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Commit 50f2953c authored by Fabian Reister's avatar Fabian Reister
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running clang-format-17 on codebase (ice)

parent 69647396
Branches fix/cartographer-no-slam-results
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1 merge request!74running clang-format-17 on codebase
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source/RobotComponents/interface/GazeStabilizationInterface.ice 100755 → 100644
+ 5
− 5
View file @ 50f2953c
......@@ -22,22 +22,22 @@
#pragma once
#include <RobotAPI/interface/units/HeadIKUnit.ice>
#include <RobotAPI/interface/units/InertialMeasurementUnit.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
#include <RobotAPI/interface/units/HeadIKUnit.ice>
#include <VisionX/interface/components/OpticalFlowInterface.ice>
#include <VisionX/interface/components/TrackingErrorInterface.ice>
module armarx
{
interface GazeStabilizationInterface extends KinematicUnitListener, InertialMeasurementUnitListener, PlatformUnitListener, HeadIKUnitListener, OpticalFlowListener, TrackingErrorListener
interface GazeStabilizationInterface extends KinematicUnitListener,
InertialMeasurementUnitListener, PlatformUnitListener, HeadIKUnitListener,
OpticalFlowListener, TrackingErrorListener
{
void updateWeights(float vor, float okr, float jointIK);
void setReafferenceMethod(bool isReafference);
};
};
source/RobotComponents/interface/OptokineticReflexInterface.ice 100755 → 100644
+ 1
− 4
View file @ 50f2953c
......@@ -26,9 +26,6 @@ module armarx
{
interface OptokineticReflexListener
{
void reportNewOpticalFlow(float diffx, float diffy, float difft);
void reportNewOpticalFlow(float diffx, float diffy, float difft);
};
};
source/RobotComponents/interface/components/CollisionCheckerInterface.ice
+ 38
− 8
View file @ 50f2953c
......@@ -12,18 +12,36 @@ module armarx
Ice::StringSeq nodeNames2;
double warningDistance;
};
sequence<CollisionPair> CollisionPairList;
interface CollisionCheckerInterface extends memoryx::WorkingMemoryListenerInterface
{
void addCollisionPair(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2, double warningDistance);
void addCollisionPair(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2,
double warningDistance);
void removeCollisionPair(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2);
void removeCollisionPair(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2);
["cpp:const"] idempotent bool hasCollisionPair(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2);
["cpp:const"] idempotent bool hasCollisionPair(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2);
void setWarningDistance(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2, double warningDistance);
["cpp:const"] idempotent double getWarningDistance(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2);
void setWarningDistance(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2,
double warningDistance);
["cpp:const"] idempotent double getWarningDistance(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2);
["cpp:const"] idempotent CollisionPairList getAllCollisionPairs();
......@@ -32,11 +50,23 @@ module armarx
};
interface DistanceListener
{
void reportDistance(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2, double distance);
void reportDistance(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2,
double distance);
};
interface CollisionListener
{
void reportCollision(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2, double distance);
void reportCollisionWarning(string robotName1, Ice::StringSeq nodeNames1, string robotName2, Ice::StringSeq nodeNames2, double distance);
void reportCollision(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2,
double distance);
void reportCollisionWarning(string robotName1,
Ice::StringSeq nodeNames1,
string robotName2,
Ice::StringSeq nodeNames2,
double distance);
};
};
source/RobotComponents/interface/components/DMPComponentBase.ice 100755 → 100644
+ 61
− 38
View file @ 50f2953c
......@@ -22,16 +22,16 @@
#pragma once
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/core/UserException.ice>
//#include <MemoryX/interface/memorytypes/MemoryEntities.ice>
module armarx
{
struct cState{
struct cState
{
double pos;
double vel;
double acc;
......@@ -47,21 +47,24 @@ module armarx
sequence<Ice::DoubleSeq> Vec2D;
struct nStateValues{
struct nStateValues
{
Ice::DoubleSeq canonicalValues;
Vec2D nextState;
};
["cpp:virtual"]
class DMPInstanceBase
["cpp:virtual"] class DMPInstanceBase
{
Vec2D calcTrajectory(double startTime, double timestep, double endTime,
Vec2D calcTrajectory(double startTime,
double timestep,
double endTime,
Ice::DoubleSeq goal,
cStateVec currentStates,
Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException;
Ice::DoubleSeq canonicalValues,
double temporalFactor) throws InvalidArgumentException;
// DMP parameters setter
// DMP parameters setter
void setParameter(string paraId, Ice::DoubleSeq value) throws InvalidArgumentException;
void setGoal(Ice::DoubleSeq value) throws InvalidArgumentException;
void setStartPosition(Ice::DoubleSeq value) throws InvalidArgumentException;
......@@ -71,53 +74,74 @@ module armarx
void setCanonicalValues(Ice::DoubleSeq value) throws InvalidArgumentException;
void setTemporalFactor(double value);
// DMP parameters getter
double getAmpl(int dim);
// DMP parameters getter
double getAmpl(int dim);
double getForceTerm(Ice::DoubleSeq value, int dim);
double getTemporalFactor();
cStateVec getNextState(cStateVec states) throws InvalidArgumentException;
cStateVec getNextStateWithCurrentState();
cStateVec getCurrentState();
Ice::DoubleSeq getCanonicalValues();
double getDampingFactor();
double getDampingFactor();
double getSpringFactor();
string getDMPType();
string getDMPType();
int getDMPDim();
Ice::DoubleSeq getStartPosition();
// Trajectory analyzer
// Trajectory analyzer
Ice::DoubleSeq getTrajGoal();
cStateVec getTrajStartState();
void readTrajectoryFromFile(string file, double times);
// DMP tranining
void trainDMP();
// merge from DMPRefactoring
nStateValues calcNextState(double t, Ice::DoubleSeq goal, double currentT, Vec2D currentStates, Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException;
nStateValues calcNextStateFromConfig(double t, double currentT, Vec2D currentStates, Ice::DoubleSeq canonicalValues) throws InvalidArgumentException;
// nStateValues calcNextStateFromConfigGlobalTimestep(Vec2D currentStates, Ice::DoubleSeq canonicalValues) throws InvalidArgumentException;
Vec2D calcTrajectoryV2(Ice::DoubleSeq timestamps, Ice::DoubleSeq goal, Vec2D currentStates, Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException;
Vec2D calcTrajectoryFromConfig(Ice::DoubleSeq timestamps, Vec2D currentStates, Ice::DoubleSeq canonicalValues) throws InvalidArgumentException;
// void setTimeStamps(Ice::DoubleSeq value) throws InvalidArgumentException;
// DMP tranining
void trainDMP();
// merge from DMPRefactoring
nStateValues calcNextState(double t,
Ice::DoubleSeq goal,
double currentT,
Vec2D currentStates,
Ice::DoubleSeq canonicalValues,
double temporalFactor) throws InvalidArgumentException;
nStateValues calcNextStateFromConfig(
double t, double currentT, Vec2D currentStates, Ice::DoubleSeq canonicalValues)
throws InvalidArgumentException;
// nStateValues calcNextStateFromConfigGlobalTimestep(Vec2D currentStates, Ice::DoubleSeq canonicalValues) throws InvalidArgumentException;
Vec2D calcTrajectoryV2(Ice::DoubleSeq timestamps,
Ice::DoubleSeq goal,
Vec2D currentStates,
Ice::DoubleSeq canonicalValues,
double temporalFactor) throws InvalidArgumentException;
Vec2D calcTrajectoryFromConfig(
Ice::DoubleSeq timestamps, Vec2D currentStates, Ice::DoubleSeq canonicalValues)
throws InvalidArgumentException;
// void setTimeStamps(Ice::DoubleSeq value) throws InvalidArgumentException;
};
["cpp:virtual"]
class DMPComponentBase
["cpp:virtual"] class DMPComponentBase
{
DMPInstanceBase* getDMP(string dmpName);
DMPInstanceBase* instantiateDMP(string name, string dmptype, int kernelSize) throws InvalidArgumentException;
DMPInstanceBase* getDMPFromDatabase(string name, string entity) throws InvalidArgumentException;
DMPInstanceBase* instantiateDMP(string name, string dmptype, int kernelSize)
throws InvalidArgumentException;
DMPInstanceBase* getDMPFromDatabase(string name, string entity)
throws InvalidArgumentException;
DMPInstanceBase* getDMPFromDatabaseById(string dbId) throws InvalidArgumentException;
DMPInstanceBase* getDMPFromFile(string name, string dmpName) throws InvalidArgumentException;
DMPInstanceBase* getDMPFromFile(string name, string dmpName)
throws InvalidArgumentException;
void removeDMPFromDatabase(string dmpname);
void removeDMPFromDatabaseById(string dbId) throws InvalidArgumentException;
void storeDMPInDatabase(string name, string cname) throws InvalidArgumentException;
void storeDMPInFile(string fileName, string dmpName) throws InvalidArgumentException;
// convenient functions
Vec2D calcTrajectory(string name, double startTime, double timestep, double endTime, Ice::DoubleSeq goal, cStateVec currentStates, Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException;
// convenient functions
Vec2D calcTrajectory(string name,
double startTime,
double timestep,
double endTime,
Ice::DoubleSeq goal,
cStateVec currentStates,
Ice::DoubleSeq canonicalValues,
double temporalFactor) throws InvalidArgumentException;
void setDMPState(string name, cStateVec state) throws InvalidArgumentException;
void setGoal(string name, Ice::DoubleSeq value) throws InvalidArgumentException;
void setStartPosition(string name, Ice::DoubleSeq value) throws InvalidArgumentException;
......@@ -127,9 +151,9 @@ module armarx
void trainDMP(string name) throws InvalidArgumentException;
void readTrajectoryFromFile(string name, string file, double times);
double getForceTerm(string name, Ice::DoubleSeq value, int dim);
double getTemporalFactor(string name);
double getTemporalFactor(string name);
void setTemporalFactor(string name, double tau);
Ice::DoubleSeq getCanonicalValues(string name);
Ice::DoubleSeq getCanonicalValues(string name);
Ice::DoubleSeq getTrajGoal(string name);
cStateVec getTrajStartState(string name);
Ice::DoubleSeq getStartPosition(string name);
......@@ -140,12 +164,12 @@ module armarx
string getDMPType(string name);
int getDMPDim(string name);
// DMP manager
// DMP manager
SVector getDMPNameList();
void eraseDMP(string name);
bool isDMPExist(string name);
// time manager
// time manager
double getTimeStep();
void setTimeStep(double timestep);
double getCurrentTime();
......@@ -153,4 +177,3 @@ module armarx
void resetCanonicalValues();
};
};
source/RobotComponents/interface/components/FunctionApproximatorBase.ice 100755 → 100644
+ 3
− 6
View file @ 50f2953c
......@@ -22,17 +22,16 @@
#pragma once
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/core/UserException.ice>
module armarx
{
sequence<Ice::DoubleSeq > DVector2d;
sequence<Ice::DoubleSeq> DVector2d;
sequence<string> SVector;
["cpp:virtual"]
class FunctionApproximatorBase
["cpp:virtual"] class FunctionApproximatorBase
{
void initialize(string name, Ice::DoubleSeq factors);
void learn(string name, DVector2d x, DVector2d y);
......@@ -45,7 +44,5 @@ module armarx
void getFunctionApproximatorFromFile(string funcName, string name);
void getFunctionApproximatorsFromFile(SVector funcNames, string filename);
void saveFunctionApproximatorInFile(string funcName, string name);
};
};
source/RobotComponents/interface/components/GraspingManager/GraspGeneratorInterface.ice 100755 → 100644
+ 0
− 5
View file @ 50f2953c
......@@ -42,9 +42,4 @@ module armarx
GeneratedGraspList generateGrasps(string objectInstanceEntityId);
GeneratedGraspList generateGraspsByObjectName(string objectName);
};
};
source/RobotComponents/interface/components/GraspingManager/GraspSelectionCriterionInterface.ice 100755 → 100644
+ 3
− 7
View file @ 50f2953c
......@@ -22,12 +22,13 @@
#pragma once
#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotComponents/interface/components/GraspingManager/GraspGeneratorInterface.ice>
#include <RobotComponents/interface/components/GraspingManager/RobotPlacementInterface.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
module armarx
{
......@@ -39,9 +40,4 @@ module armarx
};
sequence<GraspSelectionCriterionInterface*> GraspSelectionCriterionInterfaceList;
};
source/RobotComponents/interface/components/GraspingManager/GraspSelectionManagerInterface.ice 100755 → 100644
+ 4
− 8
View file @ 50f2953c
......@@ -22,13 +22,14 @@
#pragma once
#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotComponents/interface/components/GraspingManager/GraspGeneratorInterface.ice>
#include <RobotComponents/interface/components/GraspingManager/GraspSelectionCriterionInterface.ice>
#include <RobotComponents/interface/components/GraspingManager/RobotPlacementInterface.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
module armarx
{
interface GraspSelectionManagerInterface
......@@ -36,12 +37,7 @@ module armarx
GeneratedGraspList filterGrasps(GeneratedGraspList grasps);
GraspingPlacementList filterPlacements(GraspingPlacementList placements);
void registerAsGraspSelectionCriterion(GraspSelectionCriterionInterface* criterion);
void registerAsGraspSelectionCriterion(GraspSelectionCriterionInterface * criterion);
GraspSelectionCriterionInterfaceList getRegisteredGraspSelectionCriteria();
};
};
source/RobotComponents/interface/components/GraspingManager/GraspingManagerInterface.ice 100755 → 100644
+ 18
− 22
View file @ 50f2953c
......@@ -22,31 +22,33 @@
#pragma once
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <RobotComponents/interface/components/GraspingManager/GraspGeneratorInterface.ice>
module armarx
{
// struct RobotConfigTrajectoryPoint
// {
// float timeStamp;
// NameValueMap jointConfig;
// };
// struct RobotConfigTrajectoryPoint
// {
// float timeStamp;
// NameValueMap jointConfig;
// };
// sequence<RobotConfigTrajectoryPoint> RobotConfigTrajectory;
// sequence<RobotConfigTrajectoryPoint> RobotConfigTrajectory;
// struct RobotPoseTrajectoryPoint
// {
// float timeStamp;
// FramedPoseBase robotPose;
// };
// struct RobotPoseTrajectoryPoint
// {
// float timeStamp;
// FramedPoseBase robotPose;
// };
// sequence<RobotPoseTrajectoryPoint> RobotPoseTrajectory;
// sequence<RobotPoseTrajectoryPoint> RobotPoseTrajectory;
struct GraspingTrajectory
{
......@@ -68,8 +70,6 @@ module armarx
GeneratedGrasp grasp;
};
sequence<GraspingTrajectory> GraspingTrajectoryList;
sequence<MotionPlanningData> MotionPlanningDataList;
......@@ -78,16 +78,12 @@ module armarx
// full pipeline menthods
GraspingTrajectory generateGraspingTrajectory(string objectInstanceEntityId);
GraspingTrajectoryList generateGraspingTrajectoryList(string objectInstanceEntityId);
GraspingTrajectoryList generateGraspingTrajectoryListForGraspList(GeneratedGraspList grasps);
GraspingTrajectoryList generateGraspingTrajectoryListForGraspList(
GeneratedGraspList grasps);
MotionPlanningDataList generateIKs(string objectInstanceEntityId);
void visualizeGraspingTrajectory(GraspingTrajectory trajectory, float visuSlowdownFactor);
// single step methods
GeneratedGraspList generateGraspsByObjectName(string objectName);
};
};
source/RobotComponents/interface/components/GraspingManager/RobotPlacementInterface.ice
+ 6
− 6
View file @ 50f2953c
......@@ -23,6 +23,7 @@
#pragma once
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotComponents/interface/components/GraspingManager/GraspGeneratorInterface.ice>
module armarx
......@@ -45,11 +46,10 @@ module armarx
GraspingPlacementList generateRobotPlacements(GeneratedGraspList grasps);
GraspingPlacementList generateRobotPlacementsEx(GeneratedGraspList grasps);
GraspingPlacementList generateRobotPlacementsForGraspPose(string endEffectorName, FramedPoseBase target, PlanarObstacleList planarObstacles, ConvexHull placementArea);
GraspingPlacementList generateRobotPlacementsForGraspPose(
string endEffectorName,
FramedPoseBase target,
PlanarObstacleList planarObstacles,
ConvexHull placementArea);
};
};
source/RobotComponents/interface/components/LaserScannerFeatureExtraction/LaserScannerFeatureExtraction.ice
+ 3
− 3
View file @ 50f2953c
......@@ -22,11 +22,11 @@
#pragma once
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
#include <RobotAPI/interface/units/LaserScannerUnit.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
#include <RobotAPI/interface/units/LaserScannerUnit.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
module armarx
{
......
source/RobotComponents/interface/components/LaserScannerSelfLocalisation.ice 100755 → 100644
+ 6
− 6
View file @ 50f2953c
......@@ -22,11 +22,11 @@
#pragma once
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
#include <RobotAPI/interface/units/LaserScannerUnit.ice>
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
#include <RobotAPI/interface/units/LaserScannerUnit.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
module armarx
{
......@@ -35,9 +35,11 @@ module armarx
Vector2f start;
Vector2f end;
};
sequence<LineSegment2D> LineSegment2DSeq;
interface LaserScannerSelfLocalisationInterface extends PlatformUnitListener, LaserScannerUnitListener
interface LaserScannerSelfLocalisationInterface extends PlatformUnitListener,
LaserScannerUnitListener
{
string getReportTopicName();
......@@ -57,5 +59,3 @@ module armarx
void reportExtractedEdges(LineSegment2DSeq globalEdges);
};
};
source/RobotComponents/interface/components/MMMPlayerInterface.ice
+ 2
− 4
View file @ 50f2953c
......@@ -22,8 +22,8 @@
#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
//#include <RobotComponents/interface/components/TrajectoryPlayerInterface.ice>
......@@ -39,13 +39,11 @@ module armarx
Ice::StringSeq getMotionNames();
bool setMotionData(string motionName);
// TrajSource getTrajectory();
// TrajSource getTrajectory();
TrajectoryBase getJointTraj();
TrajectoryBase getBasePoseTraj();
bool isMotionLoaded();
};
};
source/RobotComponents/interface/components/MotionPlanning/CSpace/CSpace.ice
+ 2
− 4
View file @ 50f2953c
......@@ -36,8 +36,7 @@ module armarx
* - If less values than the cspace's dimensionality are passed the behavior may be undefined.
* - If more values than the cspace's dimensionality are passed the additional values are ignored.
*/
["cpp:virtual"]
class CSpaceBase
["cpp:virtual"] class CSpaceBase
{
/**
* @param configuration The values to check for collision.
......@@ -78,8 +77,7 @@ module armarx
["cpp:const"] long getDimensionality();
};
["cpp:virtual"]
class CSpaceAdaptorBase extends CSpaceBase
["cpp:virtual"] class CSpaceAdaptorBase extends CSpaceBase
{
["cpp:const"] idempotent CSpaceBase getOriginalCSpace();
["protected"] CSpaceBase originalCSpace;
......
source/RobotComponents/interface/components/MotionPlanning/CSpace/ScaledCSpace.ice
+ 2
− 2
View file @ 50f2953c
......@@ -24,6 +24,7 @@
#pragma once
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <RobotComponents/interface/components/MotionPlanning/CSpace/CSpace.ice>
module armarx
......@@ -31,8 +32,7 @@ module armarx
/**
* @brief Scales the dimensions of an underlying cspace.
*/
["cpp:virtual"]
class ScaledCSpaceBase extends CSpaceAdaptorBase
["cpp:virtual"] class ScaledCSpaceBase extends CSpaceAdaptorBase
{
/**
* @brief Returns the scaling factors.
......
source/RobotComponents/interface/components/MotionPlanning/CSpace/SimoxCSpace.ice
+ 12
− 16
View file @ 50f2953c
......@@ -23,9 +23,10 @@
*/
#pragma once
#include <MemoryX/interface/memorytypes/MemoryEntities.ice>
#include <RobotComponents/interface/components/MotionPlanning/CSpace/CSpace.ice>
#include <MemoryX/interface/memorytypes/MemoryEntities.ice>
module armarx
{
struct AttachedObject
......@@ -35,6 +36,7 @@ module armarx
string attachedToRobotNodeName;
string associatedCollisionSetName;
};
sequence<AttachedObject> AttachedObjectList;
struct AgentPlanningInformation
......@@ -46,7 +48,8 @@ module armarx
Ice::StringSeq additionalJointsForPlanning;
Ice::StringSeq jointsExcludedFromPlanning;
Ice::StringSeq collisionSetNames;
Ice::StringSeq collisionObjectNames; // used additionally to the collision sets (as collision model in a CD manager)
Ice::StringSeq
collisionObjectNames; // used additionally to the collision sets (as collision model in a CD manager)
AttachedObjectList attachedObjects;
StringFloatDictionary initialJointValues;
......@@ -58,10 +61,10 @@ module armarx
memoryx::ObjectClassBase objectClassBase;
armarx::PoseBase objectPose;
};
sequence <StationaryObject> StationaryObjectList;
["cpp:virtual"]
class SimoxCSpaceBase extends CSpaceBase
sequence<StationaryObject> StationaryObjectList;
["cpp:virtual"] class SimoxCSpaceBase extends CSpaceBase
{
void addStationaryObject(StationaryObject obj);
void setAgent(AgentPlanningInformation agent);
......@@ -71,26 +74,19 @@ module armarx
["protected"] memoryx::CommonStorageInterface* commonStorage;
["protected"] float stationaryObjectMargin = 0.0f;
};
/**
* @brief Similar to SimoxCSpaceBase.
* Difference: The agent's 3D pose is planned, too. (first 6 coordinates = x,y,z, roll,pitch,yaw)
*/
["cpp:virtual"]
class SimoxCSpaceWith3DPoseBase extends SimoxCSpaceBase
{
["protected"] Vector6fRange poseBounds;
};
["cpp:virtual"] class SimoxCSpaceWith3DPoseBase extends SimoxCSpaceBase
{ ["protected"] Vector6fRange poseBounds; };
/**
* @brief Similar to SimoxCSpaceBase.
* Difference: The agent's 2D pose is planned, too. (first 3 coordinates = x,y,rz)
*/
["cpp:virtual"]
class SimoxCSpaceWith2DPoseBase extends SimoxCSpaceBase
{
["protected"] Vector3fRange poseBounds;
};
["cpp:virtual"] class SimoxCSpaceWith2DPoseBase extends SimoxCSpaceBase
{ ["protected"] Vector3fRange poseBounds; };
};
source/RobotComponents/interface/components/MotionPlanning/CSpace/VoxelGridCSpaceBase.ice
+ 3
− 5
View file @ 50f2953c
......@@ -25,19 +25,17 @@
//#include <MemoryX/interface/memorytypes/MemoryEntities.ice>
//#include <RobotComponents/interface/components/MotionPlanning/CSpace/CSpace.ice>
#include <RobotComponents/interface/components/MotionPlanning/CSpace/SimoxCSpace.ice>
#include <VisionX/interface/components/VoxelGridProviderInterface.ice>
#include <RobotComponents/interface/components/MotionPlanning/CSpace/SimoxCSpace.ice>
module armarx
{
["cpp:virtual"]
class VoxelGridCSpaceBase extends SimoxCSpaceBase
["cpp:virtual"] class VoxelGridCSpaceBase extends SimoxCSpaceBase
{
armarx::Vector3fSeq gridPositions;
float gridSize;
["protected"] visionx::VoxelGridProviderInterface* voxelGridProvider;
};
};
source/RobotComponents/interface/components/MotionPlanning/DataStructures.ice
+ 12
− 11
View file @ 50f2953c
......@@ -23,9 +23,10 @@
*/
#pragma once
#include <RobotAPI/interface/core/PoseBase.ice>
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
module armarx
{
struct Path
......@@ -61,7 +62,7 @@ module armarx
module TaskStatus
{
/**
/**
* @brief The task's execution status.
*
* State transitions ({from1,from2} =(event)> target):
......@@ -107,23 +108,23 @@ module armarx
*/
struct TaskInfo
{
/**
/**
* @brief The tasks internal id.
*/
long internalId;
/**
long internalId;
/**
* @brief The task identity.
*/
Ice::Identity taskIdent;
/**
Ice::Identity taskIdent;
/**
* @brief The task status.
*/
TaskStatus::Status status;
/**
TaskStatus::Status status;
/**
* @brief The ice type id.
*/
string typeId;
string taskName;
string typeId;
string taskName;
};
sequence<TaskInfo> TaskInfoSeq;
......
source/RobotComponents/interface/components/MotionPlanning/MotionPlanningServer.ice
+ 4
− 3
View file @ 50f2953c
......@@ -31,8 +31,8 @@
module armarx
{
// interface MotionPlanningTaskControlInterface;
// class MotionPlanningTaskBase;
// interface MotionPlanningTaskControlInterface;
// class MotionPlanningTaskBase;
/**
* @brief The Server responsible for:
......@@ -47,7 +47,8 @@ module armarx
* @param task The task to add
* @return Returns the task's proxy. (null if the server is in destruction)
*/
armarx::ClientSideRemoteHandleControlBlockBase enqueueTask(MotionPlanningTaskBase task) throws armarx::ServerShuttingDown;
armarx::ClientSideRemoteHandleControlBlockBase enqueueTask(MotionPlanningTaskBase task)
throws armarx::ServerShuttingDown;
/**
* @return Returns the number tasks on the server. (queued and completed)
......
source/RobotComponents/interface/components/MotionPlanning/ResourceRequestStrategies/ComputingPowerRequestStrategy.ice
+ 71
− 81
View file @ 50f2953c
......@@ -27,161 +27,151 @@
module armarx
{
module cprs
{
/**
* @brief Base class for all computing power request strategy.
*/
["cpp:virtual"]
class ComputingPowerRequestStrategyBase
module cprs
{
/**
* @brief Base class for all computing power request strategy.
*/
["cpp:virtual"] class ComputingPowerRequestStrategyBase
{
/**
* @brief Sets the current state as initial state. Should be called after all initial computing power was allocated.
*/
void setCurrentStateAsInitialState();
//update data
/**
void setCurrentStateAsInitialState();
//update data
/**
* @brief Updates the planners node count.
* @param nodeCount The new node count.
*/
void updateNodeCount(long nodeCount);
/**
void updateNodeCount(long nodeCount);
/**
* @brief Updates the tasks status
* @param newStatus The new status.
*/
void updateTaskStatus(TaskStatus::Status newStatus);
void updateTaskStatus(TaskStatus::Status newStatus);
void updateNodeCreations(long nodesCreated, long tries);
void updateNodeCreations(long nodesCreated, long tries);
//handel desicions
/**
//handel desicions
/**
* @brief Called after additional computing power was allocated.
*/
void allocatedComputingPower();
/**
void allocatedComputingPower();
/**
* @brief Returns whether new computing power should be allocated.
* @return Whether new computing power should be allocated.
*/
bool shouldAllocateComputingPower();
};
bool shouldAllocateComputingPower();
};
sequence<ComputingPowerRequestStrategyBase> ComputingPowerRequestStrategyBaseList;
sequence<ComputingPowerRequestStrategyBase> ComputingPowerRequestStrategyBaseList;
/**
/**
* @brief Base class for compound strategies.
*
* Provides convenience implementations of all update, the setInitialState and allocatedComputingPower methodes.
*/
["cpp:virtual"]
class CompoundedRequestStrategyBase extends ComputingPowerRequestStrategyBase
{
/**
["cpp:virtual"] class CompoundedRequestStrategyBase extends
ComputingPowerRequestStrategyBase
{
/**
* @brief The compounded strategies
*/
ComputingPowerRequestStrategyBaseList requestStrategies;
};
ComputingPowerRequestStrategyBaseList requestStrategies;
};
/**
/**
* @brief A compound strategy returning true if all compounded strategies return true.
*/
["cpp:virtual"]
class AndBase extends CompoundedRequestStrategyBase{};
["cpp:virtual"] class AndBase extends CompoundedRequestStrategyBase {};
/**
/**
* @brief A compound strategy returning true if any compounded strategy returns true.
*/
["cpp:virtual"]
class OrBase extends CompoundedRequestStrategyBase{};
["cpp:virtual"] class OrBase extends CompoundedRequestStrategyBase {};
/**
/**
* @brief A strategy returning true if the contained strategy returns false.
*/
["cpp:virtual"]
class NotBase extends ComputingPowerRequestStrategyBase
{
/**
["cpp:virtual"] class NotBase extends ComputingPowerRequestStrategyBase
{
/**
* @brief The strategy that is inverted.
*/
ComputingPowerRequestStrategyBase allocStrat;
};
ComputingPowerRequestStrategyBase allocStrat;
};
/**
/**
* @brief A strategy always returning true.
*/
["cpp:virtual"]
class AlwaysBase extends ComputingPowerRequestStrategyBase{};
["cpp:virtual"] class AlwaysBase extends ComputingPowerRequestStrategyBase {};
/**
/**
* @brief A strategy always returning false.
*/
["cpp:virtual"]
class NeverBase extends ComputingPowerRequestStrategyBase{};
["cpp:virtual"] class NeverBase extends ComputingPowerRequestStrategyBase {};
/**
/**
* @brief A strategy returning true again after set time delta.
*/
["cpp:virtual"]
class ElapsedTimeBase extends ComputingPowerRequestStrategyBase
{
/**
["cpp:virtual"] class ElapsedTimeBase extends ComputingPowerRequestStrategyBase
{
/**
* @brief The used time delta.
*/
long timeDeltaInSeconds;
/**
long timeDeltaInSeconds;
/**
* @brief Whether the strategy skips multiple pending requests.
* (example: last update at t, now it is t+2d, if true three consecutive calls to shouldAllocateComputingPower()
* will return true, false, false. if false three calls will return true, true, false)
*/
bool skipping;
};
bool skipping;
};
/**
/**
* @brief A strategy returning true again after set time delta. T
* he delta is decreased if there were failed creations of new nodes (it will always be smaller than the set time delta).
*
* The used time delta is timeDelta/(1 + sigma * (#failed node creations)/(#tries))
* The last backlogSize tries will be evaluated.
*/
["cpp:virtual"]
class NoNodeCreatedBase extends ElapsedTimeBase
{
/**
["cpp:virtual"] class NoNodeCreatedBase extends ElapsedTimeBase
{
/**
* @brief The used factor to decrease the time delta.
*/
float sigma;
float sigma;
long backlogSize;
};
long backlogSize;
};
/**
/**
* @brief A strategy returning true again after set node delta.
*/
["cpp:virtual"]
class TotalNodeCountBase extends ComputingPowerRequestStrategyBase
{
/**
["cpp:virtual"] class TotalNodeCountBase extends ComputingPowerRequestStrategyBase
{
/**
* @brief The used node delta.
*/
long nodeCountDelta;
/**
long nodeCountDelta;
/**
* @brief Whether the strategy skips multiple pending requests.
* (example: last update at n, now it is n+2d, if true three consecutive calls to shouldAllocateComputingPower()
* will return true, false, false. if false three calls will return true, true, false)
*/
bool skipping;
};
bool skipping;
};
dictionary<TaskStatus::Status, ComputingPowerRequestStrategyBase> TaskStatusMap;
/**
dictionary<TaskStatus::Status, ComputingPowerRequestStrategyBase> TaskStatusMap;
/**
* @brief A choosing a sub strategy depending on the task status.
*/
["cpp:virtual"]
class TaskStatusBase extends ComputingPowerRequestStrategyBase
{
/**
["cpp:virtual"] class TaskStatusBase extends ComputingPowerRequestStrategyBase
{
/**
* @brief The mapping from task status to sub strategies
*/
TaskStatusMap strategyPerTaskStatus;
TaskStatusMap strategyPerTaskStatus;
};
};
};
};
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