diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 22b602a95a1b56abc243668df62037f66548a89d..8699b02474e07073e095fbe9c8dbae808f1b8bb5 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -21,4 +21,5 @@ add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotStateObserver)
add_subdirectory(HandUnitObserver)
+add_subdirectory(ForceTorqueUnitSimulation)
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..173374347e61e8c78524947ac2fddb0f05c23a52
--- /dev/null
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
@@ -0,0 +1,8 @@
+
+armarx_component_set_name(ForceTorqueUnitSimulation)
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore RobotAPIUnits)
+
+set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
+
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..84c6d7d278680a2d4e194354663ad222c28940c0
--- /dev/null
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
@@ -0,0 +1,44 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::applications
+ * @author Peter Kaiser
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+
+#include <Core/core/application/Application.h>
+#include <RobotAPI/units/ForceTorqueUnitSimulation.h>
+
+namespace armarx
+{
+ /**
+ * Application for testing the armarx::ForceTorqueUnitSimulation
+ */
+ class ForceTorqueUnitSimulationApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr ®istry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<ForceTorqueUnitSimulation>(properties));
+ }
+ };
+}
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..398862ed8b6d5b6159043ea6bad6cc5e539ef054
--- /dev/null
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
@@ -0,0 +1,32 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::application::ForceTorqueUnitSimulation
+ * @author Peter Kaiser
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "ForceTorqueUnitSimulationApp.h"
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueUnitSimulationApp>();
+ app->setName("ForceTorqueUnitSimulation");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/robotstate/RobotStateComponent.h b/source/RobotAPI/robotstate/RobotStateComponent.h
index 11c4128aa387f64d63029daa97e621fc06cfc3ed..d4dafacca64b65902fa00f4007275fcca091598e 100644
--- a/source/RobotAPI/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/robotstate/RobotStateComponent.h
@@ -61,6 +61,7 @@ namespace armarx
* While the synchronized robot will constantly update its internal state
* the robot snapshot is a clone of the original robot an won't update its
* configuration over time.
+ * See \ref remoterobot for more details and the usage of this component.
*/
class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
virtual public Component,
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/robotstate/SharedRobotServants.h
index 89a063b4649f3f48caaede8487210235810c7b4b..c0c78cf0221a72f24417280e8151aeccf76da0a1 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/robotstate/SharedRobotServants.h
@@ -16,6 +16,10 @@
namespace armarx {
// Zugriff muss mutex geschuetzt werden!
+ /**
+ * @brief The base class for remote objects on the ice server
+ *
+ */
class SharedObjectBase :
virtual public SharedObjectInterface
@@ -30,6 +34,13 @@ namespace armarx {
boost::mutex _counterMutex;
};
+ /**
+ * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
+ *
+ * @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
+ * TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
+ * ICE.
+ */
class SharedRobotNodeServant :
virtual public SharedRobotNodeInterface,
public SharedObjectBase
@@ -65,6 +76,12 @@ namespace armarx {
VirtualRobot::RobotNodePtr _node;
};
+ /**
+ * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
+ *
+ * @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
+ * classes generated by ICE.
+ */
class SharedRobotServant :
public virtual SharedRobotInterface,
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 0164bfeccee201feabbaae3a2da9ef9e4ddb8ec7..f06e2564c422776ea1f5798cfd075f15ed1f934c 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -30,6 +30,7 @@ set(LIBS RobotAPIInterfaces
set(LIB_HEADERS
ForceTorqueObserver.h
ForceTorqueUnit.h
+ ForceTorqueUnitSimulation.h
HeadIKUnit.h
HapticUnit.h
HapticObserver.h
@@ -52,6 +53,7 @@ set(LIB_HEADERS
set(LIB_FILES
ForceTorqueObserver.cpp
ForceTorqueUnit.cpp
+ ForceTorqueUnitSimulation.cpp
HeadIKUnit.cpp
HapticUnit.cpp
HapticObserver.cpp
diff --git a/source/RobotAPI/units/ForceTorqueObserver.h b/source/RobotAPI/units/ForceTorqueObserver.h
index bbbc0243634fe1392e2606eda9df4acb3b634492..fbaa7edde74f46e25ccbcd4c69f4401d0347615f 100644
--- a/source/RobotAPI/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/units/ForceTorqueObserver.h
@@ -18,6 +18,10 @@ namespace armarx
}
};
+ /**
+ * The ForceTorqueObserver monitors F/T values published by ForceTorqueUnit-implementations and offers condition checks on these values.
+ * Available condition checks are: updated, larger, equals, smaller, magnitudelarger.
+ */
class ForceTorqueObserver :
virtual public Observer,
virtual public ForceTorqueUnitObserverInterface
diff --git a/source/RobotAPI/units/ForceTorqueUnit.h b/source/RobotAPI/units/ForceTorqueUnit.h
index df6b0566f27b05f72fcfda5e01a137b0cac5869c..87e25449e700b32a1ab05ad672d3498e8ada63a8 100644
--- a/source/RobotAPI/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/units/ForceTorqueUnit.h
@@ -46,6 +46,12 @@ namespace armarx
}
};
+ /**
+ * The ForceTorqueUnit class is the base unit for force/torque sensors.
+ * It implements the ForceTorqueUnit-interface and is responsible for distributing F/T sensor-values in ArmarX.
+ * RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
+ * Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
+ */
class ForceTorqueUnit :
virtual public ForceTorqueUnitInterface,
virtual public SensorActorUnit
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp b/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d4e0061bc5d0ada1af0471cf85f3bd7f9f2f5176
--- /dev/null
+++ b/source/RobotAPI/units/ForceTorqueUnitSimulation.cpp
@@ -0,0 +1,87 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::units
+ * @author Peter Kaiser (peter dot kaiser at kit dot edu)
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+
+#include "ForceTorqueUnitSimulation.h"
+
+#include <RobotAPI/robotstate/remote/ArmarPose.h>
+
+#include <boost/algorithm/string.hpp>
+
+using namespace armarx;
+
+void ForceTorqueUnitSimulation::onInitForceTorqueUnit()
+{
+ int intervalMs = getProperty<int>("IntervalMs").getValue();
+ std::string sensorNames = getProperty<std::string>("SensorNames").getValue();
+
+ 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);
+ }
+
+ ARMARX_VERBOSE << "Starting ForceTorqueUnitSimulation with " << intervalMs << " ms interval";
+ simulationTask = new PeriodicTask<ForceTorqueUnitSimulation>(this, &ForceTorqueUnitSimulation::simulationFunction, intervalMs, false, "ForceTorqueUnitSimulation");
+}
+
+void ForceTorqueUnitSimulation::onStartForceTorqueUnit()
+{
+ simulationTask->start();
+}
+
+
+void ForceTorqueUnitSimulation::onExitForceTorqueUnit()
+{
+ simulationTask->stop();
+}
+
+
+void ForceTorqueUnitSimulation::simulationFunction()
+{
+ listenerPrx->reportSensorForceValues(forces);
+ listenerPrx->reportSensorTorqueValues(torques);
+
+ listenerPrx->reportSensorValues("force", forces);
+ listenerPrx->reportSensorValues("torque", torques);
+}
+
+void ForceTorqueUnitSimulation::setOffset(const FramedVector3Map &forceTorqueOffsets, const Ice::Current &c)
+{
+ // Ignore
+}
+
+void ForceTorqueUnitSimulation::setToNull(const StringMap &sensorNames, const Ice::Current &c)
+{
+ // Ignore
+}
+
+
+PropertyDefinitionsPtr ForceTorqueUnitSimulation::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new ForceTorqueUnitSimulationPropertyDefinitions(getConfigIdentifier()));
+}
+
diff --git a/source/RobotAPI/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/units/ForceTorqueUnitSimulation.h
new file mode 100644
index 0000000000000000000000000000000000000000..b62fb0a07222e0aafefbe2fdb9888c643f0ac219
--- /dev/null
+++ b/source/RobotAPI/units/ForceTorqueUnitSimulation.h
@@ -0,0 +1,98 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::units
+ * @author Peter Kaiser (peter dot kaiser at kit dot edu)
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
+#define ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
+
+#include "ForceTorqueUnit.h"
+
+#include <Core/core/services/tasks/PeriodicTask.h>
+#include <Core/core/system/ImportExportComponent.h>
+
+#include <IceUtil/Time.h>
+
+#include <string>
+
+namespace armarx
+{
+ /**
+ * @class ForceTorqueUnitSimulationPropertyDefinitions
+ * @brief
+ * @ingroup SensorActorUnits
+ */
+ class ForceTorqueUnitSimulationPropertyDefinitions :
+ public ForceTorqueUnitPropertyDefinitions
+ {
+ public:
+ ForceTorqueUnitSimulationPropertyDefinitions(std::string prefix) :
+ ForceTorqueUnitPropertyDefinitions(prefix)
+ {
+ defineRequiredProperty<std::string>("SensorNames", "Comma-separated list of simulated sensor names");
+ defineOptionalProperty<int>("IntervalMs", 10, "The time in milliseconds between two calls to the simulation method.");
+ }
+ };
+
+ /**
+ * @class PlatformUnitSimulation
+ * @brief
+ * @ingroup SensorActorUnits
+ *
+ * Simulates a set of Force/Torque sensors.
+ * The unit is given a list of sensor names as a property. It then publishes force/torque values under these names.
+ * The published values will always be zero.
+ */
+ class ForceTorqueUnitSimulation :
+ virtual public ForceTorqueUnit
+ {
+ public:
+ // inherited from Component
+ virtual std::string getDefaultName() const
+ {
+ return "ForceTorqueUnitSimulation";
+ }
+
+ virtual void onInitForceTorqueUnit();
+ virtual void onStartForceTorqueUnit();
+ 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());
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ armarx::FramedVector3Map forces;
+ armarx::FramedVector3Map torques;
+
+ PeriodicTask<ForceTorqueUnitSimulation>::pointer_type simulationTask;
+
+
+ };
+}
+
+#endif