Merge branch 'master' into StatechartCodeGenerator

etc/doxygen/pages/API-RobotAPI.dox

+/**
+
+  \defgroup api-robotapi RobotAPI
+
+*/

etc/doxygen/pages/RobotAPI-API-1-overview.dox

+ /*!
+ * \defgroup robotapi-overview Overview
+ * \ingroup api-robotapi
+ *
+ * The ArmarX project RobotAPI is based on the ArmarXCore Framework.
+ * 
+ * \par Components
+ * RobotAPI provides the following components
+ * - armarx::ComponentX: ComponentX description
+ * 
+ * Each component can provide several properties which are set on command line or via a configuration file.
+ * See \ref componentproperties for an overview of properties.
+ * 
+ * \par Applications
+ * - armarx::ApplicationY: Description of ApplicationY
+ *
+ * \par interface Interface Documentation
+ * Documentation of interfaces available in ArmarXCore is available on the \ref slicedocumentation "Slice Documentation" page.
+ */

etc/doxygen/pages/RobotAPI-API-2-units.dox

+/**
+  \defgroup SensorActorUnits Sensor-Actor Units
+  \ingroup api-robotapi
+
+  Sensor-Actor units
+
+  @li provide resource management (e.g. exclusive access) @see KinematicUnit
+  @li receive control data through Ice remote procedure calls (e.g. setTargetJointAngles(...)) @see KinematicUnit
+  @li publish sensor data through Ice topics @see KinematicUnitListener
+ */
+
+*/

etc/doxygen/pages/RobotAPI-API-3-states.dox

+/**
+
+  \defgroup robotapi-states States
+  \ingroup api-robotapi
+
+*/

etc/doxygen/pages/remoterobot.dox → etc/doxygen/pages/RobotAPI-API-4-remoterobot.dox

 /**
-\page remoterobot Robot State and Remote Robot
+\defgroup remoterobot Robot State and Remote Robot
+\ingroup api-robotapi
 
 \section remoterobot-start Starting a RobotStateComponent
 

etc/doxygen/pages/mainpage.dox

 /*! \mainpage
- *
- * \section purpose Purpose
- *
- * HumanoidRobotAPI is based on the ArmarXCore Framework.
- * 
- * \section overview Overview
- * 
- * \par Components
- * HumanoidRobotAPI provides the following components
- * - armarx::ComponentX: ComponentX description
- * 
- * Each component can provide several properties which are set on command line or via a configuration file.
- * See \ref componentproperties for an overview of properties.
- * 
- * \par Applications
- * - armarx::ApplicationY: Description of ApplicationY
- *
- * \par interface Interface Documentation
- * Documentation of interfaces available in ArmarXCore is available on the \ref slicedocumentation "Slice Documentation" page.
+ 
+- \subpage robotapi-overview
+- \subpage remoterobot
+
  */

etc/doxygen/pages/motioncontrol.dox

+/**
+    \defgroup MotionControl ArmarX MotionControl
+    \ingroup robotapi-states
+    
+    \section Overview Overview of the implemented functionality in MotionControl
+    All functionality is implemented with State to provide a convenient interface
+    for the non-instant move functions (States receive events when desired targets
+    are reached).<br/>
+    The following functionality is available in the MotionControl:
+    - Direct kinematics: move joints to a desired configuration (armarx::MotionControl::MoveJoints)
+    - Velocity control: set the desired velocities for joints (armarx::MotionControl::MoveJointsVelocityControl)
+    - Inverse kinematics: move the TCP of a kinematic chain to a desired pose (armarx::MotionControl::MoveTCPPoseIK)
+    - Trajectory: move the TCP of a kinematic chain along a trajectory defined by a list of poses (armarx::MotionControl::MoveTCPTrajectory)
+    - Stop: stop all motion of the robot (armarx::MotionControl::StopRobot)
+
+    \section HowTo How to use the states
+    To use one of the MotionControl states, you have to make it a substate of your own state (see ArmarXCore::Statechart). To set its parameters,
+    map them from you own state to it. The standard configuration is set in file ${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml.
+
+    Two kinds of kinematic entities are controlled using the MotionControl: single joints and kinematic chains. A kinematic chain is a list of joints
+    that usually belong to a part of the robot, e.g. an arm. The joints and the kinematic chains are all defined in the xml files that describe the
+    kinematic model of the robot (e.g. ${ArmarX_Home/data/ArmarIV/RobotModel/ArmarIV.xml and the files for the subparts). Look in these files to find out the name of
+    the joint or kinematic chain you want to move.
+
+    \subsection UsingMoveJoints Using armarx::MotionControl::MoveJoints
+    This state moves the specified joints to the desired configuration.
+    Input parameters:
+    - jointNames: the names of the joints to be moved
+    - targetJointValues: the desired joint values
+    - targetTolerance: tolerance defining how precisely the joint position has to be reached
+    - timeoutInMs: a timeout after which the attempt to move is aborted
+    Output parameters:
+    - jointDistancesToTargets: the distance of each joint to the desired configuration
+
+    \subsection UsingMoveJointsVelocityControl Using armarx::MotionControl::MoveJointsVelocityControl
+    This state moves the specified joints with the desired velocity.
+    Input parameters:
+    - jointNames: the names of the joints to be moved
+    - targetJointVelocities: the desired joint velocities
+    - targetJointVelocityTolerance: tolerance defining how precisely the joint velocity has to be reached
+    - timeoutInMs: a timeout after which the attempt is aborted
+    Output parameters:
+    - jointVelocitiesDistancesToTargets: the difference between the desired and actual joint velocities
+
+    \subsection UsingMoveTCPPoseIK Using armarx::MotionControl::MoveTCPPoseIK
+    Moves the TCP of the specified kinematic chain to the desired pose if possible.
+    Input parameters:
+    - kinematicChainName: the name of the kinematic chain that is used
+    - targetTCPPosition: the target position for the TCP
+    - targetTCPOrientation: the target orientation
+    - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull
+    - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull
+    - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered.
+    - timeoutInMs: a timeout after which the motion is aborted
+    Output parameters:
+    - TCPDistanceToTarget: kartesian distance between TCP and target position
+    - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
+
+    \subsection UsingMoveTCPTrajectory Using armarx::MotionControl::MoveTCPTrajectory
+    Moves the TCP of the specified kinematic chain along the defined poses.
+    Input parameters:
+    - kinematicChainName: the name of the kinematic chain that is used
+    - targetTCPPositions: the list of target positions for the TCP
+    - targetTCPOrientations: the list of target orientations
+    - targetPositionDistanceTolerance: tolerance for the position to decide if the motion was successfull
+    - targetOrientationDistanceTolerance: tolerance for the orientation to decide if the motion was successfull
+    - ikWithOrientation: Consider orientation for IK computation. if false, the rotation of the TCP is not considered.
+    - timeoutInMs: a timeout after which the motion is aborted
+    Output parameters:
+    - TCPDistanceToTarget: kartesian distance between TCP and target position
+    - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
+
+    \subsection UsingStopRobot Using armarx::MotionControl::StopRobot
+    Stops all motion of the robot. No parameters.
+
+*/

etc/doxygen/pages/slicedocumentation.dox

 /**
- \page slicedocumentation HumanoidRobotAPI: Slice Documentation
+ \page robotapi-slicedocumentation Slice Documentation
+ \ingroup api-robotapi
  <a href="slice/index.html"> Slice Documentation </a>
 */

scenarios/CMakeLists.txt

 
 add_subdirectory(WeissHapticSensorsUnitTest)
-
-add_subdirectory(statecharttestscenario)
\ No newline at end of file
+add_subdirectory(MotionControlTest)
+add_subdirectory(statecharttestscenario)

scenarios/MotionControlTest/CMakeLists.txt

+# Add your components below as shown in the following example:
+
+set(SCENARIO_COMPONENTS
+    KinematicUnitSimulation
+    KinematicUnitObserver
+    SystemObserver
+    ConditionHandler
+    RobotStateComponent
+    RobotControl
+    MotionControlTest
+    )
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario("MotionControlTest" "${SCENARIO_COMPONENTS}" "./configs/Global.cfg")
+
+#set(SCENARIO_CONFIGS
+#    config/ComponentName.optionalString.cfg
+#    )
+# optional 3rd parameter: "path/to/global/config.cfg"
+#armarx_scenario_from_configs("statecharttestscenario" "${SCENARIO_CONFIGS}")

scenarios/MovePlatformToLandmarkTest/configs/ConditionHandler.cfg → scenarios/MotionControlTest/config/KinematicUnitObserver.cfg

@@ -4,10 +4,10 @@
 
 # ArmarX.CachePath:  Path for cache files
 #  Attributes:
-#  - Default:            .cache
+#  - Default:            ${HOME}/.armarx/mongo/.cache
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.CachePath = .cache
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
 
 
 # ArmarX.DataPath:  Semicolon-separated search list for data files
@@ -53,40 +53,38 @@
 
 
 # ==================================================================
-# ArmarX.ConditionHandler properties
+# ArmarX.KinematicUnitObserver properties
 # ==================================================================
 
-# ArmarX.ConditionHandler.HistoryLength:  Length of condition history kept by the conditionhandler
+# ArmarX.KinematicUnitObserver.RobotFileName:  Robot file name, e.g. robot_model.xml
 #  Attributes:
-#  - Default:            1000
 #  - Case sensitivity:   no
-#  - Required:           no
-# ArmarX.ConditionHandler.HistoryLength = 1000
+#  - Required:           yes
+ArmarX.KinematicUnitObserver.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
 
 
-# ArmarX.ConditionHandler.Observers:  Comma seperated observer list
+# ArmarX.KinematicUnitObserver.RobotNodeSetName:  Robot node name
 #  Attributes:
-#  - Default:            ""
 #  - Case sensitivity:   no
-#  - Required:           no
-# ArmarX.ConditionHandler.Observers = ""
+#  - Required:           yes
+ArmarX.KinematicUnitObserver.RobotNodeSetName = Robot
 
 
-# ArmarX.ConditionHandler.MinimumLoggingLevel:  Local logging level only for this component
+# ArmarX.KinematicUnitObserver.MinimumLoggingLevel:  Local logging level only for this component
 #  Attributes:
 #  - Default:            Undefined
 #  - Case sensitivity:   no
 #  - Required:           no
 #  - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
+# ArmarX.KinematicUnitObserver.MinimumLoggingLevel = Undefined
 
 
-# ArmarX.ConditionHandler.ObjectName:  Name of IceGrid well-known object
+# ArmarX.KinematicUnitObserver.ObjectName:  Name of IceGrid well-known object
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.ConditionHandler.ObjectName = ""
+ArmarX.KinematicUnitObserver.ObjectName = Armar4Observer
 
 
 

scenarios/MovePlatformTest/configs/ConditionHandler.cfg → scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg

@@ -4,10 +4,10 @@
 
 # ArmarX.CachePath:  Path for cache files
 #  Attributes:
-#  - Default:            .cache
+#  - Default:            ${HOME}/.armarx/mongo/.cache
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.CachePath = .cache
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
 
 
 # ArmarX.DataPath:  Semicolon-separated search list for data files
@@ -53,40 +53,46 @@
 
 
 # ==================================================================
-# ArmarX.ConditionHandler properties
+# ArmarX.KinematicUnitSimulation properties
 # ==================================================================
 
-# ArmarX.ConditionHandler.HistoryLength:  Length of condition history kept by the conditionhandler
+# ArmarX.KinematicUnitSimulation.IntervalMs:  The time in milliseconds between two calls to the simulation method.
 #  Attributes:
-#  - Default:            1000
+#  - Default:            10
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.ConditionHandler.HistoryLength = 1000
+# ArmarX.KinematicUnitSimulation.IntervalMs = 10
 
 
-# ArmarX.ConditionHandler.Observers:  Comma seperated observer list
+# ArmarX.KinematicUnitSimulation.RobotFileName:  Robot file name, e.g. robot_model.xml
 #  Attributes:
-#  - Default:            ""
 #  - Case sensitivity:   no
-#  - Required:           no
-# ArmarX.ConditionHandler.Observers = ""
+#  - Required:           yes
+ArmarX.KinematicUnitSimulation.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+
+
+# ArmarX.KinematicUnitSimulation.RobotNodeSetName:  Robot node name
+#  Attributes:
+#  - Case sensitivity:   no
+#  - Required:           yes
+ArmarX.KinematicUnitSimulation.RobotNodeSetName = Robot
 
 
-# ArmarX.ConditionHandler.MinimumLoggingLevel:  Local logging level only for this component
+# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel:  Local logging level only for this component
 #  Attributes:
 #  - Default:            Undefined
 #  - Case sensitivity:   no
 #  - Required:           no
 #  - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
+# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel = Undefined
 
 
-# ArmarX.ConditionHandler.ObjectName:  Name of IceGrid well-known object
+# ArmarX.KinematicUnitSimulation.ObjectName:  Name of IceGrid well-known object
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.ConditionHandler.ObjectName = ""
+ArmarX.KinematicUnitSimulation.ObjectName = Armar4KinematicUnit