredJointValues;
-// float KoriFollower = 1;
-// float KposFollower = 1;
+ // float KoriFollower = 1;
+ // float KposFollower = 1;
double maxLinearVel;
double maxAngularVel;
@@ -209,15 +210,13 @@ module armarx
float startReduceTorque;
-// Ice::FloatSeq Kpf;
-// Ice::FloatSeq Kif;
-// Ice::FloatSeq DesiredForce;
-
-// float BoxWidth;
-
-// float FilterTimeConstant;
+ // Ice::FloatSeq Kpf;
+ // Ice::FloatSeq Kif;
+ // Ice::FloatSeq DesiredForce;
+ // float BoxWidth;
+ // float FilterTimeConstant;
};
interface NJointBimanualCCDMPControllerInterface extends NJointControllerInterface
@@ -233,10 +232,8 @@ module armarx
double getVirtualTime();
string getLeaderName();
-
};
-
class NJointBimanualCCDMPVelocityControllerConfig extends NJointControllerConfig
{
@@ -289,8 +286,6 @@ module armarx
string getLeaderName();
};
-
-
class NJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig
{
@@ -424,7 +419,6 @@ module armarx
void setDefaultJointValues(Ice::FloatSeq desiredJointVals);
};
-
class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig
{
@@ -462,7 +456,6 @@ module armarx
float minimumReactForce = 0;
};
-
interface NJointPeriodicTSDMPControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
@@ -477,7 +470,6 @@ module armarx
double getCanVal();
};
-
class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig
{
@@ -539,10 +531,8 @@ module armarx
Ice::DoubleSeq kmani;
Ice::DoubleSeq positionManipulability;
Ice::DoubleSeq maniWeight;
-
};
-
interface NJointPeriodicTSDMPCompliantControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
@@ -621,7 +611,6 @@ module armarx
float frictionCone;
};
-
interface NJointAdaptiveWipingControllerInterface extends NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
@@ -739,8 +728,8 @@ module armarx
bool useDMPInGlobalFrame;
};
-
- interface NJointAnomalyDetectionAdaptiveWipingControllerInterface extends NJointControllerInterface
+ interface NJointAnomalyDetectionAdaptiveWipingControllerInterface extends
+ NJointControllerInterface
{
void learnDMPFromFiles(Ice::StringSeq trajfiles);
void learnDMPFromTrajectory(TrajectoryBase trajectory);
@@ -764,4 +753,3 @@ module armarx
void resumeDMP();
};
};
-
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
index 388ed7b14a1daa034b9144c158185fa9772e7b90..dde6c7cf89c4535f53e31a876af06df73865d629 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
@@ -22,8 +22,8 @@
#pragma once
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
{
@@ -41,7 +41,6 @@ module armarx
bool isPreview = false;
};
-
interface NJointTrajectoryControllerInterface extends NJointControllerInterface
{
void setTrajectory(TrajectoryBase traj);
diff --git a/source/RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.ice b/source/RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.ice
index ed1c98692abf97bfc03e73ac9e75fc02639b4c8a..a10efe6d4386c69b984c10add58b43e890e1e55a 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.ice
@@ -38,7 +38,6 @@ module armarx
float maxTorque = 10.0f;
};
-
interface NJointZeroTorqueControllerInterface extends NJointControllerInterface
{
void setControllerTarget(Ice::FloatSeq targetTorques);
diff --git a/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice b/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
index 74314446ca7f274d37148c49a54b59e0bbd715b2..854b7e38051a846343ed00a25a15198da2cc8de6 100644
--- a/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
@@ -23,6 +23,7 @@
#pragma once
#include <ArmarXCore/interface/serialization/Eigen.ice>
+
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
@@ -45,6 +46,7 @@ module armarx
float torqueLimit;
};
+
struct NJointTaskSpaceImpedanceControlRuntimeConfig
{
Eigen::Vector3f Kpos;
@@ -65,10 +67,10 @@ module armarx
void setOrientation(Eigen::Quaternionf orientation);
void setPositionOrientation(Eigen::Vector3f target, Eigen::Quaternionf orientation);
void setPose(Eigen::Matrix4f mat);
-
+
void setImpedanceParameters(string paraName, Ice::FloatSeq vals);
- void setNullspaceConfig(Eigen::VectorXf desiredJointPositions, Eigen::VectorXf Knull, Eigen::VectorXf Dnull);
+ void setNullspaceConfig(
+ Eigen::VectorXf desiredJointPositions, Eigen::VectorXf Knull, Eigen::VectorXf Dnull);
void setConfig(NJointTaskSpaceImpedanceControlRuntimeConfig cfg);
};
-
};
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index 36d0bdf75b3ddde0c8b5a7535a785ed31810aca2..ea90ea29961bd9144b2b6d5c88410fb69a0ab114 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -24,23 +24,24 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
{
- /**
+ /**
* Implements an interface to an TCPControlUnit. The TCPControlUnit uses differential IK in order to move the TCP a target pose.
**/
- interface TCPControlUnitInterface extends armarx::SensorActorUnitInterface, armarx::KinematicUnitListener
+ interface TCPControlUnitInterface extends armarx::SensorActorUnitInterface,
+ armarx::KinematicUnitListener
{
- /**
+ /**
* setCycleTime allows to set the cycle time with which the TCPControlUnit solves the IK and moves the TCP within a periodic task.
* @param milliseconds Cycle time in milliseconds.
**/
@@ -52,7 +53,10 @@ module armarx
* @param translationVelocity Translational velocity in task space in x, y, and z.
* @param orientationVelocityRPY Orientational velocity in task space in roll, pitch, yaw.
**/
- void setTCPVelocity(string robotNodeSetName, string tcpNodeName, FramedDirectionBase translationVelocity, FramedDirectionBase orientationVelocityRPY);
+ void setTCPVelocity(string robotNodeSetName,
+ string tcpNodeName,
+ FramedDirectionBase translationVelocity,
+ FramedDirectionBase orientationVelocityRPY);
/**
* @brief returns if the TCPControlUnit is requested.
@@ -61,7 +65,7 @@ module armarx
bool isRequested();
};
- /**
+ /**
* [FramedPoseBaseMap] defines a data container which contains nodes, identified by name, and corresponding FramedPoses.
**/
dictionary<string, FramedPoseBase> FramedPoseBaseMap;
@@ -70,7 +74,7 @@ module armarx
**/
interface TCPControlUnitListener
{
- /**
+ /**
* reportTCPPose reports TCPs and corresponding current FramedPoses.
* @param tcpPoses Map of TCP node names and corresponding current FramedPoses.
**/
@@ -80,15 +84,13 @@ module armarx
* @param tcpTranslationVelocities Map of TCP node names and corresponding current translational velocities.
* @param tcpOrienationVelocities Map of TCP node names and corresponding current orientational velocities.
**/
- void reportTCPVelocities(FramedDirectionMap tcpTranslationVelocities, FramedDirectionMap tcpOrienationVelocities);
-
+ void reportTCPVelocities(FramedDirectionMap tcpTranslationVelocities,
+ FramedDirectionMap tcpOrienationVelocities);
};
- /**
+ /**
* Implements an interface to an TCPControlUnitObserver.
**/
- interface TCPControlUnitObserverInterface extends ObserverInterface, TCPControlUnitListener
- {
-
- };
+ interface TCPControlUnitObserverInterface extends ObserverInterface, TCPControlUnitListener{
+ };
};
diff --git a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
index 71f7f1777f011efdcd05e3e5c9c67814c50437e4..b77bf56455a17984a571575acefa322d4dd2825c 100644
--- a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
+++ b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
@@ -24,13 +24,14 @@
#pragma once
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-
#include <ArmarXCore/interface/core/UserException.ice>
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+
module armarx
{
- enum HandSelection{
+ enum HandSelection
+ {
eNone,
eLeftHand,
eRightHand
@@ -38,7 +39,7 @@ module armarx
interface TCPMoverUnitInterface
{
-// void moveTCPRelative(bool leftHand, float x, float y, float z, float speedFactor);
+ // void moveTCPRelative(bool leftHand, float x, float y, float z, float speedFactor);
/**
* Resets the joint angles of the arm to the home position.
* NO MOVEMENT! Just sets the angles, so not suitable for a real robot.
@@ -64,7 +65,8 @@ module armarx
* @param z The velocity on the z-axis.
* @param speedFactor A factor by which the x,y,z values should be multiplied.
*/
- void setCartesianTCPVelocity(HandSelection selectedHand, float x, float y, float z, float speedFactor);
+ void setCartesianTCPVelocity(
+ HandSelection selectedHand, float x, float y, float z, float speedFactor);
//! angles in radiant
/**
@@ -109,4 +111,3 @@ module armarx
void stopPlatform();
};
};
-
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index cb3e572e4b4755b69451ea64a78cb711689ee6e1..82d104ce25220127bedd135730c06518550c4cfe 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -26,20 +26,17 @@
module armarx
{
- /**
+ /**
* @throws ResourceUnavailableException Raised if the unit resource is not available.
**/
- exception ResourceUnavailableException extends UserException
- {
- };
+ exception ResourceUnavailableException extends UserException{};
- /**
+ /**
* @throws ResourceNotOwnedException Raised if the unit resource is not owned.
**/
- exception ResourceNotOwnedException extends UserException
- {
- };
- /**
+ exception ResourceNotOwnedException extends UserException{};
+
+ /**
* [UnitExecutionState] defines whether a Unit is constructed, initialized, started or stopped.
**/
enum UnitExecutionState
@@ -50,13 +47,13 @@ module armarx
eUnitStarted,
eUnitStopped
};
-
- /**
+
+ /**
* Implements an interface to a UnitExecutionManagement.
**/
interface UnitExecutionManagementInterface
{
- /**
+ /**
* init is called to initialize the unit before starting it. Virtual method which has to implemented by components inheriting from this interface.
**/
void init();
@@ -68,7 +65,7 @@ module armarx
* stop is called to stopthe unit. Virtual method which has to implemented by components inheriting from this interface.
**/
void stop();
-
+
/**
* getExecutionState returns the execution state of the unit. Virtual method which has to implemented by components inheriting from this interface.
* @return UnitExecutionState
@@ -76,13 +73,13 @@ module armarx
**/
UnitExecutionState getExecutionState();
};
-
- /**
+
+ /**
* Implements an interface to a UnitResourceManagement.
**/
interface UnitResourceManagementInterface
{
- /**
+ /**
* request is called to grant another component exclusive access to this unit.
**/
void request() throws ResourceUnavailableException;
@@ -91,11 +88,9 @@ module armarx
**/
void release() throws ResourceNotOwnedException;
};
- /**
+ /**
* Implements an interface to a SensorActorUnit. The SensorActorUnit is the the base component for subsequent actuation and sensor components.
**/
- interface SensorActorUnitInterface extends UnitExecutionManagementInterface, UnitResourceManagementInterface
- {
- };
+ interface SensorActorUnitInterface extends UnitExecutionManagementInterface,
+ UnitResourceManagementInterface{};
};
-
diff --git a/source/RobotAPI/interface/units/WeissHapticUnit.ice b/source/RobotAPI/interface/units/WeissHapticUnit.ice
index 413bc81299648cf573c955f195c29b6b8d0ebe32..1688367baff27474809b19b3e6083c6bc5106e1e 100644
--- a/source/RobotAPI/interface/units/WeissHapticUnit.ice
+++ b/source/RobotAPI/interface/units/WeissHapticUnit.ice
@@ -28,12 +28,12 @@
module armarx
{
- /**
+ /**
* Implements an interface to a HapticUnit for the tactile sensors from Weiss Robotics.
**/
interface WeissHapticUnitInterface extends armarx::HapticUnitInterface
{
- /**
+ /**
* setDeviceTag allows to rename device.
* @param deviceName Original name of tactile sensor device.
* @param tag New name of tactile sensor device.
@@ -48,6 +48,4 @@ module armarx
**/
void stopLogging();
};
-
};
-
diff --git a/source/RobotAPI/interface/visualization/ArViz.ice b/source/RobotAPI/interface/visualization/ArViz.ice
index 8cf53a50f7ca47c82d61e38d4ae649c61d1b55bf..7e98ca8b362cca3357fdb0306a7c180021292dcd 100644
--- a/source/RobotAPI/interface/visualization/ArViz.ice
+++ b/source/RobotAPI/interface/visualization/ArViz.ice
@@ -4,62 +4,61 @@
module armarx
{
-module viz
-{
+ module viz
+ {
-struct Header
-{
- string frame_id;
- int stamp = 0;
-};
+ struct Header
+ {
+ string frame_id;
+ int stamp = 0;
+ };
-struct Vec3
-{
- float x = 0.0f;
- float y = 0.0f;
- float z = 0.0f;
-};
+ struct Vec3
+ {
+ float x = 0.0f;
+ float y = 0.0f;
+ float z = 0.0f;
+ };
-struct Orientation
-{
- float qw = 1.0f;
- float qx = 0.0f;
- float qy = 0.0f;
- float qz = 0.0f;
-};
+ struct Orientation
+ {
+ float qw = 1.0f;
+ float qx = 0.0f;
+ float qy = 0.0f;
+ float qz = 0.0f;
+ };
-struct Color
-{
- float a = 1.0f;
- float r = 0.0f;
- float g = 0.0f;
- float b = 0.0f;
-};
+ struct Color
+ {
+ float a = 1.0f;
+ float r = 0.0f;
+ float g = 0.0f;
+ float b = 0.0f;
+ };
-sequence<Vec3> Vec3List;
-sequence<Color> ColorList;
+ sequence<Vec3> Vec3List;
+ sequence<Color> ColorList;
-struct Marker
-{
- Header header;
- string ns;
- int id = 0;
- int type = 0;
- Vec3 position;
- Orientation orientation;
- Vec3 scale;
- Color color;
- Vec3List points;
- ColorList colors;
- float lifetime_in_seconds = 0.0f;
-};
-
-sequence<Marker> MarkerList;
+ struct Marker
+ {
+ Header header;
+ string ns;
+ int id = 0;
+ int type = 0;
+ Vec3 position;
+ Orientation orientation;
+ Vec3 scale;
+ Color color;
+ Vec3List points;
+ ColorList colors;
+ float lifetime_in_seconds = 0.0f;
+ };
-interface Topic
-{
- void draw(MarkerList markers);
-};
+ sequence<Marker> MarkerList;
-}
+ interface Topic
+ {
+ void draw(MarkerList markers);
+ };
+ }
}
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index d07c6eb97eeb1dd8624823d36cea7065451a868f..9e9ed0a5e964a76cb0259464b4c9d660de8f4112 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -24,8 +24,9 @@
#pragma once
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -38,21 +39,21 @@ module armarx
*/
struct DrawColor
{
- float r;
- float g;
- float b;
- float a;
+ float r;
+ float g;
+ float b;
+ float a;
};
+
sequence<DrawColor> DrawColorSequence;
struct DrawColor24Bit
{
- byte r;
- byte g;
- byte b;
+ byte r;
+ byte g;
+ byte b;
};
-
struct HsvColor
{
//! 0-360
@@ -63,7 +64,6 @@ module armarx
float v;
};
-
/*!
* \brief Contains information about a layer. (name, visibility and number of elements)
*/
@@ -85,6 +85,7 @@ module armarx
float y;
float z;
};
+
sequence<DebugDrawerVertex> DebugDrawerVertexSequence;
/*!
@@ -96,6 +97,7 @@ module armarx
DebugDrawerVertex vertex2;
DebugDrawerVertex vertex3;
};
+
sequence<DebugDrawerSimpleFace> DebugDrawerSimpleFaceSequence;
struct DebugDrawerSimpleTriMesh
@@ -113,7 +115,7 @@ module armarx
int normalID;
int colorID;
};
-
+
struct DebugDrawerNormal
{
float x;
@@ -131,6 +133,7 @@ module armarx
DebugDrawerVertexID vertex3;
DebugDrawerNormal normal;
};
+
sequence<DebugDrawerFace> DebugDrawerFaceSequence;
struct DebugDrawerTriMesh
@@ -140,7 +143,6 @@ module armarx
DrawColorSequence colors;
};
-
const int three = 3;
const float zero = 0;
@@ -150,6 +152,7 @@ module armarx
float y;
float z;
};
+
sequence<DebugDrawerPointCloudElement> DebugDrawerPointCloudElementList;
struct DebugDrawerPointCloud
@@ -165,6 +168,7 @@ module armarx
float z;
DrawColor color;
};
+
sequence<DebugDrawerColoredPointCloudElement> DebugDrawerColoredPointCloudElementList;
struct DebugDrawerColoredPointCloud
@@ -180,6 +184,7 @@ module armarx
float z;
DrawColor24Bit color;
};
+
sequence<DebugDrawer24BitColoredPointCloudElement> DebugDrawer24BitColoredPointCloudElementList;
struct DebugDrawer24BitColoredPointCloud
@@ -204,9 +209,13 @@ module armarx
bool useHeatMap = false;
};
- sequence< Vector3Base > PolygonPointList;
+ sequence<Vector3Base> PolygonPointList;
- enum DrawStyle { FullModel, CollisionModel };
+ enum DrawStyle
+ {
+ FullModel,
+ CollisionModel
+ };
struct DebugDrawerSelectionElement
{
@@ -234,19 +243,64 @@ module armarx
*/
void setPoseVisu(string layerName, string poseName, PoseBase globalPose);
void setScaledPoseVisu(string layerName, string poseName, PoseBase globalPose, float scale);
- void setLineVisu(string layerName, string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
+ void setLineVisu(string layerName,
+ string lineName,
+ Vector3Base globalPosition1,
+ Vector3Base globalPosition2,
+ float lineWidth,
+ DrawColor color);
void setLineSetVisu(string layerName, string lineSetName, DebugDrawerLineSet lineSet);
- void setBoxVisu(string layerName, string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
- void setTextVisu(string layerName, string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
- void setSphereVisu(string layerName, string sphereName, Vector3Base globalPosition, DrawColor color, float radius);
- void setPointCloudVisu(string layerName, string pointCloudName, DebugDrawerPointCloud pointCloud);
- void setColoredPointCloudVisu(string layerName, string pointCloudName, DebugDrawerColoredPointCloud pointCloud);
- void set24BitColoredPointCloudVisu(string layerName, string pointCloudName, DebugDrawer24BitColoredPointCloud pointCloud);
- void setPolygonVisu(string layerName, string polygonName, PolygonPointList polygonPoints, DrawColor colorInner, DrawColor colorBorder, float lineWidth);
+ void setBoxVisu(string layerName,
+ string boxName,
+ PoseBase globalPose,
+ Vector3Base dimensions,
+ DrawColor color);
+ void setTextVisu(string layerName,
+ string textName,
+ string text,
+ Vector3Base globalPosition,
+ DrawColor color,
+ int size);
+ void setSphereVisu(string layerName,
+ string sphereName,
+ Vector3Base globalPosition,
+ DrawColor color,
+ float radius);
+ void setPointCloudVisu(
+ string layerName, string pointCloudName, DebugDrawerPointCloud pointCloud);
+ void setColoredPointCloudVisu(
+ string layerName, string pointCloudName, DebugDrawerColoredPointCloud pointCloud);
+ void set24BitColoredPointCloudVisu(
+ string layerName, string pointCloudName, DebugDrawer24BitColoredPointCloud pointCloud);
+ void setPolygonVisu(string layerName,
+ string polygonName,
+ PolygonPointList polygonPoints,
+ DrawColor colorInner,
+ DrawColor colorBorder,
+ float lineWidth);
void setTriMeshVisu(string layerName, string triMeshName, DebugDrawerTriMesh triMesh);
- void setArrowVisu(string layerName, string arrowName, Vector3Base position, Vector3Base direction, DrawColor color, float length, float width);
- void setCylinderVisu(string layerName, string cylinderName, Vector3Base globalPosition, Vector3Base direction, float length, float radius, DrawColor color);
- void setCircleArrowVisu(string layerName, string circleName, Vector3Base globalPosition, Vector3Base directionVec, float radius, float circleCompletion, float width, DrawColor color);
+ void setArrowVisu(string layerName,
+ string arrowName,
+ Vector3Base position,
+ Vector3Base direction,
+ DrawColor color,
+ float length,
+ float width);
+ void setCylinderVisu(string layerName,
+ string cylinderName,
+ Vector3Base globalPosition,
+ Vector3Base direction,
+ float length,
+ float radius,
+ DrawColor color);
+ void setCircleArrowVisu(string layerName,
+ string circleName,
+ Vector3Base globalPosition,
+ Vector3Base directionVec,
+ float radius,
+ float circleCompletion,
+ float width,
+ DrawColor color);
/*!
@@ -258,7 +312,11 @@ module armarx
* \param armarxProject Additional armarx project that should be used to search the robot. Must be locally available and accessible through the armarx cmake search procedure.
*/
- void setRobotVisu(string layerName, string robotName, string robotFile, string armarxProject, DrawStyle drawStyleType);
+ void setRobotVisu(string layerName,
+ string robotName,
+ string robotFile,
+ string armarxProject,
+ DrawStyle drawStyleType);
void updateRobotPose(string layerName, string robotName, PoseBase globalPose);
void updateRobotConfig(string layerName, string robotName, NameValueMap configuration);
/*!
@@ -268,7 +326,8 @@ module armarx
* \param c The draw color, if all is set to 0, the colorization is disabled (i.e. the original vizualization shows up)
*/
void updateRobotColor(string layerName, string robotName, DrawColor c);
- void updateRobotNodeColor(string layerName, string robotName, string robotNodeName, DrawColor c);
+ void updateRobotNodeColor(
+ string layerName, string robotName, string robotNodeName, DrawColor c);
void removeRobotVisu(string layerName, string robotName);
/*!
@@ -278,17 +337,39 @@ module armarx
*/
void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
void setScaledPoseDebugLayerVisu(string poseName, PoseBase globalPose, float scale);
- void setLineDebugLayerVisu(string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
+ void setLineDebugLayerVisu(string lineName,
+ Vector3Base globalPosition1,
+ Vector3Base globalPosition2,
+ float lineWidth,
+ DrawColor color);
void setLineSetDebugLayerVisu(string lineSetName, DebugDrawerLineSet lineSet);
- void setBoxDebugLayerVisu(string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
- void setTextDebugLayerVisu(string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
- void setSphereDebugLayerVisu(string sphereName, Vector3Base globalPosition, DrawColor color, float radius);
+ void setBoxDebugLayerVisu(
+ string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
+ void setTextDebugLayerVisu(
+ string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
+ void setSphereDebugLayerVisu(
+ string sphereName, Vector3Base globalPosition, DrawColor color, float radius);
void setPointCloudDebugLayerVisu(string pointCloudName, DebugDrawerPointCloud pointCloud);
- void set24BitColoredPointCloudDebugLayerVisu(string pointCloudName, DebugDrawer24BitColoredPointCloud pointCloud);
- void setPolygonDebugLayerVisu(string polygonName, PolygonPointList polygonPoints, DrawColor colorInner, DrawColor colorBorder, float lineWidth);
+ void set24BitColoredPointCloudDebugLayerVisu(string pointCloudName,
+ DebugDrawer24BitColoredPointCloud pointCloud);
+ void setPolygonDebugLayerVisu(string polygonName,
+ PolygonPointList polygonPoints,
+ DrawColor colorInner,
+ DrawColor colorBorder,
+ float lineWidth);
void setTriMeshDebugLayerVisu(string triMeshName, DebugDrawerTriMesh triMesh);
- void setArrowDebugLayerVisu(string arrowName, Vector3Base position, Vector3Base direction, DrawColor color, float length, float width);
- void setCylinderDebugLayerVisu(string cylinderName, Vector3Base globalPosition, Vector3Base direction, float length, float radius, DrawColor color);
+ void setArrowDebugLayerVisu(string arrowName,
+ Vector3Base position,
+ Vector3Base direction,
+ DrawColor color,
+ float length,
+ float width);
+ void setCylinderDebugLayerVisu(string cylinderName,
+ Vector3Base globalPosition,
+ Vector3Base direction,
+ float length,
+ float radius,
+ DrawColor color);
/*!
* \brief Draws a circle into the debug drawer.
* \param circleName
@@ -300,7 +381,13 @@ module armarx
* \param color
* \param circleDrawingDirection in which direction the circle is started to draw. Has only effect if the circle is not complete (circleCompletion parameter).
*/
- void setCircleDebugLayerVisu(string circleName, Vector3Base globalPosition, Vector3Base directionVec, float radius, float circleCompletion, float width, DrawColor color);
+ void setCircleDebugLayerVisu(string circleName,
+ Vector3Base globalPosition,
+ Vector3Base directionVec,
+ float radius,
+ float circleCompletion,
+ float width,
+ DrawColor color);
/*!
* \brief Remove visualization of coordinate system.
@@ -438,8 +525,5 @@ module armarx
void reportSelectionChanged(DebugDrawerSelectionList selectedObjects);
};
- interface DebugDrawerInterfaceAndListener extends DebugDrawerInterface, DebugDrawerListener
- {
- };
+ interface DebugDrawerInterfaceAndListener extends DebugDrawerInterface, DebugDrawerListener{};
};
-
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerToArViz.ice b/source/RobotAPI/interface/visualization/DebugDrawerToArViz.ice
index 79f15cfd506da5ea1dc05222ff54c00290514745..2213bdd649a9c63965c600ea901441eb0195922e 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerToArViz.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerToArViz.ice
@@ -31,9 +31,5 @@
module armarx
{
- interface DebugDrawerToArvizInterface extends DebugDrawerInterface, BlackWhitelistTopic
- {
- };
-
+ interface DebugDrawerToArvizInterface extends DebugDrawerInterface, BlackWhitelistTopic{};
};
-
diff --git a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
index 2fdb3c1481caf47596d1be1959bada2cd41bbc8a..039aaefd930a5c9ce439f38ca07a39f3601d0c64 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h
@@ -413,9 +413,9 @@ namespace armarx::armem::server::ltm::detail
std::string coreSegmentsToLoad = "";
// Other configuration
- std::string
- configuration_on_startup = "{ \"SnapshotFrequencyFilter\": "
- "{\"WaitingTimeInMsForFilter\" : 50}}"; //record with 20 fps as standard
+ std::string configuration_on_startup =
+ "{ \"SnapshotFrequencyFilter\": "
+ "{\"WaitingTimeInMsForFilter\" : 50}}"; //record with 20 fps as standard
} p;
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_cpuload.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_cpuload.hpp
index c6075c0b60d851abdf13faf71b95b91aaadd202c..1877898171de2194688f505b055ca224df14d566 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_cpuload.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_cpuload.hpp
@@ -8,14 +8,15 @@
*/
#pragma once
-#include <vector>
+#include <chrono>
+#include <map>
#include <string>
#include <tuple>
-#include <map>
#include <unordered_map>
-#include <chrono>
+#include <vector>
-class cpuLoad {
+class cpuLoad
+{
public:
cpuLoad() = delete;
@@ -23,8 +24,8 @@ public:
* @brief constructor
* @param procFileName
*/
- explicit cpuLoad(std::string procFileName = "/proc/stat"):
- procFile(std::move(procFileName)), cpuName("") {};
+ explicit cpuLoad(std::string procFileName = "/proc/stat") :
+ procFile(std::move(procFileName)), cpuName(""){};
/**
* @brief initialize the parsing algo
@@ -40,7 +41,9 @@ public:
* @brief get Cpu user / nice / system /idle time. used for cpu usage per process
* @return tuple<user,nice,system,idle>
*/
- std::tuple<uint64_t , uint64_t, uint64_t, uint64_t> getCpuTimes() {
+ std::tuple<uint64_t, uint64_t, uint64_t, uint64_t>
+ getCpuTimes()
+ {
auto cpuLoad_ = this->parseStatFile(this->procFile);
return std::make_tuple(cpuLoad_.at("cpu").at("user"),
cpuLoad_.at("cpu").at("nice"),
@@ -62,7 +65,8 @@ public:
private:
void calculateCpuUsage();
- std::map<std::string, std::unordered_map<std::string, uint64_t>> parseStatFile(const std::string& fileName);
+ std::map<std::string, std::unordered_map<std::string, uint64_t>>
+ parseStatFile(const std::string& fileName);
void upDateCPUUsage();
std::chrono::system_clock::time_point currentTime;
std::string procFile;
@@ -71,5 +75,3 @@ private:
std::map<std::string, std::unordered_map<std::string, uint64_t>> cpuLoadMap;
std::map<std::string, std::unordered_map<std::string, uint64_t>> oldCpuLoadMap;
};
-
-
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_memoryload.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_memoryload.hpp
index 5b40f9baf50242127b2c96fcc28da1008c011249..b5ef50cb16edbd2e01ad77b9411ab0d38f8e17ec 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_memoryload.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_memoryload.hpp
@@ -8,20 +8,20 @@
*/
#pragma once
-#include <string>
#include <chrono>
+#include <string>
-class memoryLoad {
+class memoryLoad
+{
public:
explicit memoryLoad(std::string memInfo = "/proc/meminfo",
std::string memInfoOfProcess = "/proc/self/status",
- std::string memInfoOfProcessPrefix = "/proc/self/"):
- totalMemoryInKB(0),
- currentMemoryUsageInKB(0),
- memInfoFile(std::move(memInfo)),
- memInfoOfProcessFile(std::move(memInfoOfProcess)),
- memInfoOfProcessPrefixFile(std::move(memInfoOfProcessPrefix))
- {};
+ std::string memInfoOfProcessPrefix = "/proc/self/") :
+ totalMemoryInKB(0),
+ currentMemoryUsageInKB(0),
+ memInfoFile(std::move(memInfo)),
+ memInfoOfProcessFile(std::move(memInfoOfProcess)),
+ memInfoOfProcessPrefixFile(std::move(memInfoOfProcessPrefix)){};
/**
* @brief get total memory of the system in KB
* @return total memory in KB
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_networkload.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_networkload.hpp
index 95dcbde9b85a08cb5e4dac638a3eaf7606e0baaf..c4ed753c571223f8b97d921e704698abcb030aaa 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_networkload.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_networkload.hpp
@@ -9,28 +9,34 @@
#pragma once
+#include <chrono>
+#include <list>
#include <map>
#include <memory>
#include <string>
-#include <list>
-#include <vector>
-#include <chrono>
#include <unordered_map>
+#include <vector>
-
-class networkLoad {
+class networkLoad
+{
public:
- static std::list<std::string> scanNetworkDevices(const std::string& ethernetDataFile= "/proc/net/dev");
- static std::vector<std::shared_ptr<networkLoad>> createLinuxEthernetScanList(const std::string& ethernetDataFileName = "/proc/net/dev") {
+ static std::list<std::string>
+ scanNetworkDevices(const std::string& ethernetDataFile = "/proc/net/dev");
+
+ static std::vector<std::shared_ptr<networkLoad>>
+ createLinuxEthernetScanList(const std::string& ethernetDataFileName = "/proc/net/dev")
+ {
std::vector<std::shared_ptr<networkLoad>> v;
- for (const auto& elem: networkLoad::scanNetworkDevices(ethernetDataFileName)) {
- v.push_back(std::make_shared<networkLoad>(ethernetDataFileName,elem));
+ for (const auto& elem : networkLoad::scanNetworkDevices(ethernetDataFileName))
+ {
+ v.push_back(std::make_shared<networkLoad>(ethernetDataFileName, elem));
}
return v;
}
- explicit networkLoad(std::string ethernetDataFileName = "/proc/net/dev", std::string ethName = "eth0");
+ explicit networkLoad(std::string ethernetDataFileName = "/proc/net/dev",
+ std::string ethName = "eth0");
uint64_t getParamPerSecond(std::string designator);
uint64_t getParamSinceStartup(std::string designator);
@@ -42,9 +48,8 @@ public:
bool isDeviceUp() const;
std::string getDeviceName();
-
-
- enum networkParam {
+ enum networkParam
+ {
RXbytes = 0,
RXpackets,
RXerrs,
@@ -62,15 +67,16 @@ public:
TXcarrier,
TXcompressed
};
+
static std::string mapEnumToString(networkLoad::networkParam param);
-private:
+private:
std::string ethernetDataFile;
std::string ethDev;
bool isDeviceAvailable = false;
-
- class networkParser {
+ class networkParser
+ {
private:
std::chrono::system_clock::time_point currentTime;
std::chrono::system_clock::time_point timeBefore;
@@ -82,15 +88,14 @@ private:
static std::shared_ptr<networkParser> getNetworkParser();
networkParser();
void parse(const std::string& netFile = "/proc/net/dev");
- const std::unordered_map<std::string, uint64_t> &getEthObj(const std::string& ethDevice) const;
+ const std::unordered_map<std::string, uint64_t>&
+ getEthObj(const std::string& ethDevice) const;
std::list<std::string> getNetworkDevices(std::string netFile = "/proc/net/dev");
const std::chrono::system_clock::time_point getTimeStamp() const;
- const std::unordered_map<std::string, uint64_t> &getEthObjOld(const std::string& ethDevice) const;
+ const std::unordered_map<std::string, uint64_t>&
+ getEthObjOld(const std::string& ethDevice) const;
const std::chrono::system_clock::time_point getTimeBefore() const;
static std::shared_ptr<networkParser> inst;
};
-
-
};
-
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_process_load.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_process_load.hpp
index ab76f86ff23c9b47c402bc7797c7a6d72b99a640..9a0cd6ebfc3eb72963fd790c0d9930c7001237b7 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_process_load.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_process_load.hpp
@@ -15,7 +15,8 @@
#include <tuple>
#include <unordered_map>
-class linuxProcessLoad {
+class linuxProcessLoad
+{
public:
/**
@@ -26,7 +27,6 @@ public:
std::map<std::string, double> getProcessCpuLoad();
-
private:
void parseProcess(const std::string& pid);
void findProcesses();
@@ -34,8 +34,6 @@ private:
std::map<std::string, double> procCPUUsage;
std::tuple<uint64_t, uint64_t, uint64_t, uint64_t> oldCpuTimes;
std::tuple<uint64_t, uint64_t, uint64_t, uint64_t> CpuTimes;
- std::map<std::string,std::unordered_map<std::string, std::string>> processStat;
- std::map<std::string,std::unordered_map<std::string, std::string>> oldProcessStat;
+ std::map<std::string, std::unordered_map<std::string, std::string>> processStat;
+ std::map<std::string, std::unordered_map<std::string, std::string>> oldProcessStat;
};
-
-
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_systemutil.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_systemutil.hpp
index fe2c1a2e710134735c057b0e69ba24c7927f102b..e70cc7c679e7a92ef5ab8dcac132b851c3706c57 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_systemutil.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/linux_systemutil.hpp
@@ -11,12 +11,10 @@
#include <iostream>
#include <string>
-
-
-class linuxUtil {
+class linuxUtil
+{
public:
-
static bool isDeviceOnline(std::string address);
static std::string getOSVersion_Signature(void);
static std::string getOsVersionString(void);
@@ -25,10 +23,9 @@ public:
static int getProcIdByName(const std::string& procName);
static bool startAppAsDaemon();
static uint64_t userAvailableFreeSpace();
- static int64_t getTemperature(const std::string& thermalZone= "thermal_zone0");
+ static int64_t getTemperature(const std::string& thermalZone = "thermal_zone0");
static uint64_t getFreeDiskSpace(std::string absoluteFilePath);
static uint64_t getSysUpTime();
static uint32_t getNumOfThreadsByThisProcess();
static uint32_t getNumOfThreadsByPID(int Pid);
};
-
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/ip_iterator.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/ip_iterator.hpp
index b095e561e680961ae1c98f6ef2e7cf0d54203e0a..fc1fb6180bbdfebbb3806e037df50577841caca6 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/ip_iterator.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/ip_iterator.hpp
@@ -10,50 +10,59 @@
#include <algorithm>
-
-class ipv4_Range {
+class ipv4_Range
+{
public:
- class ipv4_Address {
+ class ipv4_Address
+ {
public:
-
- ipv4_Address() {
-
+ ipv4_Address()
+ {
}
ipv4_Address(uint8_t p1, uint8_t p2, uint8_t p3, uint8_t p4) :
- ipv4_part1(p1), ipv4_part2(p2), ipv4_part3(p3), ipv4_part4(p4) {
+ ipv4_part1(p1), ipv4_part2(p2), ipv4_part3(p3), ipv4_part4(p4)
+ {
convertU8toU32();
}
- std::string toString() const {
+ std::string
+ toString() const
+ {
return std::to_string(static_cast<int>(ipv4_part1)) + "." +
std::to_string(static_cast<int>(ipv4_part2)) + "." +
std::to_string(static_cast<int>(ipv4_part3)) + "." +
std::to_string(static_cast<int>(ipv4_part4));
}
- bool operator==(const ipv4_Address &rhs) const {
+ bool
+ operator==(const ipv4_Address& rhs) const
+ {
return ipv4 == rhs.ipv4;
}
- bool operator>(const ipv4_Address &rhs) const {
+ bool
+ operator>(const ipv4_Address& rhs) const
+ {
return ipv4 > rhs.ipv4;
}
- bool operator<(const ipv4_Address &rhs) const {
+ bool
+ operator<(const ipv4_Address& rhs) const
+ {
return ipv4 < rhs.ipv4;
}
- ipv4_Address operator=(ipv4_Address &adr) {
- ipv4_Address newAdr(adr.ipv4_part1,
- adr.ipv4_part2,
- adr.ipv4_part3,
- adr.ipv4_part4
- );
+ ipv4_Address
+ operator=(ipv4_Address& adr)
+ {
+ ipv4_Address newAdr(adr.ipv4_part1, adr.ipv4_part2, adr.ipv4_part3, adr.ipv4_part4);
return newAdr;
}
- ipv4_Address operator++(int) {
+ ipv4_Address
+ operator++(int)
+ {
ipv4_Address i = *this;
ipv4 += 1;
convertU32toU8();
@@ -67,72 +76,96 @@ public:
uint8_t ipv4_part4;
uint32_t ipv4;
- void convertU32toU8() {
+ void
+ convertU32toU8()
+ {
ipv4_part1 = static_cast<uint8_t>(ipv4 >> 24);
ipv4_part2 = static_cast<uint8_t>(ipv4 >> 16);
ipv4_part3 = static_cast<uint8_t>(ipv4 >> 8);
ipv4_part4 = static_cast<uint8_t>(ipv4);
-
}
- void convertU8toU32() {
+ void
+ convertU8toU32()
+ {
ipv4 = (static_cast<uint32_t>(ipv4_part1) << 24) +
(static_cast<uint32_t>(ipv4_part2) << 16) +
- (static_cast<uint32_t>(ipv4_part3) << 8) +
- static_cast<uint32_t>(ipv4_part4);
+ (static_cast<uint32_t>(ipv4_part3) << 8) + static_cast<uint32_t>(ipv4_part4);
}
-
};
-
- class iterator : public std::iterator<
- std::input_iterator_tag,
- ipv4_Address,
- ipv4_Address,
- const ipv4_Address *,
- ipv4_Address> {
+ class iterator :
+ public std::iterator<std::input_iterator_tag,
+ ipv4_Address,
+ ipv4_Address,
+ const ipv4_Address*,
+ ipv4_Address>
+ {
ipv4_Address start;
+
public:
- explicit iterator(ipv4_Address startAdr) : start(startAdr) {}
+ explicit iterator(ipv4_Address startAdr) : start(startAdr)
+ {
+ }
- iterator &operator++() {
+ iterator&
+ operator++()
+ {
start++;
return *this;
}
- bool operator!=(iterator other) const {
+ bool
+ operator!=(iterator other) const
+ {
return !(start == other.start);
}
- bool operator==(iterator other) const {
+ bool
+ operator==(iterator other) const
+ {
return start == other.start;
}
- reference operator*() const { return start; }
+ reference
+ operator*() const
+ {
+ return start;
+ }
};
-
- ipv4_Range(ipv4_Address start, ipv4_Address end) : startAddress(start), endAddress(end) {
+ ipv4_Range(ipv4_Address start, ipv4_Address end) : startAddress(start), endAddress(end)
+ {
validate();
}
- iterator begin() {
+ iterator
+ begin()
+ {
return iterator(startAddress);
}
- iterator end() {
+ iterator
+ end()
+ {
return iterator(endAddress++);
}
private:
- void validate() {
- if (startAddress == endAddress) {
+ void
+ validate()
+ {
+ if (startAddress == endAddress)
+ {
throw std::invalid_argument("start and end are equal");
}
- if (startAddress > endAddress) {
+ if (startAddress > endAddress)
+ {
// ok
- } else {
+ }
+ else
+ {
// switch
ipv4_Address temp = startAddress;
startAddress = endAddress;
@@ -140,9 +173,6 @@ private:
}
}
-
ipv4_Address startAddress;
ipv4_Address endAddress;
-
-
};
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/record_value.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/record_value.hpp
index 6612be090af1f479eaa102ebbb3c4843f90875c6..128a5a691afb4104e86f781f59c64853679c935e 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/record_value.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/record_value.hpp
@@ -8,31 +8,34 @@
*/
#pragma once
-#include <chrono>
-#include <vector>
#include <algorithm>
-#include <numeric>
+#include <chrono>
#include <iostream>
+#include <numeric>
+#include <vector>
-
-template<typename T>
-class recordValue {
+template <typename T>
+class recordValue
+{
public:
- recordValue(std::chrono::system_clock::duration observTime, std::chrono::system_clock::duration upDateTime)
- : stepSize(
- static_cast<uint64_t>(observTime / upDateTime)), firstTime(true) {
- if(stepSize == 0) {
- throw std::runtime_error("stepsize is 0 -- not allowed: observTime: "
- + std::to_string(observTime.count())
- + " upDateTime: "
- + std::to_string(upDateTime.count()));
+ recordValue(std::chrono::system_clock::duration observTime,
+ std::chrono::system_clock::duration upDateTime) :
+ stepSize(static_cast<uint64_t>(observTime / upDateTime)), firstTime(true)
+ {
+ if (stepSize == 0)
+ {
+ throw std::runtime_error(
+ "stepsize is 0 -- not allowed: observTime: " + std::to_string(observTime.count()) +
+ " upDateTime: " + std::to_string(upDateTime.count()));
}
this->recordContainer.resize(stepSize);
};
- explicit recordValue(uint64_t stepSize_) : stepSize(stepSize_), firstTime(true) {
- if(stepSize_ == 0) {
+ explicit recordValue(uint64_t stepSize_) : stepSize(stepSize_), firstTime(true)
+ {
+ if (stepSize_ == 0)
+ {
throw std::runtime_error("stepsize is 0 -- not allowed!");
}
this->recordContainer.resize(stepSize);
@@ -40,41 +43,53 @@ public:
recordValue() = delete;
- void addRecord(const T &rec) {
+ void
+ addRecord(const T& rec)
+ {
this->recordContainer.push_back(rec);
- if (this->firstTime) {
+ if (this->firstTime)
+ {
std::fill(this->recordContainer.begin(), this->recordContainer.end(), rec);
this->firstTime = false;
}
- if (this->recordContainer.size() >= this->stepSize) {
+ if (this->recordContainer.size() >= this->stepSize)
+ {
this->recordContainer.erase(this->recordContainer.begin());
}
}
- T getMinRecord() const {
- return static_cast<T>(*std::min_element(this->recordContainer.begin(), this->recordContainer.end()));
+ T
+ getMinRecord() const
+ {
+ return static_cast<T>(
+ *std::min_element(this->recordContainer.begin(), this->recordContainer.end()));
}
- T getMaxRecord() const {
- return static_cast<T>(*std::max_element(this->recordContainer.begin(), this->recordContainer.end()));
+ T
+ getMaxRecord() const
+ {
+ return static_cast<T>(
+ *std::max_element(this->recordContainer.begin(), this->recordContainer.end()));
}
- T getAverageRecord() const {
- return static_cast<T>(std::accumulate(this->recordContainer.begin(), this->recordContainer.end(), 0.0) /
- this->stepSize);
+ T
+ getAverageRecord() const
+ {
+ return static_cast<T>(
+ std::accumulate(this->recordContainer.begin(), this->recordContainer.end(), 0.0) /
+ this->stepSize);
}
- std::vector<T> getRecordContainer() const {
+ std::vector<T>
+ getRecordContainer() const
+ {
return recordContainer;
}
~recordValue() = default;
private:
-
std::vector<T> recordContainer;
uint64_t stepSize;
bool firstTime;
};
-
-
diff --git a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/timer.hpp b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/timer.hpp
index a7a276f0c01def6d62ce7c3f5af2911ed672c142..f3a1ec3310996bd49a8c7a84fa07f71c693e582a 100644
--- a/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/timer.hpp
+++ b/source/RobotAPI/libraries/armem_system_state/server/LightweightSystemMonitor/util/timer.hpp
@@ -8,24 +8,25 @@
*/
#pragma once
-#include <iostream>
+#include <atomic>
#include <chrono>
-#include <thread>
+#include <condition_variable>
#include <functional>
+#include <future>
+#include <iostream>
#include <mutex>
-#include <condition_variable>
-#include <atomic>
+#include <thread>
#include <tuple>
-#include <future>
#include <utility>
-enum timer_mode {
+enum timer_mode
+{
singleshot,
continuous
};
-
-class ITimerObserver {
+class ITimerObserver
+{
public:
virtual ~ITimerObserver() = default;
@@ -34,114 +35,141 @@ public:
using slot = std::function<void()>;
-class ITimerSubject {
+class ITimerSubject
+{
public:
virtual ~ITimerSubject() = default;
- virtual void Attach(ITimerObserver *observer, timer_mode mode, std::chrono::milliseconds ms) = 0;
+ virtual void
+ Attach(ITimerObserver* observer, timer_mode mode, std::chrono::milliseconds ms) = 0;
virtual void Attach(slot functionPtr, timer_mode mode, std::chrono::milliseconds ms) = 0;
- virtual void Detach(ITimerObserver *observer) = 0;
+ virtual void Detach(ITimerObserver* observer) = 0;
};
-class IObservable {
+class IObservable
+{
public:
- virtual ~IObservable() = default;
+ virtual ~IObservable() = default;
virtual void notify() = 0;
virtual bool toDestroy() = 0;
-
};
+class Timer : ITimerSubject
+{
-class Timer : ITimerSubject {
-
- class TimerObservable : public IObservable {
+ class TimerObservable : public IObservable
+ {
public:
- ~TimerObservable() override {
- };
-
- TimerObservable(ITimerObserver *observer, timer_mode mode, std::chrono::milliseconds ms) :
- timerMode(mode),
- m_observable(observer),
- interval(ms),
- isFinish(false) {
+ ~TimerObservable() override{};
+
+ TimerObservable(ITimerObserver* observer, timer_mode mode, std::chrono::milliseconds ms) :
+ timerMode(mode), m_observable(observer), interval(ms), isFinish(false)
+ {
this->nextExecution = std::chrono::system_clock::now() + ms;
}
-
- void notify() override {
- if (std::chrono::system_clock::now() >= this->nextExecution) {
- this->isFinished = std::async(std::launch::async, [this] {
- if (this->m_observable != nullptr) {
- this->m_observable->Update();
- }
- });
- if (this->timerMode == continuous) {
+ void
+ notify() override
+ {
+ if (std::chrono::system_clock::now() >= this->nextExecution)
+ {
+ this->isFinished = std::async(std::launch::async,
+ [this]
+ {
+ if (this->m_observable != nullptr)
+ {
+ this->m_observable->Update();
+ }
+ });
+ if (this->timerMode == continuous)
+ {
this->nextExecution = std::chrono::system_clock::now() + interval;
- } else {
+ }
+ else
+ {
// destroy object
this->isFinish = true;
}
}
}
- bool toDestroy() override {
+ bool
+ toDestroy() override
+ {
return isFinish && this->timerMode == singleshot;
}
private:
timer_mode timerMode;
- ITimerObserver *m_observable;
+ ITimerObserver* m_observable;
std::chrono::milliseconds interval;
std::chrono::time_point<std::chrono::system_clock> nextExecution;
std::future<void> isFinished;
bool isFinish;
};
- class SlotObservable : public IObservable {
+ class SlotObservable : public IObservable
+ {
public:
- ~SlotObservable() override {
+ ~SlotObservable() override
+ {
}
SlotObservable(slot fPointer, timer_mode mode, std::chrono::milliseconds ms) :
- timerMode(mode),
- interval(ms),
- functionPointer(std::move(fPointer)),
- isFinish(false) {
+ timerMode(mode), interval(ms), functionPointer(std::move(fPointer)), isFinish(false)
+ {
this->nextExecution = std::chrono::system_clock::now() + ms;
}
- void notify() override {
- if (std::chrono::system_clock::now() >= this->nextExecution) {
+ void
+ notify() override
+ {
+ if (std::chrono::system_clock::now() >= this->nextExecution)
+ {
//this->isFinished = this->promise.get_future();
- auto p = std::async(std::launch::async, [this] {
- try {
- if (this->functionPointer != nullptr) {
- this->functionPointer();
- this->promise.set_value(true);
- }
- this->promise.set_value(false);
- } catch(std::future_error &e) {
- std::cout << "future already satisfied" << e.what() << std::endl;
- }
- });
- if (this->timerMode == continuous) {
+ auto p = std::async(std::launch::async,
+ [this]
+ {
+ try
+ {
+ if (this->functionPointer != nullptr)
+ {
+ this->functionPointer();
+ this->promise.set_value(true);
+ }
+ this->promise.set_value(false);
+ }
+ catch (std::future_error& e)
+ {
+ std::cout << "future already satisfied" << e.what()
+ << std::endl;
+ }
+ });
+ if (this->timerMode == continuous)
+ {
this->nextExecution = std::chrono::system_clock::now() + interval;
- } else {
+ }
+ else
+ {
// destroy object
this->isFinish = true;
}
}
}
- bool toDestroy() override {
+ bool
+ toDestroy() override
+ {
return isFinish && this->timerMode == singleshot;
}
- std::future<bool>& getFut() {
+ std::future<bool>&
+ getFut()
+ {
return this->isFinished;
}
@@ -153,41 +181,52 @@ class Timer : ITimerSubject {
std::promise<bool> promise;
slot functionPointer;
bool isFinish;
-
};
- class FutureObservable : public IObservable {
+ class FutureObservable : public IObservable
+ {
public:
- ~FutureObservable() override {
+ ~FutureObservable() override
+ {
}
- FutureObservable(slot fPointer, std::shared_future<bool> sfuture) : sfut(std::move(sfuture)),
- functionPointer(std::move(fPointer)),
- isFinish(false) {
+ FutureObservable(slot fPointer, std::shared_future<bool> sfuture) :
+ sfut(std::move(sfuture)), functionPointer(std::move(fPointer)), isFinish(false)
+ {
}
- void notify() override {
- if (this->sfut.valid()) {
- if(this->sfut.get()) {
+ void
+ notify() override
+ {
+ if (this->sfut.valid())
+ {
+ if (this->sfut.get())
+ {
this->isFinished = this->isFinishedPromise.get_future();
- auto promise = std::async(std::launch::async, [this] {
- if (this->functionPointer != nullptr) {
- this->functionPointer();
- this->isFinish = true;
- this->isFinishedPromise.set_value(true);
- }
- this->isFinishedPromise.set_value(false);
- });
+ auto promise = std::async(std::launch::async,
+ [this]
+ {
+ if (this->functionPointer != nullptr)
+ {
+ this->functionPointer();
+ this->isFinish = true;
+ this->isFinishedPromise.set_value(true);
+ }
+ this->isFinishedPromise.set_value(false);
+ });
}
}
-
}
- bool toDestroy() override {
+ bool
+ toDestroy() override
+ {
return this->isFinish;
}
- std::future<bool>& getFut() {
+ std::future<bool>&
+ getFut()
+ {
return this->isFinished;
}
@@ -201,104 +240,139 @@ class Timer : ITimerSubject {
public:
-
-
- static std::shared_ptr<Timer> createTimer() {
- if (instance == nullptr) {
+ static std::shared_ptr<Timer>
+ createTimer()
+ {
+ if (instance == nullptr)
+ {
instance = std::make_shared<Timer>();
}
return instance;
}
- static std::future<bool>& singleShot(const slot &functionPointer, std::chrono::milliseconds ms) {
+ static std::future<bool>&
+ singleShot(const slot& functionPointer, std::chrono::milliseconds ms)
+ {
return Timer::createTimer()->AttachSingleshot(functionPointer, ms);
}
- static void periodicShot(slot functionPointer, std::chrono::milliseconds ms) {
+ static void
+ periodicShot(slot functionPointer, std::chrono::milliseconds ms)
+ {
Timer::createTimer()->Attach(std::move(functionPointer), continuous, ms);
}
- static std::future<bool>& futureWatch(const slot &functionPointer, const std::shared_future<bool>& fut) {
+ static std::future<bool>&
+ futureWatch(const slot& functionPointer, const std::shared_future<bool>& fut)
+ {
return Timer::createTimer()->AttachFutureWatcher(functionPointer, fut);
}
- ~Timer() override {
- for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++) {
+ ~Timer() override
+ {
+ for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++)
+ {
this->v_observables.erase(it--);
}
this->b_isRunning = false;
}
- static void stop() {
+ static void
+ stop()
+ {
Timer::instance->b_isRunning = false;
}
- static bool isRunning() {
+ static bool
+ isRunning()
+ {
return Timer::instance->b_isRunning;
}
- void start() {
- if (!b_isRunning) {
+ void
+ start()
+ {
+ if (!b_isRunning)
+ {
b_isRunning = true;
this->wait_thread->detach();
}
}
- void Attach(ITimerObserver *observer, timer_mode mode, std::chrono::milliseconds ms) override {
+ void
+ Attach(ITimerObserver* observer, timer_mode mode, std::chrono::milliseconds ms) override
+ {
this->start();
- if (this->time > ms) {
+ if (this->time > ms)
+ {
this->time = ms;
}
this->v_observables.push_back(std::make_unique<TimerObservable>(observer, mode, ms));
}
-
- void Detach(ITimerObserver *observer) override {
- (void) observer;
+ void
+ Detach(ITimerObserver* observer) override
+ {
+ (void)observer;
}
- explicit Timer() {
+ explicit Timer()
+ {
this->wait_thread = std::make_unique<std::thread>(&Timer::dispatcher, this);
this->time = std::chrono::milliseconds(1000);
}
private:
- std::future<bool>& AttachFutureWatcher(const slot &functionPointer, const std::shared_future<bool>& sfut) {
+ std::future<bool>&
+ AttachFutureWatcher(const slot& functionPointer, const std::shared_future<bool>& sfut)
+ {
this->start();
auto o = std::make_unique<FutureObservable>(functionPointer, sfut);
- std::future<bool> &fut{o->getFut()};
+ std::future<bool>& fut{o->getFut()};
this->v_observables.push_back(std::move(o));
return fut;
}
- std::future<bool>& AttachSingleshot(const slot &functionPointer, std::chrono::milliseconds ms) {
+ std::future<bool>&
+ AttachSingleshot(const slot& functionPointer, std::chrono::milliseconds ms)
+ {
this->start();
- if (this->time > ms) {
+ if (this->time > ms)
+ {
this->time = ms;
}
auto o = std::make_unique<SlotObservable>(functionPointer, singleshot, ms);
- auto &fut = o->getFut();
+ auto& fut = o->getFut();
this->v_observables.push_back(std::move(o));
return fut;
}
- void Attach(slot functionPointer, timer_mode mode, std::chrono::milliseconds ms) override {
+ void
+ Attach(slot functionPointer, timer_mode mode, std::chrono::milliseconds ms) override
+ {
this->start();
- if (this->time > ms) {
+ if (this->time > ms)
+ {
this->time = ms;
}
this->v_observables.push_back(std::make_unique<SlotObservable>(functionPointer, mode, ms));
}
- void dispatcher() {
- do {
+ void
+ dispatcher()
+ {
+ do
+ {
std::unique_lock<std::mutex> lck{mtx};
- for (int i{10}; i > 0 && b_isRunning; --i) {
+ for (int i{10}; i > 0 && b_isRunning; --i)
+ {
cv.wait_for(lck, time / 10);
- for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++) {
+ for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++)
+ {
(*it)->notify();
- if ((*it)->toDestroy()) {
+ if ((*it)->toDestroy())
+ {
(*it).reset(nullptr);
this->v_observables.erase(it--);
}
@@ -307,10 +381,10 @@ private:
} while (this->b_isRunning);
- for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++) {
+ for (auto it = this->v_observables.begin(); it != this->v_observables.end(); it++)
+ {
this->v_observables.erase(it--);
}
-
}
std::mutex mtx;
@@ -322,5 +396,4 @@ private:
std::chrono::milliseconds time{};
static std::shared_ptr<Timer> instance;
-
};
\ No newline at end of file