diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index 9b0bacd5092012472d3f975e1c6d40357ba6594c..da5945c44c7e289081df35385ea7e75184d69c90 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -31,6 +31,7 @@
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
namespace armarx
{
@@ -129,4 +130,3 @@ namespace armarx
};
}
-
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 4d4d2399bb3ee5059d9788fb60f61cf23f78c2b0..a17005e6d573ff98accd7b40e9c45376ed8e85c4 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -38,8 +38,6 @@
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
using namespace Eigen;
using namespace Ice;
@@ -72,7 +70,6 @@ namespace armarx
defineOptionalProperty<int>("HistoryLength", 10000, "Number of entries in the robot state history").setMin(0);
defineOptionalProperty<float>("RobotModelScaling", 1.0f, "Scaling of the robot model");
defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
- defineOptionalProperty<std::string>("PlatformTopicName", "PlatformState", "Topic where platform state is published.");
defineOptionalProperty<std::string>("GlobalRobotPoseLocalizationTopicName", "GlobalRobotPoseLocalization", "Topic where the global robot pose can be reported.");
}
@@ -149,7 +146,6 @@ namespace armarx
usingTopic(topicPrefix + robotNodeSetName + "State");
usingTopic(topicPrefix + getProperty<std::string>("GlobalRobotPoseLocalizationTopicName").getValue());
- usingTopic(topicPrefix + getProperty<std::string>("PlatformTopicName").getValue());
try
{
@@ -692,39 +688,4 @@ namespace armarx
return Timestamped<FramedPosePtr> {time, new FramedPose(globalPose, armarx::GlobalFrame, "")};
}
-
- // legacy
- void RobotStateComponent::reportPlatformPose(const PlatformPose& currentPose, const Current&)
- {
- const float z = 0;
- const Eigen::Vector3f position(currentPose.x, currentPose.y, z);
- const Eigen::Matrix3f orientation =
- Eigen::AngleAxisf(currentPose.rotationAroundZ, Eigen::Vector3f::UnitZ()).toRotationMatrix();
- const Eigen::Matrix4f globalPose = math::Helpers::Pose(position, orientation);
-
- IceUtil::Time time = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
- // ARMARX_IMPORTANT << VAROUT(currentPose.timestampInMicroSeconds);
-
- TransformStamped stamped;
- stamped.header.frame = armarx::GlobalFrame;
- stamped.header.agent = _synchronized->getName();
- stamped.header.timestampInMicroSeconds = time.toMicroSeconds();
- stamped.header.parentFrame = "";
- stamped.transform = globalPose;
-
- this->reportGlobalRobotPose(stamped);
-
- /*
- * old:
- insertPose(time, globalPose);
-
- if (_sharedRobotServant)
- {
- _sharedRobotServant->setTimestamp(time);
- }
- */
- }
-
-
-
}
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 6a3b527630a594e5a12ed53a03690fa1a48cde0e..d786dd0d67efc4b5e8fe07e02bef4f4b370588da 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -128,20 +128,6 @@ namespace armarx
void setRobotStateObserver(RobotStateObserverPtr observer);
-
- // PlatformUnitListener interface
- // TODO: Remove this interface and use GlobalRobotPoseLocalizationListener only.
- /// Stores the platform pose in the pose history.
- void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
- /// Does nothing.
- void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override {}
-
-
-
protected:
// Component interface.
@@ -239,4 +225,3 @@ namespace armarx
};
}
-
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index b82eefe899e35b8e4ef63b538221f6ec0adb9159..b8d85a279c6dc04485b03b4c31ff7e93b16e163c 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -21,6 +21,7 @@
*/
#include "LegacyRobotStateMemoryAdapter.h"
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
@@ -211,17 +212,36 @@ namespace armarx::armem
}
- void LegacyRobotStateMemoryAdapter::reportPlatformPose(const PlatformPose& p, const Ice::Current &)
+ // void LegacyRobotStateMemoryAdapter::reportPlatformPose(const PlatformPose& p, const Ice::Current &)
+ // {
+ // ARMARX_DEBUG << "Got an update for platform pose";
+ // std::lock_guard l(updateMutex);
+ // update.platformPose = p;
+ // updateTimestamps(p.timestampInMicroSeconds);
+ // }
+
+ void LegacyRobotStateMemoryAdapter::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
+
ARMARX_DEBUG << "Got an update for platform pose";
- std::lock_guard l(updateMutex);
- update.platformPose = p;
- updateTimestamps(p.timestampInMicroSeconds);
- }
- void LegacyRobotStateMemoryAdapter::reportNewTargetPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &)
- {
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+ const float yaw = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
+
+ armarx::PlatformPose p;
+ p.x = global_T_robot.translation().x();
+ p.y = global_T_robot.translation().y();
+ p.rotationAroundZ = yaw;
+ p.timestampInMicroSeconds = transformStamped.header.timestampInMicroSeconds;
+
+ {
+ std::lock_guard l(updateMutex);
+ update.platformPose = p;
+ updateTimestamps(p.timestampInMicroSeconds);
+ }
}
+
+
void LegacyRobotStateMemoryAdapter::reportPlatformVelocity(Ice::Float f1, Ice::Float f2, Ice::Float f3, const Ice::Current &)
{
ARMARX_DEBUG << "Got an update for platform vels";
@@ -240,6 +260,8 @@ namespace armarx::armem
update.platformOdometryPose = {f1, f2, f3};
updateTimestamps(now);
}
+
+
void LegacyRobotStateMemoryAdapter::commitArmar3RobotDescription()
{
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
index 9680d8c27a1e98e0e70c74308e5235f18bb4b1fc..71ab81f1a3582fafeed767ae7dcfc00f20cf0cad 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
@@ -59,11 +59,12 @@ namespace armarx::armem
void reportJointMotorTemperatures(const NameValueMap&, Ice::Long, bool, const Ice::Current&) override;
void reportJointStatuses(const NameStatusMap&, Ice::Long, bool, const Ice::Current&) override;
- void reportPlatformPose(const PlatformPose &, const Ice::Current &) override;
- void reportNewTargetPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
+ // void reportPlatformPose(const PlatformPose &, const Ice::Current &) override;
void reportPlatformVelocity(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
void reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
+ void reportGlobalRobotPose(const ::armarx::TransformStamped&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
protected:
/// @see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 83da0bb8486a38a075e10c9c6fae5a273c254f51..a5414a34e838b6fd2268f7bfb26ddc527530624f 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -38,7 +38,7 @@ namespace armarx
def->topic(odometryPrx);
def->topic(globalPosePrx);
- // def->topic(listenerPrx, listenerChannelName, "");
+ def->topic(listenerPrx, "PlatformState");
def->component(robotStateComponent);
@@ -50,17 +50,12 @@ namespace armarx
{
std::string platformName = getProperty<std::string>("PlatformName").getValue();
- listenerChannelName = platformName + "State";
- offeringTopic(listenerChannelName);
-
this->onInitPlatformUnit();
}
void PlatformUnit::onConnectComponent()
{
- listenerPrx = getTopic<PlatformUnitListenerPrx>(listenerChannelName);
-
this->onStartPlatformUnit();
}
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 1b0b9499a4f50e6ec0b64631aaf9f85c9fa5bca5..ee3c2a6999c0ba4f1f9560106f818826162c432f 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -117,7 +117,7 @@ namespace armarx
protected:
- std::string listenerChannelName;
+ // std::string listenerChannelName;
/**
* PlatformUnitListener proxy for publishing state updates
*/
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index d0e0cd8e0162983b77708d5499b60c6e012d71ba..2db1b8dae17b84c6d0ef98fea1129cebd97f9e75 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -21,6 +21,8 @@
*/
#include "PlatformUnitObserver.h"
+#include <Eigen/src/Geometry/Transform.h>
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include "PlatformUnit.h"
@@ -54,13 +56,13 @@ namespace armarx
offerConditionCheck("smaller", new ConditionCheckSmaller());
usingTopic(platformNodeName + "State");
+ usingTopic("GlobalRobotPoseLocalization");
}
void PlatformUnitObserver::onConnectObserver()
{
// register all channels
offerChannel("platformPose", "Current Position of " + platformNodeName);
- offerChannel("targetPose", "Target Position of " + platformNodeName);
offerChannel("platformVelocity", "Current velocity of " + platformNodeName);
offerChannel("platformOdometryPose", "Current Odometry Position of " + platformNodeName);
@@ -69,10 +71,6 @@ namespace armarx
offerDataField("platformPose", "positionY", VariantType::Float, "Current Y position of " + platformNodeName + " in mm");
offerDataField("platformPose", "rotation", VariantType::Float, "Current Rotation of " + platformNodeName + " in radian");
- offerDataField("targetPose", "positionX", VariantType::Float, "Target X position of " + platformNodeName + " in mm");
- offerDataField("targetPose", "positionY", VariantType::Float, "Target Y position of " + platformNodeName + " in mm");
- offerDataField("targetPose", "rotation", VariantType::Float, "Target Rotation of " + platformNodeName + " in radian");
-
offerDataField("platformVelocity", "velocityX", VariantType::Float, "Current X velocity of " + platformNodeName + " in mm/s");
offerDataField("platformVelocity", "velocityY", VariantType::Float, "Current Y velocity of " + platformNodeName + " in mm/s");
offerDataField("platformVelocity", "velocityRotation", VariantType::Float, "Current Rotation velocity of " + platformNodeName + " in radian/s");
@@ -86,16 +84,16 @@ namespace armarx
}
- void PlatformUnitObserver::reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c)
+ void PlatformUnitObserver::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
- nameValueMapToDataFields("platformPose", currentPose.x, currentPose.y, currentPose.rotationAroundZ);
- updateChannel("platformPose");
- }
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+
+ const float x = global_T_robot.translation().x();
+ const float y = global_T_robot.translation().y();
+ const float rotationAroundZ = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
- void PlatformUnitObserver::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
- {
- nameValueMapToDataFields("targetPose", newPlatformPositionX, newPlatformPositionY, newPlatformRotation);
- updateChannel("targetPose");
+ nameValueMapToDataFields("platformPose", x, y, rotationAroundZ);
+ updateChannel("platformPose");
}
void PlatformUnitObserver::reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c)
@@ -128,4 +126,6 @@ namespace armarx
nameValueMapToDataFields("platformOdometryPose", x, y, angle);
updateChannel("platformOdometryPose");
}
+
+
}
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 66b24989d267e30fb9a6f1ebe3e3f3bfa3a0dced..20cdfefcd7c380eccf2e1144b3d4206b239cf088 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/core/RobotLocalization.h>
#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
#include <ArmarXCore/interface/observers/VariantBase.h>
@@ -78,11 +79,13 @@ namespace armarx
void onConnectObserver() override;
// slice interface implementation
- void reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current&) override;
+ // slice interface implementation
+ void reportGlobalRobotPose(const ::armarx::TransformStamped&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
+
std::string getDefaultName() const override
{
return "PlatformUnitObserver";
@@ -143,6 +146,5 @@ namespace armarx
namespace armarx::channels::PlatformUnitObserver
{
const PlatformUnitDatafieldCreator platformPose("platformPose");
- const PlatformUnitDatafieldCreator targetPose("targetPose");
const PlatformUnitDatafieldCreator platformVelocity("platformVelocity");
}
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index 3c9cde6b67a1106976beee9032795262755a4be3..6abaa676025df57bbfbbde4f61ad147ac54e97eb 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -103,8 +103,6 @@ namespace armarx
globalPosePrx->reportGlobalRobotPose(currentPose);
- // legacy
- listenerPrx->reportPlatformPose(toPlatformPose(currentPose));
simulationTask->start();
}
@@ -229,8 +227,17 @@ namespace armarx
odometryPrx->reportOdometryPose(platformPose);
odometryPrx->reportOdometryVelocity(platformVelocity);
- // legacy
- listenerPrx->reportPlatformPose(toPlatformPose(platformPose));
+ {
+ TransformStamped currentPose;
+ currentPose.header.parentFrame = GlobalFrame;
+ currentPose.header.frame = robotRootFrame;
+ currentPose.header.agent = agentName;
+ currentPose.header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
+ currentPose.transform = currentPlatformPose();
+
+ globalPosePrx->reportGlobalRobotPose(currentPose);
+ }
+
// legacy
const auto& velo = platformVelocity.twist;
@@ -259,9 +266,6 @@ namespace armarx
TransformStamped targetPose;
targetPose.header = header;
targetPose.transform = VirtualRobot::MathTools::posrpy2eigen4f(targetPositionX, targetPositionY, 0, 0, 0, targetRotation);
-
- const auto tp = toPlatformPose(targetPose);
- listenerPrx->reportNewTargetPose(tp.x, tp.y, tp.rotationAroundZ);
}
void armarx::PlatformUnitSimulation::move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c)
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index 24f8ac9db2bd10eb6c9e8e7e2f36ac75931a69e0..93ea9a009c91a8c46b2c96ac0ac4917d0fb36850 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -61,7 +61,6 @@ namespace armarx
// PlatformUnit interface
void onInitPlatformUnit() override
{
- usingTopic("PlatformState");
}
void onStartPlatformUnit() override
{
diff --git a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
index ffd72e20c51675c207869ae3c8c66e52b84c77fa..baad0e798bc8a3762ec28ac4394b1a3556e3c576 100644
--- a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
+++ b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
@@ -2,6 +2,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
module armarx
{
@@ -9,7 +10,7 @@ module armarx
{
module robot_state
{
- interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener, armarx::PlatformUnitListener
+ interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener, armarx::PlatformUnitListener, armarx::GlobalRobotPoseLocalizationListener
{
}
}
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index a80b9b22c09d331e30f726dfb751c45543319fc5..6b6ad3bd501a57603a8da4226cd92e7f59ba1796 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -24,13 +24,14 @@
#pragma once
#include <ArmarXCore/interface/events/SimulatorResetEvent.ice>
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.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>
module armarx
@@ -188,7 +189,6 @@ module armarx
*/
interface RobotStateComponentInterface extends
KinematicUnitListener,
- PlatformUnitListener,
GlobalRobotPoseLocalizationListener,
SimulatorResetEvent
{
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index e7eddd170418f8ed671695807e3817e0522bf1da..20709f1fedeb65bb3766d2008607ee750a74965a 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -26,10 +26,11 @@
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
+
module armarx
{
- interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener
+ interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener, GlobalRobotPoseLocalizationListener
{
};
};
-
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index f7f62d13d0b490fd50284582096e0308fff90223..f83ad97cf10f83c8975a8c79f1b44deecd594d4e 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -24,22 +24,22 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
#include <RobotAPI/interface/core/GeometryBase.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
-{
- /**
+{
+ /**
* Implements an interface to an PlatformUnit.
**/
interface PlatformUnitInterface extends SensorActorUnitInterface
{
- /**
+ /**
* moveTo moves the platform to a global pose specified by:
* @param targetPlatformPositionX Global x-coordinate of target position.
* @param targetPlatformPositionY Global y-coordinate of target position.
@@ -47,14 +47,20 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveTo(float targetPlatformPositionX, float targetPlatformPositionY, float targetPlatformRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveTo(float targetPlatformPositionX,
+ float targetPlatformPositionY,
+ float targetPlatformRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* move moves the platform with given velocities.
* @param targetPlatformVelocityX x-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityY y-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityRotation Target orientational velocity defined in platform root.
**/
- void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation);
+ void move(float targetPlatformVelocityX,
+ float targetPlatformVelocityY,
+ float targetPlatformVelocityRotation);
/**
* moveRelative moves to a pose defined in platform coordinates.
* @param targetPlatformOffsetX x-coordinate of target position defined in platform root.
@@ -63,7 +69,11 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveRelative(float targetPlatformOffsetX,
+ float targetPlatformOffsetY,
+ float targetPlatformOffsetRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* setMaxVelocities allows to specify max velocities in translation and orientation.
* @param positionalVelocity Max translation velocity.
@@ -84,42 +94,28 @@ module armarx
float rotationAroundZ = 0.0f;
};
- /**
+ /**
* Implements an interface to an PlatformUnitListener.
**/
interface PlatformUnitListener
{
/**
- * reportPlatformPose reports current platform pose.
- * @param currentPose Current global platform pose.
- **/
- ["deprecate:reportPlatformPose() has been deprecated, use GlobalRobotPoseLocalizationListener::reportGlobalRobotPose() instead."]
- void reportPlatformPose(PlatformPose currentPose);
-
- /**
- * reportNewTargetPose reports target platform pose.
- * @param newPlatformPositionX Global x-coordinate of target platform position.
- * @param newPlatformPositionY Global y-coordinate of target platform position.
- * @param newPlatformRotation Target global orientation of platform.
- **/
- ["deprecate:reportNewTargetPose() has been deprecated, use ... instead."]
- void reportNewTargetPose(float newPlatformPositionX, float newPlatformPositionY, float newPlatformRotation);
- /**
- * reportPlatformVelocity reports current platform velocities.
- * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
- **/
- // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
- void reportPlatformVelocity(float currentPlatformVelocityX, float currentPlatformVelocityY, float currentPlatformVelocityRotation);
+ * reportPlatformVelocity reports current platform velocities.
+ * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
+ **/
+ // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
+ void reportPlatformVelocity(float currentPlatformVelocityX,
+ float currentPlatformVelocityY,
+ float currentPlatformVelocityRotation);
- ["deprecate:reportPlatformOdometryPose() has been deprecated, use OdometryListener::reportOdometryPose() instead."]
- void reportPlatformOdometryPose(float x, float y, float angle);
+ ["deprecate:reportPlatformOdometryPose() has been deprecated, use "
+ "OdometryListener::reportOdometryPose() instead."] void
+ reportPlatformOdometryPose(float x, float y, float angle);
};
interface PlatformSubUnitInterface extends PlatformUnitInterface
{
-
};
-
};