From 36f232bec81f1ed293d4058c10a7aedd85ffc750 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 2 Dec 2014 11:27:08 +0100
Subject: [PATCH] KinematicUnit interface: Added acceleration report method
---
source/RobotAPI/components/units/KinematicUnit.h | 2 +-
source/RobotAPI/components/units/KinematicUnitObserver.cpp | 5 +++++
source/RobotAPI/components/units/KinematicUnitObserver.h | 1 +
source/RobotAPI/components/units/TCPControlUnit.cpp | 5 +++++
source/RobotAPI/components/units/TCPControlUnit.h | 1 +
.../KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp | 5 +++++
.../gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h | 1 +
source/RobotAPI/interface/units/KinematicUnitInterface.ice | 1 +
source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp | 5 +++++
source/RobotAPI/libraries/robotstate/RobotStateComponent.h | 1 +
.../libraries/robotstate/remote/RobotStateObserver.cpp | 5 +++++
.../libraries/robotstate/remote/RobotStateObserver.h | 1 +
12 files changed, 32 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 70cef16f0..fa8f901da 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -49,7 +49,7 @@ namespace armarx
KinematicUnitPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("RobotNodeSetName","Robot node name");
+ defineRequiredProperty<std::string>("RobotNodeSetName","Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
}
};
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 8048dbecc..dfeaaab7f 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -145,6 +145,11 @@ void KinematicUnitObserver::reportJointTorques(const NameValueMap& jointTorques,
updateChannel("jointtorques");
}
+void KinematicUnitObserver::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
{
if(jointCurrents.size() == 0)
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 95debd4f3..eb0b8012a 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -66,6 +66,7 @@ namespace armarx
void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+ void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 7aaec9344..34dd14d63 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -1255,6 +1255,11 @@ void armarx::TCPControlUnit::reportJointTorques(const NameValueMap &, bool, cons
{
}
+void armarx::TCPControlUnit::reportJointAccelerations(const armarx::NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
void armarx::TCPControlUnit::reportJointCurrents(const NameValueMap &, bool, const Ice::Current &)
{
}
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 0236342d9..8c6037afe 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -153,6 +153,7 @@ namespace armarx {
void reportJointAngles(const NameValueMap &jointAngles, bool, const Ice::Current &);
void reportJointVelocities(const NameValueMap &jointVel, bool, const Ice::Current &);
void reportJointTorques(const NameValueMap &, bool, const Ice::Current &);
+ void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap &, bool, const Ice::Current &);
void reportJointMotorTemperatures(const NameValueMap &, bool, const Ice::Current &);
void reportJointStatuses(const NameStatusMap &, bool, const Ice::Current &);
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 51a1bcfb2..29d83e5c6 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -880,6 +880,11 @@ void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& joint
emit jointTorquesReported();
}
+void KinematicUnitWidgetController::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
void KinematicUnitWidgetController::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c)
{
if(!aValueChanged && reportedJointControlModes.size() > 0)
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 80baf4866..b13f363f3 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -189,6 +189,7 @@ namespace armarx
void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c);
void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c);
void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c);
+ void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c);
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c);
void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current &);
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 1651057f7..e960915f8 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -137,6 +137,7 @@ module armarx
void reportJointAngles(NameValueMap actualJointAngles, bool aValueChanged);
void reportJointVelocities(NameValueMap actualJointVelocities, bool aValueChanged);
void reportJointTorques(NameValueMap actualJointTorques, bool aValueChanged);
+ void reportJointAccelerations(NameValueMap actualJointAccelerations, bool aValueChanged);
void reportJointCurrents(NameValueMap actualJointCurrents, bool aValueChanged);
void reportJointMotorTemperatures(NameValueMap actualJointMotorTemperatures, bool aValueChanged);
void reportJointStatuses(NameStatusMap actualJointStatuses, bool aValueChanged);
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
index a382663e3..7da8f699f 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
@@ -160,6 +160,11 @@ namespace armarx
void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged,const Current& c){}
+
+ void RobotStateComponent::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Current &c)
+ {
+
+ }
void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Current& c){}
void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Current& c){}
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
index 8b4bfa6e9..e73aee75a 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
@@ -73,6 +73,7 @@ namespace armarx
void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+ void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
diff --git a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
index 83871e4fb..04f30d339 100644
--- a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.cpp
@@ -122,6 +122,11 @@ void RobotStateObserver::reportJointTorques(const NameValueMap& jointTorques, bo
{
}
+void RobotStateObserver::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+{
+
+}
+
void RobotStateObserver::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
{
}
diff --git a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
index 6c375013f..19991b455 100644
--- a/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/robotstate/remote/RobotStateObserver.h
@@ -69,6 +69,7 @@ namespace armarx
void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+ void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c = Ice::Current());
--
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