diff --git a/etc/doxygen/pages/5.Components.dox b/etc/doxygen/pages/5.Components.dox
index b076255b458833746ada7e9e9fc082d4b7f6ae26..023de80200bd3c6cbcadd9a163710562f4305b11 100644
--- a/etc/doxygen/pages/5.Components.dox
+++ b/etc/doxygen/pages/5.Components.dox
@@ -21,15 +21,26 @@ There are several types of special components:
There has to be a specific observer implementation for each base unit.
+\defgroup RobotAPI-SensorActorUnits Sensor-Actor Unit
+\ingroup RobotAPI-Components
+\brief Components that provide interfaces to associated hardware devices.
+
+Sensor-Actor Units implement a corresponding Ice interface which makes them accessible for other running components.
+
+
\defgroup RobotAPI-SensorActorUnits-simulation Sensor-Actor Unit Simulations
\ingroup RobotAPI-Components
-Basic simulation implementations of the interfaces that do not consider any physical laws.
+\brief Simulated Sensor-Actor Units do not connected to any hardware.
+
\defgroup RobotAPI-SensorActorUnits-observers Sensor-Actor Unit Observers
\ingroup RobotAPI-Components
-Almost any Sensor-Actor Unit has an observer, that observes the sensor value of this unit and
+\brief Component monitoring sensor values reported from Sensor-Actor Units.
+
+Any Sensor-Actor Unit can have an observer, that monitors the reported sensor values of this unit and
provides datafields for the sensor data. All unit observers implement the \ref armarx::Observer interface.
+
\defgroup RobotAPI-SensorActorUnits-util Utilities
\ingroup RobotAPI-Components
Utility and helper classes associated with Sensor-Actor Units.
diff --git a/etc/doxygen/pages/SensorActorUnits.dox b/etc/doxygen/pages/SensorActorUnits.dox
deleted file mode 100644
index 147a15e14db7f05b27f84d086403d1c3705a2aa5..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/SensorActorUnits.dox
+++ /dev/null
@@ -1,10 +0,0 @@
-/**
-\defgroup RobotAPI-SensorActorUnits Sensor-Actor Unit
-\ingroup RobotAPI-Components
-
-\brief Sensor-Actor Units are components that provide an interface to an associated hardware device.
-
-Sensor-Actor Units implement a corresponding Ice interface which makes them accessible for other running components.
- */
-
-
diff --git a/source/RobotAPI/components/RobotIK/RobotIK.cpp b/source/RobotAPI/components/RobotIK/RobotIK.cpp
index 788d6e31c6ed10c96f3be8d0732af829ef1a654f..cdab9cff84f9da6f1b81614ddf267ec65a89ada5 100644
--- a/source/RobotAPI/components/RobotIK/RobotIK.cpp
+++ b/source/RobotAPI/components/RobotIK/RobotIK.cpp
@@ -527,7 +527,7 @@ namespace armarx
GenericIKSolver ikSolver(nodeSet, JacobiProvider::eSVDDamped);
bool success = ikSolver.solve(tcpPose, convertCartesianSelection(cs), _numIKTrials);
// Read solution from node set
- if (success)
+ if (true)
{
const std::vector<RobotNodePtr> robotNodes = nodeSet->getAllRobotNodes();
BOOST_FOREACH(RobotNodePtr rnode, robotNodes)
@@ -538,7 +538,8 @@ namespace armarx
ikSolution.isReachable = true;
ikSolution.error = 0;
}
- else {
+ else
+ {
ikSolution.isReachable = false;
ikSolution.error = 0;
}
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index dcf5ecabdbbf798ee1294240753c8ade61e3c148..540e657d73028dbb89f89b3494fd98e325a266fd 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -1,3 +1,26 @@
+/*
+* 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2013
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
#include "ForceTorqueObserver.h"
#include <Core/observers/checks/ConditionCheckUpdated.h>
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 0272f731e05919d4ea83c28bde89816cb157c055..4554f0e98c69bd6a7ea13dd426ec50fdd4e1c701 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -1,3 +1,26 @@
+/*
+* 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2013
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
#ifndef _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
#define _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
@@ -7,7 +30,10 @@
namespace armarx
{
-
+ /**
+ * \class ForceTorqueObserverPropertyDefinitions
+ * \brief
+ */
class ForceTorqueObserverPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -20,10 +46,12 @@ namespace armarx
};
/**
- * @class ForceTorqueObserver
- * @ingroup RobotAPI-SensorActorUnits-observers
+ * \class ForceTorqueObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring Force/Torque values
+ *
* 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.
+ * Available condition checks are: *updated*, *larger*, *equals*, *smaller* and *magnitudelarger*.
*/
class ForceTorqueObserver :
virtual public Observer,
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index 59c7382083e35a49f816047d0128828acf1435a4..c7594288e2b1a099d6711f17be936d0ab62e3d10 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -37,8 +37,8 @@
namespace armarx
{
/**
- * @class ForceTorqueUnitSimulationPropertyDefinitions
- * @brief
+ * \class ForceTorqueUnitSimulationPropertyDefinitions
+ * \brief
*/
class ForceTorqueUnitSimulationPropertyDefinitions :
public ForceTorqueUnitPropertyDefinitions
@@ -53,11 +53,10 @@ namespace armarx
};
/**
- * @class ForceTorqueUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class ForceTorqueUnitSimulation
+ * \brief Simulates a set of Force/Torque sensors.
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*
- * 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.
*/
@@ -65,7 +64,6 @@ namespace armarx
virtual public ForceTorqueUnit
{
public:
- // inherited from Component
virtual std::string getDefaultName() const
{
return "ForceTorqueUnitSimulation";
@@ -76,11 +74,19 @@ namespace armarx
virtual void onExitForceTorqueUnit();
void simulationFunction();
+
+ /**
+ * \warning Not implemented yet
+ */
virtual void setOffset(const FramedDirectionBasePtr &forceOffsets, const FramedDirectionBasePtr &torqueOffsets, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet
+ */
virtual void setToNull(const Ice::Current& c = ::Ice::Current());
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
@@ -89,8 +95,6 @@ namespace armarx
armarx::FramedDirectionPtr torques;
PeriodicTask<ForceTorqueUnitSimulation>::pointer_type simulationTask;
-
-
};
}
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index ea51a6a2199535d00d173b5554c2317704a81cb4..e37f66e510c7730a8bebeb5d91e4685527242c1b 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -30,8 +30,8 @@
namespace armarx
{
/**
- * @class HandUnitSimulationPropertyDefinitions
- * @brief Defines all necessary properties for armarx::HandUnitSimulation
+ * \class HandUnitSimulationPropertyDefinitions
+ * \brief Defines all necessary properties for armarx::HandUnitSimulation
*/
class HandUnitSimulationPropertyDefinitions:
public ComponentPropertyDefinitions
@@ -47,13 +47,14 @@ namespace armarx
/**
- * @class HandUnitSimulation
- * @brief This class defines an interface for providing high level access to robot hands
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class HandUnitSimulation
+ * \ingroup RobotAPI-SensorActorUnits-simulation
+ * \brief Simulates a robot hand.
*
* An instance of a HandUnitSimulation provides means to open, close, and shape hands.
* It uses the HandUnitListener Ice interface to report updates of its current state
*
+ * \warning This component is not yet fully functional
*/
class HandUnitSimulation :
virtual public HandUnit
@@ -65,25 +66,20 @@ namespace armarx
return "HandUnitSimulation";
}
- /**
- *
- */
virtual void onInitHandUnit();
- /**
- *
- */
virtual void onStartHandUnit();
- /**
- *
- */
virtual void onExitHandUnit();
-
-
/**
* Send command to the hand to form a specific shape position.
+ *
+ * \warning Not implemented yet!
*/
virtual void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointAngles(const NameValueMap& jointAngles, const Ice::Current& c = ::Ice::Current());
};
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index 4e167780a5f638c0302a97264df33501c536eadf..dd9cb014c5580962c4b091a61b83b981ed09407b 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -27,14 +27,16 @@
#include <RobotAPI/interface/units/HapticUnit.h>
#include <Core/observers/Observer.h>
#include <Core/util/variants/eigen3/MatrixVariant.h>
-//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
#include <Core/core/services/tasks/PeriodicTask.h>
namespace armarx
{
-
+ /**
+ * \class HapticObserverPropertyDefinitions
+ * \brief
+ */
class HapticObserverPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -46,11 +48,9 @@ namespace armarx
}
};
-
- /*!
- * @class HapticSampleStatistics
- *
- * \brief The HapticSampleStatistics class
+ /**
+ * \class HapticSampleStatistics
+ * \brief
*/
class HapticSampleStatistics
{
@@ -109,9 +109,12 @@ namespace armarx
};
/**
- * @class HapticObserver
- * @ingroup RobotAPI-SensorActorUnits-observers
- * @brief The HapticObserver class
+ * \class HapticObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring haptic sensor values
+ *
+ * The HapticObserver monitors haptic sensor values published by HapticUnit-implementations and offers condition checks on these values.
+ * Available condition checks are: *updated*, *larger*, *equals* and *smaller*.
*/
class HapticObserver :
virtual public Observer,
@@ -131,7 +134,7 @@ namespace armarx
void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
private:
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 0a1d93318f23bac0d42da4810862e758a5007780..291e4dcda27186bc28e6cad3cb622b4560e333d7 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -31,7 +31,10 @@
namespace armarx
{
-
+ /**
+ * \class InertialMeasurementUnitObserverPropertyDefinitions
+ * \brief
+ */
class InertialMeasurementUnitObserverPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -45,10 +48,13 @@ namespace armarx
};
- /*!
- * @class InertialMeasurementUnitObserver
- * @ingroup RobotAPI-SensorActorUnits-observers
- * \brief The InertialMeasurementUnitObserver class
+ /**
+ * \class InertialMeasurementUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring @IMU sensor values
+ *
+ * The InertialMeasurementUnitObserver monitors @IMU sensor values published by InertialMeasurementUnit-implementations and offers condition checks on these values.
+ * Available condition checks are: *updated*, *larger*, *equals* and *smaller*.
*/
class InertialMeasurementUnitObserver :
virtual public Observer,
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 01dea5f222d9e7e33939b9bb08c53aee341c18f7..37e3637c9f65f77e9218b331b441348fc51af676 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -41,14 +41,17 @@ namespace armarx
ARMARX_CREATE_CHECK(KinematicUnitObserver, larger)
/**
- * @class KinematicUnitObserver
- * @ingroup RobotAPI-SensorActorUnits-observers
+ * \class KinematicUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring kinematic sensor and actor values
*
* The KinematicUnitObserver allows to install conditions on all channel reported by the KinematicUnit.
* These include joint angles, velocities, torques and motor temperatures
*
* The KinematicUnitObserver retrieves its configuration from a VirtualRobot robot model. Within the model, the joints
- * which are observer by the unit are define by a robotnodeset
+ * which are observer by the unit are define by a robotnodeset.
+ *
+ * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
*/
class ARMARXCORE_IMPORT_EXPORT KinematicUnitObserver :
virtual public Observer,
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index bd85de32f88a41d5cc6ed903c8c4d7af5f41ed9c..0e309977a4f026e1d3bd2cb0c3530069063da5da 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -61,7 +61,7 @@ void KinematicUnitSimulation::onInitKinematicUnit()
for (std::vector<VirtualRobot::RobotNodePtr>::iterator it = robotNodes.begin(); it != robotNodes.end(); it++)
{
std::string jointName = (*it)->getName();
- jointStates[jointName] = JointState();
+ jointStates[jointName] = KinematicUnitSimulationJointState();
jointStates[jointName].init();
}
}
@@ -99,7 +99,7 @@ void KinematicUnitSimulation::simulationFunction()
{
boost::mutex::scoped_lock lock(jointStatesMutex);
- for ( JointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+ for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
{
float newAngle = 0.0f;
@@ -118,14 +118,14 @@ void KinematicUnitSimulation::simulationFunction()
}
// constrain the angle
- JointInfo & jointInfo = jointInfos[it->first];
+ KinematicUnitSimulationJointInfo & jointInfo = jointInfos[it->first];
float maxAngle = (jointInfo.hasLimits()) ? jointInfo.limitHi : 2.0 * M_PI;
float minAngle = (jointInfo.hasLimits()) ? jointInfo.limitLo : -2.0 * M_PI;
newAngle = std::max<float>(newAngle, minAngle);
newAngle = std::min<float>(newAngle, maxAngle);
// Check if joint existed before
- JointStates::iterator itPrev = previousJointStates.find(it->first);
+ KinematicUnitSimulationJointStates::iterator itPrev = previousJointStates.find(it->first);
if(itPrev == previousJointStates.end())
{
aPosValueChanged = aVelValueChanged = true;
@@ -167,7 +167,7 @@ void KinematicUnitSimulation::switchControlMode(const NameControlModeMap& target
std::string targetJointName = it->first;
ControlMode targetControlMode = it->second;
- JointStates::iterator iterJoints = jointStates.find(targetJointName);
+ KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
// check whether there is a joint with this name and set joint angle
if(iterJoints != jointStates.end())
@@ -200,7 +200,7 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
float targetJointAngle = it->second;
// check whether there is a joint with this name and set joint angle
- JointStates::iterator iterJoints = jointStates.find(targetJointName);
+ KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
if(iterJoints != jointStates.end())
{
if (fabs(iterJoints->second.angle - targetJointAngle)>0)
@@ -231,7 +231,7 @@ void KinematicUnitSimulation::setJointVelocities(const NameValueMap& targetJoint
std::string targetJointName = it->first;
float targetJointVelocity = it->second;
- JointStates::iterator iterJoints = jointStates.find(targetJointName);
+ KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
// check whether there is a joint with this name and set joint angle
if(iterJoints != jointStates.end())
{
@@ -256,7 +256,7 @@ void KinematicUnitSimulation::setJointTorques(const NameValueMap& targetJointTor
std::string targetJointName = it->first;
float targetJointTorque = it->second;
- JointStates::iterator iterJoints = jointStates.find(targetJointName);
+ KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
// check whether there is a joint with this name and set joint angle
if(iterJoints != jointStates.end())
{
@@ -282,7 +282,7 @@ void KinematicUnitSimulation::stop(const Ice::Current &c)
{
boost::mutex::scoped_lock lock(jointStatesMutex);
- for ( JointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+ for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
{
it->second.velocity = 0;
}
@@ -297,7 +297,7 @@ PropertyDefinitionsPtr KinematicUnitSimulation::createPropertyDefinitions()
}
-bool mapEntryEqualsString(std::pair<std::string, JointState> iter, std::string compareString)
+bool mapEntryEqualsString(std::pair<std::string, KinematicUnitSimulationJointState> iter, std::string compareString)
{
return (iter.first == compareString);
}
@@ -306,7 +306,7 @@ void KinematicUnitSimulation::requestJoints(const StringSequence& joints, const
{
ARMARX_INFO << flush;
// if one of the joints belongs to this unit, lock access to this unit for other components except for the requesting one
- JointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
+ KinematicUnitSimulationJointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
if (jointStates.end() != it)
{
KinematicUnit::request(c);
@@ -317,7 +317,7 @@ void KinematicUnitSimulation::releaseJoints(const StringSequence& joints, const
{
ARMARX_INFO << flush;
// if one of the joints belongs to this unit, unlock access
- JointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
+ KinematicUnitSimulationJointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
if (jointStates.end() != it)
{
KinematicUnit::release(c);
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index c4c11f71e5af8f9d694366b80e2861e2dffd4983..4b15853425deae3cff664c3875fa3ae3d3b6f702 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -35,17 +35,17 @@
namespace armarx
{
/**
- * @class JointState.
- * @brief State of a joint.
- * @ingroup RobotAPI-SensorActorUnits-util
+ * \class KinematicUnitSimulationJointState.
+ * \brief State of a joint.
+ * \ingroup RobotAPI-SensorActorUnits-util
*
- * Includes the control mode, the joint angle, velocitym torquem and motor temperature.
- * Controlmode defaults to ePositionControl. All other values to zero.
+ * Includes the control mode, the joint angle, velocity, torque, and motor temperature.
+ * Controlmode defaults to ePositionControl, all other values default to zero.
*/
- class JointState
+ class KinematicUnitSimulationJointState
{
public:
- JointState()
+ KinematicUnitSimulationJointState()
{
init();
}
@@ -60,25 +60,25 @@ namespace armarx
}
ControlMode controlMode;
- float angle;
- float velocity;
- float torque;
- float temperature;
+ float angle;
+ float velocity;
+ float torque;
+ float temperature;
};
- typedef std::map<std::string, JointState> JointStates;
-
+ typedef std::map<std::string, KinematicUnitSimulationJointState> KinematicUnitSimulationJointStates;
/**
- * @class JointInfo.
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-util
+ * \class JointInfo.
+ * \brief Additional information about a joint.
+ * \ingroup RobotAPI-SensorActorUnits-util
*
- * Joint info including lower and upper joint limits (rad). No limits set by default (lo=hi).
+ * Joint info including lower and upper joint limits (rad).
+ * No limits are set by default (lo = hi).
*/
- class JointInfo
+ class KinematicUnitSimulationJointInfo
{
public:
- JointInfo()
+ KinematicUnitSimulationJointInfo()
{
reset();
}
@@ -96,11 +96,11 @@ namespace armarx
float limitLo;
float limitHi;
};
- typedef std::map<std::string, JointInfo> JointInfos;
+ typedef std::map<std::string, KinematicUnitSimulationJointInfo> KinematicUnitSimulationJointInfos;
/**
- * @class KinematicUnitSimulationPropertyDefinitions
- * @brief
+ * \class KinematicUnitSimulationPropertyDefinitions
+ * \brief
*/
class KinematicUnitSimulationPropertyDefinitions :
public KinematicUnitPropertyDefinitions
@@ -115,9 +115,9 @@ namespace armarx
};
/**
- * @class KinematicUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class KinematicUnitSimulation
+ * \brief Simulates robot kinematics
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*/
class KinematicUnitSimulation :
virtual public KinematicUnit
@@ -139,19 +139,28 @@ namespace armarx
virtual void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = ::Ice::Current());
virtual void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = ::Ice::Current());
virtual void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not implemented yet!
+ */
virtual void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = ::Ice::Current());
+
void stop(const Ice::Current &c = Ice::Current());
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
protected:
- JointStates jointStates;
- JointStates previousJointStates;
- JointInfos jointInfos;
+ KinematicUnitSimulationJointStates jointStates;
+ KinematicUnitSimulationJointStates previousJointStates;
+ KinematicUnitSimulationJointInfos jointInfos;
boost::mutex jointStatesMutex;
IceUtil::Time lastExecutionTime;
float noise;
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 3dacf641de0bba563a15ab9db00447499f8083ca..d07da91a4a16875949df07b272b90c8f065df2a3 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -43,15 +43,17 @@ namespace armarx
ARMARX_CREATE_CHECK(PlatformUnitObserver, inrange)
/**
- * @class PlatformUnitObserver
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-observers
+ * \class PlatformUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring platform-related sensor values.
*
* The PlatformUnitObserver allows the installation of conditions on all channel reported by the PlatformUnit.
* These include current and target position.
*
* The PlatformUnitObserver retrieves its platform configuration via properties.
* The name must exist in the used Simox robot model file.
+ *
+ * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
*/
class ARMARXCORE_IMPORT_EXPORT PlatformUnitObserver :
virtual public Observer,
@@ -70,10 +72,10 @@ namespace armarx
virtual std::string getDefaultName() const
{
return "PlatformUnitObserver";
- };
+ }
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
@@ -85,9 +87,9 @@ namespace armarx
};
/**
- @class PlatformUnitDatafieldCreator
- @brief
- @ingroup RobotAPI-SensorActorUnits-util
+ * \class PlatformUnitDatafieldCreator
+ * \brief
+ * \ingroup RobotAPI-SensorActorUnits-util
*/
class PlatformUnitDatafieldCreator
{
@@ -97,11 +99,11 @@ namespace armarx
{}
/**
- * @brief Function to create a Channel Representation for a PlatformUnitObserver
- * @param platformUnitOberserverName Name of the PlatformUnitObserver
- * @param platformName Name of the platform of the robot like it is specified
- * in the simox-robot-xml-file
- * @return returns a ChannelRepresentationPtr
+ * \brief Function to create a Channel Representation for a PlatformUnitObserver
+ * \param platformUnitOberserverName Name of the PlatformUnitObserver
+ * \param platformName Name of the platform of the robot like it is specified
+ * in the simox-robot-xml-file
+ * \return returns a ChannelRepresentationPtr
*/
DataFieldIdentifier getDatafield(const std::string& platformUnitObserverName, const std::string& platformName) const
{
@@ -126,7 +128,6 @@ namespace armarx
const PlatformUnitDatafieldCreator platformVelocity("platformVelocity");
}
}
-
}
#endif
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index f5910e0750e4c9c7544139dcad98a38375f84289..dfd0e18ab04cfa3ae59a2ac94a05b524e3a42a1b 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -36,8 +36,8 @@
namespace armarx
{
/**
- * @class PlatformUnitSimulationPropertyDefinitions
- * @brief
+ * \class PlatformUnitSimulationPropertyDefinitions
+ * \brief
*/
class PlatformUnitSimulationPropertyDefinitions :
public PlatformUnitPropertyDefinitions
@@ -57,9 +57,9 @@ namespace armarx
};
/**
- * @class PlatformUnitSimulation
- * @brief
- * @ingroup RobotAPI-SensorActorUnits-simulation
+ * \class PlatformUnitSimulation
+ * \brief Simulates a robot platform.
+ * \ingroup RobotAPI-SensorActorUnits-simulation
*/
class PlatformUnitSimulation :
virtual public PlatformUnit
@@ -80,11 +80,17 @@ namespace armarx
// proxy implementation
void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \warning Not yet implemented!
+ */
void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c = Ice::Current());
+
void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c = Ice::Current());
void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current &c = Ice::Current());
+
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index c0c5cf9a1d447452f17ad040fef9c87ed73c50d3..aa6741a0afbc81db4707103af0cd8a33a4b9a3ec 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -402,6 +402,7 @@ namespace armarx
for(; itDIK != localDIKMap.end(); itDIK++)
{
RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(itDIK->first);
+
EDifferentialIKPtr dIK = boost::dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
// dIK->setVerbose(true);
@@ -414,7 +415,7 @@ namespace armarx
Eigen::VectorXf jointLimitCompensation = CalcJointLimitAvoidanceDeltas(robotNodeSet, fullJac, fullJacInv);
// for debugging only!
- {
+ /*{
MatrixXf posJac = fullJac.block(0, 0, fullJac.rows(), 3);
MatrixXf oriJac = fullJac.block(0, 3, fullJac.rows(), 3);
JacobiSVD<MatrixXf> svdPos(posJac);
@@ -427,18 +428,22 @@ namespace armarx
{
ARMARX_IMPORTANT << deactivateSpam() << "The robot is close to a singularity! Minimal singular value of the orientation Jacobian: " << svdOri.singularValues()[2];
}
- }
+ }*/
// added by David S
const float maxJointLimitCompensationRatio = 0.8;
- if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio*jointDelta.norm())
+
+ if (jointLimitCompensation(0) == jointLimitCompensation(0))
{
- jointLimitCompensation = maxJointLimitCompensationRatio*jointDelta.norm()/jointLimitCompensation.norm() * jointLimitCompensation;
+ if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio*jointDelta.norm())
+ {
+ jointLimitCompensation = maxJointLimitCompensationRatio*jointDelta.norm()/jointLimitCompensation.norm() * jointLimitCompensation;
+ }
+ jointDelta += jointLimitCompensation;
}
- jointDelta += jointLimitCompensation;
-
jointDelta /=(cycleTime*0.001);
+
jointDelta = applyMaxJointVelocity(jointDelta, maxJointVelocity);
// Eigen::Vector3f currentTCPPosition = robotNodeSet->getTCP()->getGlobalPose().block(0,3,3,1);
@@ -692,6 +697,8 @@ namespace armarx
VectorXf newJointValues;
rns->getJointValues(newJointValues);
resultJointDelta = newJointValues - oldJointValues;
+
+
// ARMARX_DEBUG << "joint angle deltas:\n" << dThetaSum;
// check tolerances
@@ -726,6 +733,7 @@ namespace armarx
}
while (step<maxNStep);
+
float bestJVError = std::numeric_limits<float>::max();
for(unsigned int i=0; i < jointDeltaIterations.size(); i++)
{
@@ -737,6 +745,7 @@ namespace armarx
}
}
+
robot->setJointValues(rns,oldJointValues + resultJointDelta);
// ARMARX_DEBUG << "best try: " << bestIndex << " with error: " << bestJVError;
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 030891c76bf6b8e02d928317e07a3f168d746a4f..24ce0d04a82ee3cf2de97e8d71950c23c0bc92f3 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -15,7 +15,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package ArmarX::
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @author Mirko Waechter (mirko.waechter at kit dot edu)
* @date 2013
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index 8efaf63e6a8e789dfc8cc9aabc1bc8eababdd76c..e8af6aaf86700be5e58d956b405cf2005356ca61 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.h
@@ -27,7 +27,10 @@
#include <RobotAPI/interface/units/TCPControlUnit.h>
namespace armarx {
-
+ /**
+ * \class TCPControlUnitObserverPropertyDefinitions
+ * \brief
+ */
class TCPControlUnitObserverPropertyDefinitions:
public ComponentPropertyDefinitions
{
@@ -39,6 +42,16 @@ namespace armarx {
}
};
+ /**
+ * \class TCPControlUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring TCP-related sensor values.
+ *
+ * The TCPControlUnitObserver allows the installation of conditions on all channel reported by the TCPControlUnit.
+ * These include TCP pose and velocity.
+ *
+ * Available condition checks are: *updated*, *equals*, *approx*, *larger*, *smaller* and *magnitudelarger*.
+ */
class TCPControlUnitObserver :
virtual public Observer,
virtual public TCPControlUnitObserverInterface
@@ -52,12 +65,12 @@ namespace armarx {
void onConnectObserver();
/**
- * @see PropertyUser::createPropertyDefinitions()
+ * \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
- // TCPControlUnitListener interface
public:
+ // TCPControlUnitListener interface
void reportTCPPose(const FramedPoseBaseMap &poseMap, const Ice::Current &c = Ice::Current());
void reportTCPVelocities(const FramedDirectionMap &tcpTranslationVelocities, const FramedDirectionMap &tcpOrientationVelocities, const Ice::Current &c = Ice::Current());
diff --git a/source/RobotAPI/interface/core/FramedPoseBase.ice b/source/RobotAPI/interface/core/FramedPoseBase.ice
index e618d59af3d9170047c6b7351f38eef27e91cb3d..acc1f7b9d4d8330cb10e3efdc72ece0201c279f4 100644
--- a/source/RobotAPI/interface/core/FramedPoseBase.ice
+++ b/source/RobotAPI/interface/core/FramedPoseBase.ice
@@ -30,7 +30,12 @@
module armarx
{
-
+ /**
+ * [FramedDirectionBase] defines a vector with regard to an agent and a frame within the agent.
+ * If agent is empty and frame is set to armarx::GlobalFrame, vector is defined in global frame.
+ * @param frame Name of frame.
+ * @param frame Name of agent.
+ */
["cpp:virtual"]
class FramedDirectionBase extends Vector3Base
{
@@ -38,14 +43,25 @@ module armarx
string agent;
};
-
+ /**
+ * [FramedPoseBase] defines a pose with regard to an agent and a frame within the agent.
+ * If agent is empty and frame is set to armarx::GlobalFrame, pose is defined in global frame.
+ * @param frame Name of frame.
+ * @param frame Name of agent.
+ */
["cpp:virtual"]
class FramedPoseBase extends PoseBase
{
string frame;
string agent;
};
-
+
+ /**
+ * [FramedPositionBase] defines a position with regard to an agent and a frame within the agent.
+ * If agent is empty and frame is set to armarx::GlobalFrame, position is defined in global frame.
+ * @param frame Name of frame.
+ * @param frame Name of agent.
+ */
["cpp:virtual"]
class FramedPositionBase extends Vector3Base
{
@@ -53,16 +69,32 @@ module armarx
string agent;
};
+ /**
+ * [FramedOrientationBase] defines an orientation in quaternion with regard to an agent and a frame within the agent.
+ * If agent is empty and frame is set to armarx::GlobalFrame, orientation in quaternion is defined in global frame.
+ * @param frame Name of frame.
+ * @param frame Name of agent.
+ */
["cpp:virtual"]
class FramedOrientationBase extends QuaternionBase
{
string frame;
string agent;
};
-
+ /**
+ * FramedDirectionMap is a map of FramedDirectionBases and corresponding agent nodes identified by name.
+ * @see FramedDirectionBase
+ */
dictionary<string, FramedDirectionBase> FramedDirectionMap;
+ /**
+ * FramedPositionBase is a map of FramedPositionBases and corresponding agent nodes identified by name.
+ * @see FramedPositionBase
+ */
dictionary<string, FramedPositionBase> FramedPositionMap;
-
+
+ /**
+ * PoseMedianFilterBase filters poses with a median filter.
+ */
["cpp:virtual"]
class PoseMedianFilterBase extends MedianFilterBase
{
diff --git a/source/RobotAPI/interface/core/LinkedPoseBase.ice b/source/RobotAPI/interface/core/LinkedPoseBase.ice
index 14f78c6d1b7056ce15fd7d9164d464352e180631..3f465967c721200bd717266150797b14a5bb3125 100644
--- a/source/RobotAPI/interface/core/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/core/LinkedPoseBase.ice
@@ -29,17 +29,31 @@
module armarx
{
+ /**
+ * [LinkedPoseBase]
+ */
["cpp:virtual"]
class LinkedPoseBase extends FramedPoseBase
{
SharedRobotInterface* referenceRobot;
+ /**
+ * changeFrame describes pose on new frame.
+ * @param newFrame Name of new frame node.
+ */
void changeFrame(string newFrame);
};
-
+
+ /**
+ * [LinkedDirectionBase]
+ */
["cpp:virtual"]
class LinkedDirectionBase extends FramedDirectionBase
{
SharedRobotInterface* referenceRobot;
+ /**
+ * changeFrame describes direction on new frame.
+ * @param newFrame Name of new frame node.
+ */
void changeFrame(string newFrame);
};
};
diff --git a/source/RobotAPI/interface/core/PoseBase.ice b/source/RobotAPI/interface/core/PoseBase.ice
index 3634981d22bf805cb43711bd9c7f323dedee6a6b..7cadb9e161d83712db74606c666e103adabae6a1 100644
--- a/source/RobotAPI/interface/core/PoseBase.ice
+++ b/source/RobotAPI/interface/core/PoseBase.ice
@@ -29,22 +29,35 @@
module armarx
{
-
+ /**
+ * [Vector2Base] defines a 2D vector with x and y.
+ */
class Vector2Base extends VariantDataClass
{
float x = zeroInt;
float y = zeroInt;
};
-
+ /**
+ * [Vector3Base] defines a 3D vector with x, y, and z.
+ */
class Vector3Base extends VariantDataClass
{
float x = zeroInt;
float y = zeroInt;
float z = zeroInt;
};
-
+ /**
+ * List of [Vector3Base].
+ */
sequence<Vector3Base> Vector3BaseList;
+ /**
+ * [QuaternionBase] defines a quaternion with
+ * @param qw Rotation angle.
+ * @param qx x-coordinate of normalized rotation axis.
+ * @param qy y-coordinate of normalized rotation axis.
+ * @param qz z-coordinate of normalized rotation axis.
+ */
class QuaternionBase extends VariantDataClass
{
float qw = zeroInt;
@@ -53,13 +66,20 @@ module armarx
float qz = zeroInt;
};
+ /**
+ * [PoseBase] defines a pose with position in [Vector3Base] and orientation in [QuaternionBase].
+ * @param position Position as 3D vector in x, y, and z [Vector3Base].
+ * @param orientation Orientation as quaternion [QuaternionBase].
+ */
["cpp:virtual"]
class PoseBase extends VariantDataClass
{
Vector3Base position;
QuaternionBase orientation;
};
-
+ /**
+ * List of [PoseBase].
+ */
sequence<PoseBase> PoseBaseList;
};
diff --git a/source/RobotAPI/interface/observers/ObserverFilters.ice b/source/RobotAPI/interface/observers/ObserverFilters.ice
index d233e745d2a83ceff17e5190f3d099beddaac6c9..b668c374f15836a31a72c8120f7afde299913004 100644
--- a/source/RobotAPI/interface/observers/ObserverFilters.ice
+++ b/source/RobotAPI/interface/observers/ObserverFilters.ice
@@ -36,42 +36,66 @@ module armarx
const string magnitudeinrange = "magnitudeinrange";
};
+ /**
+ * OffsetFilterBase implements a filter which stores the measurement in the first run as an offset.
+ * This offset is subtracted from subsequent measurements.
+ */
["cpp:virtual"]
class OffsetFilterBase extends DatafieldFilterBase
{
};
-
+ /**
+ * MatrixMaxFilterBase implements a filter which returns the maximum coefficient of a matrix.
+ */
["cpp:virtual"]
class MatrixMaxFilterBase extends DatafieldFilterBase
{
};
-
+ /**
+ * MatrixMinFilterBase implements a filter which returns the minimum coefficient of a matrix.
+ */
["cpp:virtual"]
class MatrixMinFilterBase extends DatafieldFilterBase
{
};
-
+
+ /**
+ * MatrixMinFilterBase implements a filter which returns the mean value of all coefficients of a matrix.
+ */
["cpp:virtual"]
class MatrixAvgFilterBase extends DatafieldFilterBase
{
};
-
+ /**
+ * MatrixPercentileFilterBase implements a filter which returns a subset of the smallest coefficients of a matrix.
+ * The matrix is transformed int a vector which is sorted in a ascending order. The subset consists of the first entries
+ * of the sorted vector. The size of the subset is defined by parameter percentile which ranges from 0.0 to 1.0.
+ */
["cpp:virtual"]
class MatrixPercentileFilterBase extends DatafieldFilterBase
{
float percentile;
};
+ /**
+ * MatrixPercentilesFilterBase implements a filter which returns a subset of the smallest coefficients of a matrix.
+ * The matrix is transformed int a vector which is sorted in a ascending order. The subset consists of the first entries
+ * of the sorted vector. The size of the subset is defined by parameter percentiles.
+ */
["cpp:virtual"]
class MatrixPercentilesFilterBase extends DatafieldFilterBase
{
int percentiles;
};
-
+
+ /**
+ * MatrixCumulativeFrequencyFilterBase implements a filter which returns a matrix filtered by Cumulative Frequency filter.
+ * The entries of the filtered matrix range between the provided min and max values.
+ */
["cpp:virtual"]
class MatrixCumulativeFrequencyFilterBase extends DatafieldFilterBase
{
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index 52ef14f2d69388f1a875c003f02553f27ee376a2..5e09c93abec1ddb3256c0dceb62bee6e80f65f5c 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -19,7 +19,7 @@
* @copyright 2013 Mirko Waechter
* @license http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
- */
+ **/
#ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
#define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
@@ -34,28 +34,55 @@
#include <Core/interface/observers/ObserverInterface.ice>
module armarx
-{
+{
+ /**
+ * Implements an interface to a ForceTorqueUnit.
+ **/
interface ForceTorqueUnitInterface extends armarx::SensorActorUnitInterface
{
+ /**
+ * setOffset allows to define offset forces and torques which are subtracted from the measured values.
+ * @param forceOffsets Offset forces in x, y, and z.
+ * @param torqueOffsets Offset torques in x, y, and z.
+ **/
void setOffset(FramedDirectionBase forceOffsets, FramedDirectionBase torqueOffsets);
+ /**
+ * setToNull allows to reset the ForceTorqueUnit by setting the measured values to zero.
+ **/
void setToNull();
};
-
+ /**
+ * Implements an interface to a ForceTorqueUnitListener
+ **/
interface ForceTorqueUnitListener
{
- /*!
- \param sensorNodeName The RobotNode on which the sensor is mounted.
- \param forces Set to zero if not available.
- \param torques Set to zero if not available.
- */
+ /**
+ * reportSensorValues reports measured forces and torques from the ForceTorqueUnit to ForceTorqueObserver.
+ * @param sensorNodeName Name of force/torque sensor.
+ * @param forces Measured forces.
+ * @param torques Measured torques.
+ **/
void reportSensorValues(string sensorNodeName, FramedDirectionBase forces, FramedDirectionBase torques);
};
-
+ /**
+ * Implements an interface to a ForceTorqueUnitObserver. Provides topics on measured forces and torques which can be subscribed.
+ **/
interface ForceTorqueUnitObserverInterface extends ObserverInterface, ForceTorqueUnitListener
{
+ /**
+ * getForceDatafield returns a reference on the force topic.
+ * @param nodeName Name of force sensor topic.
+ **/
DatafieldRefBase getForceDatafield(string nodeName) throws UserException;
+ /**
+ * getTorqueDatafield returns a reference on the torque topic.
+ * @param nodeName Name of torque sensor topic.
+ **/
DatafieldRefBase getTorqueDatafield(string nodeName) throws UserException;
-
+ /**
+ * createNulledDatafield resets the force/torque topic.
+ * @param forceTorqueDatafieldRef Reference of torque/torque sensor topic.
+ **/
DatafieldRefBase createNulledDatafield(DatafieldRefBase forceTorqueDatafieldRef);
};
};
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index c66df1a86d42e1ec6f17d265b846641fd0655e49..8f989f0cf45a14185645c6c97dc89e5f8b5b1699 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -35,40 +35,76 @@
module armarx
{
-
+ /**
+ * Implements an interface to a HandUnit.
+ */
interface HandUnitInterface extends SensorActorUnitInterface
{
+ /**
+ * setShape sets the name of a known hand shape for the hand unit.
+ * @param shapeName Name of the hand shape.
+ */
void setShape(string shapeName);
+ /**
+ * getShapeNames returns a list of names of hand shapes known to the hand unit.
+ * @return List of known hand shape names.
+ */
SingleTypeVariantListBase getShapeNames();
NameValueMap getShapeJointValues(string shapeName);
string getHandName();
- /*!
- * \brief Inform the hand unit that an object has been successfully grasped.
- * \param objectName The name of the object
- * E.g. a state that verifies if a grasp was successful can call this routine.
- */
+ /**
+ * setObjectGrasped informs the hand unit that an object has been successfully grasped.
+ * @param objectName Name of the object
+ * E.g. a state that verifies if a grasp was successful can call this routine.
+ */
void setObjectGrasped(string objectName);
- /*!
- * \brief setObjectReleased Inform the hand unit that an object has been released.
- * \param objectName The name of the object
+ /**
+ * setObjectReleased informs the hand unit that an object has been released.
+ * @param objectName Name of the object
+ * E.g. a state that verifies if a grasp was successful can call this routine.
*/
void setObjectReleased(string objectName);
-
+ /**
+ * setJointAngles controls the joints of the hand unit.
+ * @param targetJointAngles Map of joint names and corresponding joint angle values.
+ */
void setJointAngles(NameValueMap targetJointAngles);
};
-
+ /**
+ * Implements an interface to a HandUnitListener.
+ */
interface HandUnitListener
{
+ /**
+ * reportNewHandShapeName reports the current hand shape name.
+ * @param handName Name of the hand to be controlled.
+ * @param handName Name of the current hand shape name.
+ **/
void reportHandShaped(string handName, string handShapeName);
+ /**
+ * reportNewHandShapeName reports the target hand shape name.
+ * @param handName Name of the hand to be controlled.
+ * @param handName Name of the target hand shape name.
+ **/
void reportNewHandShapeName(string handName, string handShapeName);
+ /**
+ * reportJointAngles reports sensed joint angle values in the hand joints.
+ * @param actualJointAngles Map of joint names and corresponding sensed joint angle values.
+ **/
void reportJointAngles(NameValueMap actualJointAngles);
+ /**
+ * reportJointPressures reports sensed pressure values in the hand joints.
+ * @param actualJointPressures Map of joint names and corresponding sensed pressure values.
+ **/
void reportJointPressures(NameValueMap actualJointPressures);
};
-
+ /**
+ * Implements an interface to a HandUnitObserver.
+ */
interface HandUnitObserverInterface extends ObserverInterface, HandUnitListener
{
};
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index b7dfe40d35ea7bfda302521cdbf3be7088fa73f5..8afe57f9e7f90be40b84be195245216b8b3c800c 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -36,15 +36,28 @@
module armarx
{
+ /**
+ * Implements an interface to a HapitcUnit.
+ */
interface HapticUnitInterface extends armarx::SensorActorUnitInterface
{
};
-
+ /**
+ * Implements an interface to a HapitcUnitListener.
+ */
interface HapticUnitListener
{
+ /**
+ * reportSensorValues reports the tactile sensor values from a given sensor device.
+ * @param device Name of tactile sensor device.
+ * @param values Matrix of taxels.
+ * @param timestamp Timestamp of the measurement.
+ **/
void reportSensorValues(string device, string name, MatrixFloatBase values, TimestampBase timestamp);
};
-
+ /**
+ * Implements an interface to a HapitcUnitObserver.
+ */
interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener
{
};
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index 2fa681eeb7b87a40b9b18e8476671c9723d95dcc..48ebc04eb7fe43c6cc1a6229b294a8c8a5a17d75 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -35,10 +35,21 @@
module armarx
{
-
+ /**
+ * Implements an interface to a HeadIKUnit.
+ **/
interface HeadIKUnitInterface extends armarx::SensorActorUnitInterface
{
+ /**
+ * setCycleTime allows to set the cycle time with which the head IK is solved and the head is controlled within a periodic task.
+ * @param milliseconds Cycle time in milliseconds.
+ **/
void setCycleTime(int milliseconds);
+ /**
+ * setHeadTarget allows to set a new target position for the head.
+ * @param robotNodeSetName Name of kinematic chain/nodeset with head as TCP.
+ * @param targetPosition in x, y, and z.
+ **/
void setHeadTarget(string robotNodeSetName, FramedPositionBase targetPosition);
};
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
index 8ab4784cc562b1e478b192f2bf50ebbe052751f5..834e077298ff469edd84ec284070b2dbe86e2242 100644
--- a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
+++ b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
@@ -39,22 +39,41 @@
module armarx
{
+ /**
+ * Struct IMUData with which IMU sensor data is represented. It incorporates following entries:
+ * @param orientationQuaternion Orientation in quaternion.
+ * @param magneticRotation Magnetic rotation.
+ * @param gyroscopeRotation Rotation of gyroscope.
+ * @param acceleration Acceleration of IMU sensor device.
+ **/
struct IMUData {
FloatSequence orientationQuaternion;
FloatSequence magneticRotation;
FloatSequence gyroscopeRotation;
FloatSequence acceleration;
};
-
+ /**
+ * Implements an interface to an InertialMeasurementUnit.
+ **/
interface InertialMeasurementUnitInterface extends armarx::SensorActorUnitInterface
{
};
-
+ /**
+ * Implements an interface to an InertialMeasurementUnitListener.
+ **/
interface InertialMeasurementUnitListener
- {
+ {
+ /**
+ * reportSensorValues reports the IMU sensor values from a given sensor device.
+ * @param device Name of IMU sensor device.
+ * @param values IMU sensor data.
+ * @param timestamp Timestamp of the measurement.
+ **/
void reportSensorValues(string device, string name, IMUData values, TimestampBase timestamp);
};
-
+ /**
+ * Implements an interface to an InertialMeasurementUnitObserver.
+ **/
interface InertialMeasurementUnitObserverInterface extends ObserverInterface, InertialMeasurementUnitListener
{
};
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnitInterface.ice b/source/RobotAPI/interface/units/InertialMeasurementUnitInterface.ice
deleted file mode 100644
index 8ab4784cc562b1e478b192f2bf50ebbe052751f5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/units/InertialMeasurementUnitInterface.ice
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * 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
- * @author Markus Grotz <markus dot grotz at kit dot edu>
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
-
-
-#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <RobotAPI/interface/core/RobotState.ice>
-
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Matrix.ice>
-#include <Core/interface/observers/Timestamp.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
-
-
-
-module armarx
-{
- struct IMUData {
- FloatSequence orientationQuaternion;
- FloatSequence magneticRotation;
- FloatSequence gyroscopeRotation;
- FloatSequence acceleration;
- };
-
- interface InertialMeasurementUnitInterface extends armarx::SensorActorUnitInterface
- {
- };
-
- interface InertialMeasurementUnitListener
- {
- void reportSensorValues(string device, string name, IMUData values, TimestampBase timestamp);
- };
-
- interface InertialMeasurementUnitObserverInterface extends ObserverInterface, InertialMeasurementUnitListener
- {
- };
-
-};
-
-#endif
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index e960915f8145d993ee61da8fce2a5b95beaa6fff..5d0011a86373663433eb474534a5b51bea07692e 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -31,20 +31,35 @@
module armarx
{
+ /**
+ * Struct RangeViolation for checking whether a given value is in given bounds:
+ **/
struct RangeViolation
{
+ /**
+ * @param rangeFrom Lower bound.
+ * @param rangeTo Upper bound.
+ * @param actualValue Actual value to be checked.
+ **/
float rangeFrom;
float rangeTo;
float actualValue;
};
+ /**
+ * @param RangeViolationSequence Sequence of values and corresponding bounds to be checked.
+ **/
sequence<RangeViolation> RangeViolationSequence;
-
+ /**
+ * @throws OutOfRangeException Raised if value is violating the bounds.
+ **/
exception OutOfRangeException extends UserException
{
RangeViolationSequence violation;
};
-
+ /**
+ * [ControlMode] defines the different modes which a KinematicUnit can be controlled.
+ **/
enum ControlMode
{
eDisabled,
@@ -54,21 +69,29 @@ module armarx
eTorqueControl,
ePositionVelocityControl
};
-
+ /**
+ * [OperationStatus] defines whether a KinematicUnit is online, offline, or initialized.
+ **/
enum OperationStatus
{
eOffline,
eOnline,
eInitialized
};
-
+ /**
+ * [ErrorStatus] defines the error status of a KinematicUnit.
+ **/
enum ErrorStatus
{
eOk,
eWarning,
eError
};
-
+ /**
+ * JointStatus combines OperationStatus and ErrorStatus to describe the status of a joint.
+ * @see OperationStatus
+ * @see ErrorStatus
+ **/
struct JointStatus
{
OperationStatus operation;
@@ -77,39 +100,63 @@ module armarx
bool enabled;
bool emergencyStop;
};
-
+ /**
+ * ControlModeNotSupportedException Raised if a mode is requested which is not supported
+ * @see ControlMode
+ **/
exception ControlModeNotSupportedException extends UserException
{
ControlMode mode;
};
-
+ /**
+ * KinematicUnitUnavailable Raised if the resource KinematicUnit is not available.
+ **/
exception KinematicUnitUnavailable extends ResourceUnavailableException
{
StringStringDictionary nodeOwners;
};
-
+ /**
+ * KinematicUnitNotOwnedException Raised if the resource KinematicUnit is not owned.
+ **/
exception KinematicUnitNotOwnedException extends ResourceNotOwnedException
{
StringSequence nodes;
};
-
+ /**
+ * [NameValueMap] defined. This data container is mostly used to assign values to e.g. joints which are identified by name.
+ **/
dictionary<string, float> NameValueMap;
+ /**
+ * [NameControlModeMap] defined. This data container is mostly used to assign control modes to e.g. joints which are identified by name.
+ **/
dictionary<string, ControlMode> NameControlModeMap;
+ /**
+ * [NameStatusMap] defined. This data container is mostly used to a status to e.g. a joint which is identified by name.
+ **/
dictionary<string, JointStatus> NameStatusMap;
-
+ /**
+ * Implements an interface to an KinematicUnit.
+ **/
interface KinematicUnitInterface extends SensorActorUnitInterface
{
- /*
+ /**
* Requesting and releasing joints guarantees that a joint is controlled by exactly
* one component at any time
*
* The request only affects the active access, sensor values can always be read.
- *
- * TODO: The actual access has to be checked using a token.
+ *
*/
void requestJoints(StringSequence joints) throws KinematicUnitUnavailable;
+ /**
+ * After usage joints should be released so that another component can get access to these joints.
+ */
void releaseJoints(StringSequence joints) throws KinematicUnitNotOwnedException;
+ /**
+ *
+ * switchControlMode allows switching control modes of joints specified in targetJointModes.
+ * @param targetJointModes defines target control modes and corresponding joints.
+ */
void switchControlMode(NameControlModeMap targetJointModes) throws ControlModeNotSupportedException;
/*
@@ -129,17 +176,64 @@ module armarx
*/
//void set Trajectory(...);
};
-
+ /**
+ * Implements an interface to an KinematicUnitListener.
+ **/
interface KinematicUnitListener
{
+ /**
+ * reportControlModeChanged reports if a ControlMode has changed.
+ * @param actualJointModes Map of control modes and corresponding joint names.
+ * @param aValueChanged Is set to true if a mode has changed.
+ **/
void reportControlModeChanged(NameControlModeMap actualJointModes, bool aValueChanged);
-
+ /**
+ * reportJointAngles reports joint angle values.
+ * @param actualJointAngles Map of joint angle values and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint angle value has changed.
+ **/
void reportJointAngles(NameValueMap actualJointAngles, bool aValueChanged);
+
+ /**
+ * reportJointVelocities reports joint angle velocities.
+ * @param actualJointVelocities Map of joint angle velocities and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint angle velocity has changed.
+ **/
void reportJointVelocities(NameValueMap actualJointVelocities, bool aValueChanged);
+
+ /**
+ * reportJointTorques reports joint torques.
+ * @param actualJointTorques Map of joint torques and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint torque has changed.
+ **/
void reportJointTorques(NameValueMap actualJointTorques, bool aValueChanged);
+
+ /**
+ * reportJointAccelerations reports joint accelerations.
+ * @param actualJointAccelerations Map of joint accelerations and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint acceleration has changed.
+ **/
void reportJointAccelerations(NameValueMap actualJointAccelerations, bool aValueChanged);
+
+ /**
+ * reportJointCurrents reports joint currents.
+ * @param actualJointCurrents Map of joint currents and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint current has changed.
+ **/
void reportJointCurrents(NameValueMap actualJointCurrents, bool aValueChanged);
+
+ /**
+ * reportJointMotorTemperatures reports joint motor temperatures.
+ * @param actualJointMotorTemperatures Map of joint motor temperatures and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint motor temperature has changed.
+ **/
void reportJointMotorTemperatures(NameValueMap actualJointMotorTemperatures, bool aValueChanged);
+
+ /**
+ * reportJointStatuses reports current joint statuses.
+ * @param actualJointStatuses Map of joint statuses and corresponding joint names.
+ * @param aValueChanged Is set to true if a joint status has changed.
+ **/
void reportJointStatuses(NameStatusMap actualJointStatuses, bool aValueChanged);
};
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index 3311d982a49ec15dcecec41268736b05c4b9374d..b7bde4e0880519b4011cd88ab3b3766899f94d5a 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -30,20 +30,73 @@
#include <Core/interface/core/BasicTypes.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.
+ * @param targetPlatformRotation Global orientation of platform, mostly yaw angle (rotation around z-axis).
+ * @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);
+ /**
+ * 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);
+ /**
+ * moveRelative moves to a pose defined in platform coordinates.
+ * @param targetPlatformOffsetX x-coordinate of target position defined in platform root.
+ * @param targetPlatformOffsetY y-coordinate of target position defined in platform root.
+ * @param targetPlatformOffsetRotation Target orientation of platform defined in platform root.
+ * @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);
+ /**
+ * setMaxVelocities allows to specify max velocities in translation and orientation.
+ * @param positionalVelocity Max translation velocity.
+ * @param orientationalVelocity Max orientational velocity.
+ **/
void setMaxVelocities(float positionalVelocity, float orientationalVelocity);
+ /**
+ * stopPlatform stops the movements of the platform.
+ **/
void stopPlatform();
};
-
+ /**
+ * Implements an interface to an PlatformUnitListener.
+ **/
interface PlatformUnitListener
{
+ /**
+ * reportPlatformPose reports current platform pose.
+ * @param currentPlatformPositionX Global x-coordinate of current platform position.
+ * @param currentPlatformPositionY Global y-coordinate of current platform position.
+ * @param currentPlatformRotation Current global orientation of platform.
+ **/
void reportPlatformPose(float currentPlatformPositionX, float currentPlatformPositionY, float currentPlatformRotation);
+ /**
+ * 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.
+ **/
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.
+ **/
void reportPlatformVelocity(float currentPlatformVelocityX, float currentPlatformVelocityY, float currentPlatformVelocityRotation);
};
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index fafcd2735017c5d78a9994eae3177e03b9f3ca0b..a8adef62e2774e6880cf3e8063383fd745be8896 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -35,23 +35,52 @@
module armarx
{
-
+ /**
+ * Implements an interface to an TCPControlUnit. The TCPControlUnit uses differential IK in order to move the TCP a target pose.
+ **/
interface TCPControlUnitInterface extends armarx::SensorActorUnitInterface, armarx::KinematicUnitListener
{
+ /**
+ * setCycleTime allows to set the cycle time with which the TCPControlUnit solves the IK and moves the TCP within a periodic task.
+ * @param milliseconds Cycle time in milliseconds.
+ **/
void setCycleTime(int milliseconds);
+ /**
+ * setTCPVelocity allows to set a new target velocities in task space for the TCP.
+ * @param robotNodeSetName Name of kinematic chain/nodeset.
+ * @param tcpNodeName Name of TCP node within the kinematic chain/nodeset.
+ * @param translationVelocity Translational velocity in task space in x, y, and z.
+ * @param orientationVelocityRPY Orientational velocity in task space in roll, pitch, yaw.
+ **/
void setTCPVelocity(string robotNodeSetName, string tcpNodeName, FramedDirectionBase translationVelocity, FramedDirectionBase orientationVelocityRPY);
};
-
+ /**
+ * [FramedPoseBaseMap] defines a data container which contains nodes, identified by name, and corresponding FramedPoses.
+ **/
dictionary<string, FramedPoseBase> FramedPoseBaseMap;
+ /**
+ * Implements an interface to an TCPControlUnitListener.
+ **/
interface TCPControlUnitListener
{
+ /**
+ * reportTCPPose reports TCPs and corresponding current FramedPoses.
+ * @param tcpPoses Map of TCP node names and corresponding current FramedPoses.
+ **/
void reportTCPPose(FramedPoseBaseMap tcpPoses);
+ /**
+ * reportTCPVelocities reports current velocities of TCPs.
+ * @param tcpTranslationVelocities Map of TCP node names and corresponding current translational velocities.
+ * @param tcpOrienationVelocities Map of TCP node names and corresponding current orientational velocities.
+ **/
void reportTCPVelocities(FramedDirectionMap tcpTranslationVelocities, FramedDirectionMap tcpOrienationVelocities);
};
-
+ /**
+ * Implements an interface to an TCPControlUnitObserver.
+ **/
interface TCPControlUnitObserverInterface extends ObserverInterface, TCPControlUnitListener
{
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index 4ef54fc1cca5fe71e588beb7026efb227bdef341..853e3c755afcf91344b36ab2969e0ce735559f40 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -28,14 +28,22 @@
module armarx
{
+ /**
+ * @throws ResourceUnavailableException Raised if the unit resource is not available.
+ **/
exception ResourceUnavailableException extends UserException
{
};
+ /**
+ * @throws ResourceNotOwnedException Raised if the unit resource is not owned.
+ **/
exception ResourceNotOwnedException extends UserException
{
};
-
+ /**
+ * [UnitExecutionState] defines whether a Unit is constructed, initialized, started or stopped.
+ **/
enum UnitExecutionState
{
eUnitConstructed,
@@ -43,22 +51,50 @@ module armarx
eUnitStarted,
eUnitStopped
};
-
+
+ /**
+ * Implements an interface to a UnitExecutionManagement.
+ **/
interface UnitExecutionManagementInterface
{
+ /**
+ * init is called to initialize the unit before starting it. Virtual method which has to implemented by components inheriting from this interface.
+ **/
void init();
+ /**
+ * start is called to start the unit. Virtual method which has to implemented by components inheriting from this interface.
+ **/
void start();
+ /**
+ * stop is called to stopthe unit. Virtual method which has to implemented by components inheriting from this interface.
+ **/
void stop();
+ /**
+ * getExecutionState returns the execution state of the unit. Virtual method which has to implemented by components inheriting from this interface.
+ * @return UnitExecutionState
+ * @see UnitExecutionState
+ **/
UnitExecutionState getExecutionState();
};
-
+
+ /**
+ * Implements an interface to a UnitResourceManagement.
+ **/
interface UnitResourceManagementInterface
{
+ /**
+ * request is called to grant another component exclusive access to this unit.
+ **/
void request() throws ResourceUnavailableException;
+ /**
+ * release has to be called by an owning unit in order to allow other components to access this unit.
+ **/
void release() throws ResourceNotOwnedException;
};
-
+ /**
+ * Implements an interface to a SensorActorUnit. The SensorActorUnit is the the base component for subsequent actuation and sensor components.
+ **/
interface SensorActorUnitInterface extends UnitExecutionManagementInterface, UnitResourceManagementInterface
{
};
diff --git a/source/RobotAPI/interface/units/WeissHapticUnit.ice b/source/RobotAPI/interface/units/WeissHapticUnit.ice
index 447e64d1917db597fe3693db4a4a01fe9cd86f5d..414a1aae8cead59d120307ccdc336d12928232b9 100644
--- a/source/RobotAPI/interface/units/WeissHapticUnit.ice
+++ b/source/RobotAPI/interface/units/WeissHapticUnit.ice
@@ -28,10 +28,24 @@
module armarx
{
+ /**
+ * Implements an interface to a HapticUnit for the tactile sensors from Weiss Robotics.
+ **/
interface WeissHapticUnitInterface extends armarx::HapticUnitInterface
{
+ /**
+ * setDeviceTag allows to rename device.
+ * @param deviceName Original name of tactile sensor device.
+ * @param tag New name of tactile sensor device.
+ **/
void setDeviceTag(string deviceName, string tag);
+ /**
+ * startLogging starts logging when devices are initialized and started.
+ **/
void startLogging();
+ /**
+ * stopLogging stop logging when devices are initialized and started.
+ **/
void stopLogging();
};