diff --git a/source/RobotAPI/components/robotstate/RobotStateComponent.h b/source/RobotAPI/components/robotstate/RobotStateComponent.h
index 8bd87085c81106b0ad350afb710968073d510f56..8d46f163a682c720bedc4d12bad68721374899c5 100644
--- a/source/RobotAPI/components/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/components/robotstate/RobotStateComponent.h
@@ -59,38 +59,31 @@ namespace armarx
* @class RobotStateComponent
* @ingroup Components
* The RobotStateComponent creates an internal robot representation from
- * a VirtualRobot XML file.
+ * a VirtualRobot (see [Simox](http://simox.sourceforge.net/)) XML file.
* Upon request, an Ice proxy to a shared instance of this internal robot
* can be acquired through a call to RobotStateComponent::getSynchronizedRobot().
* Additionally it is possible to retrieve a proxy for robot snapshot with
* RobotStateComponent::getRobotSnapshot().
* 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.
+ * the robot snapshot is a clone of the original robot and won't update its
+ * configuration over time. This is useful, if several components need
+ * to calculate on the same values.
+ * See \ref armarx::RemoteRobot "RemoteRobot" for more details and the usage of this component.
*/
class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
virtual public Component,
virtual public RobotStateComponentInterface
{
public:
- // inherited from KinematicUnitInterface
- void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
- 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());
+
/**
- * \return SharedRobotInterface proxy to the internal synchronized robot (gets created upon first call)
+ * \return SharedRobotInterface proxy to the internal synchronized robot.
*/
virtual SharedRobotInterfacePrx getSynchronizedRobot(const Ice::Current&) const;
/**
- * \return clone of the internal synchronized robot
+ * \return Clone of the internal synchronized robot.
*/
virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
@@ -99,6 +92,10 @@ namespace armarx
*/
virtual std::string getRobotFilename(const Ice::Current&) const;
+ /**
+ *
+ * \return The name of this robot instance.
+ */
virtual std::string getRobotName(const Ice::Current &) const;
/**
@@ -127,6 +124,16 @@ namespace armarx
* Calls unref() on RobotStateComponent::_synchronizedPrx.
*/
virtual ~RobotStateComponent();
+
+ // inherited from KinematicUnitInterface
+ void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c = ::Ice::Current());
+ 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());
private:
SharedRobotInterfacePrx _synchronizedPrx;
SharedRobotServantPtr _sharedRobotServant;
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 60f455365f07c237ebc1eba9835b72029eef2167..a63f4b17b07ef313594c6433c3e8a2bc76753fbc 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -67,7 +67,7 @@ namespace armarx {
* updates the joint velocities. To set another cycle time use setCycleTime().
* To set the velocity for a node use setTCPVelocity. Calling setTCPVelocity again with another nodeset
* will add this nodeset to the list of currently controlled TCPs.
- * @node After usage release() must be called to stop the recalcuation and setting of joint velocities.
+ * @node After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
*/
class TCPControlUnit :
@@ -127,14 +127,15 @@ namespace armarx {
// UnitResourceManagementInterface interface
/**
- * @brief Triggers the calculation loop for using cartesian velocity. Call once before setting a tcp velocity, with SetTCPVelocity.
+ * @brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
* @param c Ice Context, leave blank.
*/
void request(const Ice::Current &c = Ice::Current());
/**
* @brief Releases and stops the recalculation and updating of joint velocities.
- * Call always when finished with cartesian control.
+ * Call always when finished with cartesian control. The target velocity values of
+ * all node set will be deleted in this function.
* @param c Ice Context, leave blank.
*/
void release(const Ice::Current &c = Ice::Current());
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index fd7af89c404901bd64c3ce7358f74fc3ecf69a22..bbe6f70b96938faa938666c52776dba25aa77964 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -163,6 +163,10 @@ namespace armarx
virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string &nodeSetName);
virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr> &storeNodeSet);
+ /**
+ *
+ * @return Global pose of the robot
+ */
virtual Eigen::Matrix4f getGlobalPose();
@@ -215,7 +219,11 @@ namespace armarx
virtual void deregisterRobotNodeSet(VirtualRobot::RobotNodeSetPtr nodeSet);
/// Not implemented yet
virtual void registerEndEffector(VirtualRobot::EndEffectorPtr endEffector);
- /// Not implemented yet
+ /**
+ * @brief Sets the global pose of the robot.
+ * @param globalPose new global pose
+ * @param applyValues No effect. Will be always applied.
+ */
virtual void setGlobalPose(const Eigen::Matrix4f &globalPose, bool applyValues = true);
VirtualRobot::RobotNodePtr createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr> &allNodes, std::map<VirtualRobot::RobotNodePtr, std::vector<std::string> > &childrenMap, VirtualRobot::RobotPtr robo);