From 6d9c4d75844ce86b59180a2a346ead4f5b755d43 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 19 Aug 2014 10:59:26 +0200
Subject: [PATCH] Switched to single sensor forceTorqueUnit (needs to be
discussed) Fixed place object state
---
.../ForceTorqueObserver/CMakeLists.txt | 1 +
.../ForceTorqueUnitSimulation/CMakeLists.txt | 2 +-
.../interface/units/ForceTorqueUnit.ice | 18 ++--
.../MovePlatformToLandmark.cpp | 8 +-
.../statecharts/PlaceObject/PlaceObject.cpp | 85 +++++++++++++------
source/RobotAPI/units/ForceTorqueObserver.cpp | 17 ++--
source/RobotAPI/units/ForceTorqueObserver.h | 11 ++-
.../units/ForceTorqueUnitSimulation.cpp | 26 +++---
.../units/ForceTorqueUnitSimulation.h | 12 +--
9 files changed, 115 insertions(+), 65 deletions(-)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index fe1e3025a..3ce378f78 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -7,6 +7,7 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Eigen3_INCLUDE_DIR})
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRemoteRobot)
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
index 173374347..0411fa089 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
@@ -1,8 +1,8 @@
armarx_component_set_name(ForceTorqueUnitSimulation)
+include_directories(${Eigen3_INCLUDE_DIR})
set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore RobotAPIUnits)
-
set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index cc09be4eb..de9cdf6ed 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -26,6 +26,7 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/robotstate/RobotState.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
#include <Core/interface/core/UserException.ice>
#include <Core/interface/core/BasicTypes.ice>
@@ -36,21 +37,26 @@ module armarx
{
- sequence<string> StringMap;
+ //sequence<string> StringMap;
interface ForceTorqueUnitInterface extends armarx::SensorActorUnitInterface
{
- void setOffset(FramedVector3Map forceTorqueOffsets);
- void setToNull(StringMap sensorNames);
+ //void setOffset(FramedVector3Map forceTorqueOffsets);
+ //void setToNull(StringMap sensorNames);
+ void setOffset(FramedVector3Base forceOffsets, FramedVector3Base torqueOffsets);
+ void setToNull();
};
interface ForceTorqueUnitListener
{
- void reportSensorValues(string type, FramedVector3Map forces);
+ //void reportSensorValues(string type, FramedVector3Map forces);
- void reportSensorForceValues(FramedVector3Map forces);
- void reportSensorTorqueValues(FramedVector3Map torques);
+ //void reportSensorForceValues(FramedVector3Map forces);
+ //void reportSensorTorqueValues(FramedVector3Map torques);
+ void reportSensorValues(FramedVector3Base forces,FramedVector3Base torques);
+ void reportSensorForceValues(FramedVector3Base forces);
+ void reportSensorTorqueValues(FramedVector3Base torques);
};
interface ForceTorqueUnitObserverInterface extends ObserverInterface, ForceTorqueUnitListener
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
index 7b6fcac5f..072d1177a 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
@@ -47,7 +47,10 @@ namespace armarx
void MovePlatformToLandmarkStateChart::onConnectRemoteStateOfferer()
{
-
+ if(!getArmarXManager()->getIceManager()->getCommunicator()->findObjectFactory(armarx::FramedVector3Base::ice_staticId()))
+ {
+ ARMARX_INFO << "could not find factory";
+ }
}
// ****************************************************************
@@ -55,7 +58,7 @@ namespace armarx
// ****************************************************************
void StatechartMovePlatformToLandmark::defineParameters()
{
- setConfigFile("RobotAPI/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml");
+ //setConfigFile("RobotAPI/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml");
addToInput("targetLandmark", VariantType::String, false);
addToInput("landmarkNodes", VariantType::List(VariantType::FramedVector3), false);
@@ -114,6 +117,7 @@ namespace armarx
SingleTypeVariantListPtr landmarkNodes = getInput<SingleTypeVariantList>("landmarkNodes");
std::map<std::string, NodePtr> nameToNodeMap;
for (int i = 0; i < landmarkNodes->getSize(); i++) {
+ ARMARX_LOG << landmarkNodes->getVariant(i)->getTypeName() << std::endl;
FramedVector3Ptr fv = landmarkNodes->getVariant(i)->get<FramedVector3>();
NodePtr n = NodePtr(new Node());
n->name = fv->frame;
diff --git a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
index b0c5867a9..76b8018ca 100644
--- a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
+++ b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
@@ -41,16 +41,16 @@ namespace armarx
// ****************************************************************
void StatechartPlaceObject::defineParameters()
{
- addToInput("maxHeightToMoveDown", VariantType::List(VariantType::Float), false);
- addToInput("minForceForSuccess", VariantType::List(VariantType::Float), false);
- addToInput("timeoutPlaceObject", VariantType::Float, false);
+ addToInput("maxHeightToMoveDown", VariantType::Float, false);
+ addToInput("minForceForSuccess", VariantType::Float, false);
+ addToInput("timeoutPlaceObject", VariantType::Int, false);
addToInput("robotNodeSetName", VariantType::String, false);
addToInput("robotBaseFrame", VariantType::String, false);
- addToLocal("startPose", VariantType::List(VariantType::FramedPose));
- addToLocal("goalPose", VariantType::List(VariantType::FramedPose));
+ addToLocal("startPose", VariantType::FramedPose);
+ addToLocal("goalPose", VariantType::FramedPose);
//addToLocal("jointNames", VariantType::List(VariantType::String));
//addToLocal("jointVelocitiesDatafields", VariantType::List(VariantType::DatafieldRef));
@@ -71,12 +71,17 @@ namespace armarx
setInitState(stateMoveDown, mapMoveDown);
//transitions
- addTransition<EvSuccess>(stateMoveDown, stateMoveDown);
+ addTransition<EvSuccess>(stateMoveDown, stateMoveDown,mapMoveDown);
addTransition<EvFailure>(stateMoveDown, stateFailure);
//addTransition<EvSuccess>(stateCheckForces, stateSuccess);
//addTransition<EvFailure>(stateCheckForces, stateMoveDown);
- addTransition<EvPlaceObjectCollision>(stateMoveDown, stateSuccess);
+ // has to be defined in parent states
+ //addTransition<EvPlaceObjectCollision>(stateMoveDown, stateSuccess);
+ // for now: success
+ //addTransition<EvPlaceObjectTimeout>(stateMoveDown, stateSuccess);
+
+ //addTransition<EvPlaceObjectTimeout>(stateCheckForces, stateSuccess);
//addTransition<EvPlaceObjectTimeout>(stateCheckForces, stateFailure);
}
@@ -91,6 +96,8 @@ namespace armarx
std::string rnsName = getInput<std::string>("robotNodeSetName");
std::string rnBaseName = getInput<std::string>("robotBaseFrame");
+ ARMARX_LOG << "RNS:" << rnsName << ", rnBaseName:" << rnBaseName << flush;
+
VirtualRobot::RobotNodeSetPtr nodeSet = context->remoteRobot->getRobotNodeSet(rnsName);
if (!nodeSet)
{
@@ -111,23 +118,27 @@ namespace armarx
FramedPosePtr fp(new FramedPose(tcpPose,rnBaseName));
setLocal("startPose", fp);
+ ARMARX_LOG << "startPose:" << tcpPose << ", rnBaseName:" << rnBaseName << flush;
+
Eigen::Matrix4f tcpGoalPose = nodeSet->getTCP()->getGlobalPose();
float maxHeight = getInput<float>("maxHeightToMoveDown");
- tcpGoalPose(0,3) -= maxHeight;
+ tcpGoalPose(2,3) -= maxHeight;
tcpGoalPose = nodeBase->toLocalCoordinateSystem(tcpGoalPose);
FramedPosePtr fpGoal(new FramedPose(tcpGoalPose,rnBaseName));
setLocal("goalPose", fpGoal);
+ ARMARX_LOG << "goalPose:" << tcpGoalPose << ", rnBaseName:" << rnBaseName << flush;
ARMARX_LOG << eINFO << "Installing place object timeout condition";
- float timeoutPlaceObject = getInput<float>("timeoutPlaceObject");
+ float timeoutPlaceObject = float(getInput<int>("timeoutPlaceObject"));
condPlaceObjectTimeout = setTimeoutEvent(timeoutPlaceObject, createEvent<EvPlaceObjectTimeout>());
// install the force condition
+
float force = getInput<float>("minForceForSuccess");
Term cond;
for(unsigned int i=0; i<nodeSet->getSize(); i++)
@@ -139,7 +150,7 @@ namespace armarx
Literal inrangeLiteral(DataFieldIdentifier(context->getKinematicUnitObserverName(),"jointtorques", nodeSet->getNode(i)->getName()), "inrange", inrangeCheck);
cond = cond && !inrangeLiteral;
}
-
+ ARMARX_LOG << "Installed force consition, minForce:" << force << flush;
condPlaceObjectCollision = installCondition<EvPlaceObjectCollision>(cond);
}
@@ -148,6 +159,17 @@ namespace armarx
removeTimeoutEvent(condPlaceObjectTimeout);
removeCondition(condPlaceObjectCollision);
+ RobotStatechartContext *context = getContext<RobotStatechartContext>();
+ HandUnitInterfacePrx handUnitPrx = context->getHandUnit("RightHandUnit");
+ if (handUnitPrx)
+ {
+ ARMARX_INFO << "Sending open hand command" << flush;
+ handUnitPrx->open();
+ ARMARX_INFO << "TEST: set object released: Vitalis" << flush;
+ handUnitPrx->setObjectReleased("Vitalis");
+ } else
+ ARMARX_LOG << eINFO << "No hand unit found...";
+
ARMARX_LOG << eINFO << "Exiting StatechartPlaceObject...";
}
@@ -157,17 +179,18 @@ namespace armarx
void StateMoveDown::defineParameters()
{
- addToInput("maxHeightToMoveDown", VariantType::List(VariantType::Float), false);
- addToInput("minForceForSuccess", VariantType::List(VariantType::Float), false);
- addToInput("timeoutPlaceObject", VariantType::Float, false);
+ addToInput("maxHeightToMoveDown", VariantType::Float, false);
+ addToInput("minForceForSuccess", VariantType::Float, false);
+ addToInput("timeoutPlaceObject", VariantType::Int, false);
addToInput("robotNodeSetName", VariantType::String, false);
addToInput("robotBaseFrame", VariantType::String, false);
- addToInput("startPose", VariantType::List(VariantType::FramedPose), false);
+ addToInput("startPose", VariantType::FramedPose, false);
+ addToInput("goalPose", VariantType::FramedPose, false);
}
void StateMoveDown::onEnter()
{
- ARMARX_DEBUG << "Entering StateMoveDown" << flush;
+ ARMARX_INFO << "Entering StateMoveDown" << flush;
RobotStatechartContext* rsContext = getContext<RobotStatechartContext>();
std::string rnsName = getInput<std::string>("robotNodeSetName");
@@ -184,16 +207,22 @@ namespace armarx
Eigen::Matrix4f currentPose = nodeSet->getTCP()->getGlobalPose();
currentPose = nodeBase->toLocalCoordinateSystem(currentPose);
- ARMARX_DEBUG << "startPose (coordsystem " << rnBaseName << ") : " << startPose << flush;
- ARMARX_DEBUG << "goalPose (coordsystem " << rnBaseName << ") : " << goalPose << flush;
- ARMARX_DEBUG << "currentPose (coordsystem " << rnBaseName << ") : " << currentPose << flush;
+ ARMARX_INFO << "startPose (coordsystem " << rnBaseName << ") : " << startPose << flush;
+ ARMARX_INFO << "goalPose (coordsystem " << rnBaseName << ") : " << goalPose << flush;
+ ARMARX_INFO << "currentPose (coordsystem " << rnBaseName << ") : " << currentPose << flush;
- float dist = (goalPose.block(0,3,3,1) - currentPose.block(0,3,3,1)).norm();
- if (dist<10.0f)
+ Eigen::Vector3f goalVect = goalPose.block(0,3,3,1) - currentPose.block(0,3,3,1);
+ float maxDist = 10.0f;
+ float dist = goalVect.norm();
+ if (dist<maxDist)
{
ARMARX_ERROR << "Did not hit any surface, sending failure event..." << flush;
sendEvent<EvFailure>();
}
+ goalVect = goalVect.normalized() * maxDist;
+
+ goalPose.block(0,3,3,1) = currentPose.block(0,3,3,1) + goalVect;
+ ARMARX_INFO << "goalPose cut (coordsystem " << rnBaseName << ") : " << goalPose << flush;
VirtualRobot::DifferentialIKPtr ikSolver(new VirtualRobot::DifferentialIK(nodeSet,nodeBase));
@@ -210,21 +239,23 @@ namespace armarx
std::vector<float> jointValues = nodeSet->getJointValues();
NameValueMap jointNamesAndValues;
-
+ NameControlModeMap controlModes;
for (unsigned int j=0; j<jointValues.size(); j++)
{
- jointNamesAndValues[nodeSet->getNode(j)->getName()]=jointValues[j];
- ARMARX_DEBUG << "target for joint :" << nodeSet->getNode(j)->getName() << " -> " << jointValues[j] << flush;
+ std::string nName = nodeSet->getNode(j)->getName();
+ jointNamesAndValues[nName]=jointValues[j];
+ controlModes[nName] = ePositionControl;
+ ARMARX_INFO << "target for joint :" << nodeSet->getNode(j)->getName() << " -> " << jointValues[j] << flush;
}
-
+ rsContext->kinematicUnitPrx->switchControlMode(controlModes);
rsContext->kinematicUnitPrx->setJointAngles(jointNamesAndValues);
-
- ARMARX_DEBUG << "StateMoveDown: Done onEnter()";
+ sendEvent<EvSuccess>();
+ ARMARX_INFO << "StateMoveDown: Done onEnter()";
}
void StateMoveDown::onExit()
{
- ARMARX_DEBUG << "StatePlaceObject: Done onExit()";
+ ARMARX_INFO << "StatePlaceObject: Done onExit()";
}
diff --git a/source/RobotAPI/units/ForceTorqueObserver.cpp b/source/RobotAPI/units/ForceTorqueObserver.cpp
index d469ac113..b4a40e79f 100644
--- a/source/RobotAPI/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/units/ForceTorqueObserver.cpp
@@ -98,9 +98,10 @@ void ForceTorqueObserver::onConnectObserver()
-void ForceTorqueObserver::reportSensorValues(const std::string &type, const FramedVector3Map &newValues, const Ice::Current &)
+void ForceTorqueObserver::reportSensorValues(const ::armarx::FramedVector3BasePtr &forces, const ::armarx::FramedVector3BasePtr &torques, const Ice::Current &)
{
ScopedLock lock(dataMutex);
+ /*
FramedVector3Map::const_iterator it = newValues.begin();
if(!existsChannel(type))
offerChannel(type, "Force and Torque vectors on specific parts of the robot.");
@@ -131,13 +132,13 @@ void ForceTorqueObserver::reportSensorValues(const std::string &type, const Fram
}
updateChannel(identifier);
- }
+ }*/
}
-void ForceTorqueObserver::reportSensorForceValues(const ::armarx::FramedVector3Map &newForces, const ::Ice::Current &)
+void ForceTorqueObserver::reportSensorForceValues(const ::armarx::FramedVector3BasePtr &newForces, const ::Ice::Current &)
{
ScopedLock lock(dataMutex);
- FramedVector3Map::const_iterator it = newForces.begin();
+ /*FramedVector3Map::const_iterator it = newForces.begin();
std::string type = "force";
if(!existsChannel(type))
@@ -177,13 +178,13 @@ void ForceTorqueObserver::reportSensorForceValues(const ::armarx::FramedVector3M
}
updateChannel(identifier);
- }
+ }*/
}
-void ForceTorqueObserver::reportSensorTorqueValues(const ::armarx::FramedVector3Map &newTorques, const ::Ice::Current &)
+void ForceTorqueObserver::reportSensorTorqueValues(const ::armarx::FramedVector3BasePtr &newTorques, const ::Ice::Current &)
{
ScopedLock lock(dataMutex);
- FramedVector3Map::const_iterator it = newTorques.begin();
+ /*FramedVector3Map::const_iterator it = newTorques.begin();
std::string type = "torque";
if(!existsChannel(type))
@@ -223,7 +224,7 @@ void ForceTorqueObserver::reportSensorTorqueValues(const ::armarx::FramedVector3
}
updateChannel(identifier);
- }
+ }*/
}
diff --git a/source/RobotAPI/units/ForceTorqueObserver.h b/source/RobotAPI/units/ForceTorqueObserver.h
index fbaa7edde..2680f4eec 100644
--- a/source/RobotAPI/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/units/ForceTorqueObserver.h
@@ -2,6 +2,7 @@
#define _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
+#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <Core/observers/Observer.h>
namespace armarx
@@ -36,9 +37,13 @@ namespace armarx
void onInitObserver();
void onConnectObserver();
- void reportSensorValues(const std::string & type, const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
- void reportSensorForceValues(const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
- void reportSensorTorqueValues(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
+ //void reportSensorValues(const std::string & type, const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
+ //void reportSensorForceValues(const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
+ //void reportSensorTorqueValues(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
+ void reportSensorValues(const ::armarx::FramedVector3BasePtr &forces, const ::armarx::FramedVector3BasePtr &torques, const ::Ice::Current& = ::Ice::Current());
+ void reportSensorForceValues(const ::armarx::FramedVector3BasePtr &forces, const ::Ice::Current& = ::Ice::Current());
+ void reportSensorTorqueValues(const ::armarx::FramedVector3BasePtr &torques, const ::Ice::Current& = ::Ice::Current());
+
// void reportForceWithOffset(const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
// void reportTorqueRaw(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp b/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
index d4e0061bc..575dc3f25 100644
--- a/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
+++ b/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
@@ -33,16 +33,18 @@ using namespace armarx;
void ForceTorqueUnitSimulation::onInitForceTorqueUnit()
{
int intervalMs = getProperty<int>("IntervalMs").getValue();
- std::string sensorNames = getProperty<std::string>("SensorNames").getValue();
+ std::string sensorName = getProperty<std::string>("SensorName").getValue();
- std::vector<std::string> sensorNamesList;
- boost::split(sensorNamesList, sensorNames, boost::is_any_of(","));
+ //std::vector<std::string> sensorNamesList;
+ //boost::split(sensorNamesList, sensorNames, boost::is_any_of(","));
- for(std::vector<std::string>::iterator s = sensorNamesList.begin(); s != sensorNamesList.end(); s++)
- {
- forces[*s] = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), *s);
- torques[*s] = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), *s);
- }
+ //for(std::vector<std::string>::iterator s = sensorNamesList.begin(); s != sensorNamesList.end(); s++)
+ //{
+ // forces[*s] = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), *s);
+ // torques[*s] = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), *s);
+ // }
+ forces = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), sensorName);
+ torques = new armarx::FramedVector3(Eigen::Vector3f(0, 0, 0), sensorName);
ARMARX_VERBOSE << "Starting ForceTorqueUnitSimulation with " << intervalMs << " ms interval";
simulationTask = new PeriodicTask<ForceTorqueUnitSimulation>(this, &ForceTorqueUnitSimulation::simulationFunction, intervalMs, false, "ForceTorqueUnitSimulation");
@@ -65,16 +67,16 @@ void ForceTorqueUnitSimulation::simulationFunction()
listenerPrx->reportSensorForceValues(forces);
listenerPrx->reportSensorTorqueValues(torques);
- listenerPrx->reportSensorValues("force", forces);
- listenerPrx->reportSensorValues("torque", torques);
+ //listenerPrx->reportSensorValues(forces);
+ //listenerPrx->reportSensorValues(torques);
}
-void ForceTorqueUnitSimulation::setOffset(const FramedVector3Map &forceTorqueOffsets, const Ice::Current &c)
+void ForceTorqueUnitSimulation::setOffset(const FramedVector3BasePtr &forceOffsets, const FramedVector3BasePtr &torqueOffsets, const Ice::Current &c)
{
// Ignore
}
-void ForceTorqueUnitSimulation::setToNull(const StringMap &sensorNames, const Ice::Current &c)
+void ForceTorqueUnitSimulation::setToNull(const Ice::Current &c)
{
// Ignore
}
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/units/ForceTorqueUnitSimulation.h
index b62fb0a07..b4ec73b38 100644
--- a/source/RobotAPI/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/units/ForceTorqueUnitSimulation.h
@@ -28,6 +28,7 @@
#include <Core/core/services/tasks/PeriodicTask.h>
#include <Core/core/system/ImportExportComponent.h>
+#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <IceUtil/Time.h>
@@ -47,7 +48,7 @@ namespace armarx
ForceTorqueUnitSimulationPropertyDefinitions(std::string prefix) :
ForceTorqueUnitPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("SensorNames", "Comma-separated list of simulated sensor names");
+ defineRequiredProperty<std::string>("SensorName", "simulated sensor name");
defineOptionalProperty<int>("IntervalMs", 10, "The time in milliseconds between two calls to the simulation method.");
}
};
@@ -76,9 +77,8 @@ namespace armarx
virtual void onExitForceTorqueUnit();
void simulationFunction();
-
- virtual void setOffset(const armarx::FramedVector3Map &forceTorqueOffsets, const Ice::Current& c = ::Ice::Current());
- virtual void setToNull(const armarx::StringMap &sensorNames, const Ice::Current& c = ::Ice::Current());
+ virtual void setOffset(const FramedVector3BasePtr &forceOffsets, const FramedVector3BasePtr &torqueOffsets, const Ice::Current& c = ::Ice::Current());
+ virtual void setToNull(const Ice::Current& c = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()
@@ -86,8 +86,8 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
protected:
- armarx::FramedVector3Map forces;
- armarx::FramedVector3Map torques;
+ armarx::FramedVector3Ptr forces;
+ armarx::FramedVector3Ptr torques;
PeriodicTask<ForceTorqueUnitSimulation>::pointer_type simulationTask;
--
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