From 923ae6b35bfe5efb3f451e90b2d4ba2a529dc5d3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Erich=20Bretn=C3=BCtz?= <erich.bretnuetz@gmx.net>
Date: Thu, 21 Jun 2018 16:56:37 +0200
Subject: [PATCH] fixed some errors and warnings
---
.../NJointControllers/NJointController.hpp | 4 +-
.../NJointTaskSpaceImpedanceController.h | 8 +-
.../components/units/RobotUnit/RobotUnit.cpp | 2 +-
.../components/units/SensorActorUnit.cpp | 13 ++--
.../components/units/SpeechObserver.h | 6 +-
source/RobotAPI/interface/CMakeLists.txt | 1 +
.../units/RobotUnit/NJointController.ice | 73 +-----------------
.../units/RobotUnit/RobotUnitInterface.ice | 75 +++++++++++++++++++
.../NJointBimanualCCDMPController.h | 28 +++----
.../DMPController/NJointCCDMPController.h | 28 +++----
.../DMPController/NJointJSDMPController.h | 16 ++--
.../NJointJointSpaceDMPController.h | 12 +--
.../DMPController/NJointTSDMPController.h | 30 ++++----
.../NJointTaskSpaceImpedanceDMPController.h | 26 +++----
14 files changed, 165 insertions(+), 157 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.hpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.hpp
index f1579a748..7a1136345 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.hpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.hpp
@@ -127,7 +127,7 @@ namespace armarx
ARMARX_ERROR << "Exception calling '" << GetTypeString<NJointControllerT>() << "::GenerateConfigDescription'"
<< "\n---- file = " << e.ice_file()
<< "\n---- line = " << e.ice_line()
- << "\n---- name = " << e.ice_name()
+ << "\n---- name = " << e.ice_id()
<< "\n---- what:\n" << e.what()
<< "\n---- stacktrace:\n" << e.ice_stackTrace();
throw;
@@ -155,7 +155,7 @@ namespace armarx
ARMARX_ERROR << "Exception calling '" << GetTypeString<NJointControllerT>() << "::GenerateConfigFromVariants'"
<< "\n---- file = " << e.ice_file()
<< "\n---- line = " << e.ice_line()
- << "\n---- name = " << e.ice_name()
+ << "\n---- name = " << e.ice_id()
<< "\n---- what:\n" << e.what()
<< "\n---- stacktrace:\n" << e.ice_stackTrace();
throw;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
index 61f245af8..860c5e88a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
@@ -59,18 +59,18 @@ namespace armarx
NJointTaskSpaceImpedanceController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
- std::string getClassName(const Ice::Current&) const
+ std::string getClassName(const Ice::Current&) const override
{
return "TaskSpaceImpedanceController";
}
// NJointController interface
- void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
protected:
- void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
- void setTarget(const Ice::FloatSeq&, const Ice::Current&);
+ void setTarget(const Ice::FloatSeq&, const Ice::Current&) override;
private:
Eigen::Vector3f desiredPosition;
Eigen::Quaternionf desiredQuaternion;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
index 5679160c7..02592203c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
@@ -1850,7 +1850,7 @@ namespace armarx
{
ARMARX_ERROR << "exception in RobotUnit::finishRunning!\nwhat:\n"
<< e.what()
- << "\n\tname: " << e.ice_name()
+ << "\n\tname: " << e.ice_id()
<< "\n\tfile: " << e.ice_file()
<< "\n\tline: " << e.ice_line()
<< "\n\tstack: " << e.ice_stackTrace();
diff --git a/source/RobotAPI/components/units/SensorActorUnit.cpp b/source/RobotAPI/components/units/SensorActorUnit.cpp
index c716b3f70..7cc36ca5e 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.cpp
+++ b/source/RobotAPI/components/units/SensorActorUnit.cpp
@@ -22,6 +22,7 @@
#include "SensorActorUnit.h"
#include <Ice/ObjectAdapter.h>
+#include <Ice/Initialize.h>
using namespace armarx;
@@ -40,7 +41,7 @@ SensorActorUnit::~SensorActorUnit()
void SensorActorUnit::init(const Ice::Current& c)
{
std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+ Ice::Identity currentId = Ice::stringToIdentity(currentName);
if (ownerId == currentId)
{
@@ -65,7 +66,7 @@ void SensorActorUnit::init(const Ice::Current& c)
void SensorActorUnit::start(const Ice::Current& c)
{
std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+ Ice::Identity currentId = Ice::stringToIdentity(currentName);
if (ownerId == currentId)
{
@@ -90,7 +91,7 @@ void SensorActorUnit::start(const Ice::Current& c)
void SensorActorUnit::stop(const Ice::Current& c)
{
std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+ Ice::Identity currentId = Ice::stringToIdentity(currentName);
if (ownerId == currentId)
{
@@ -132,7 +133,7 @@ void SensorActorUnit::request(const Ice::Current& c)
// retrieve owner id from current connection
std::string ownerName = c.adapter->getName();
- ownerId = c.adapter->getCommunicator()->stringToIdentity(ownerName);
+ ownerId = Ice::stringToIdentity(ownerName);
ARMARX_INFO << "unit requested by " << ownerName << flush;
}
@@ -142,7 +143,7 @@ void SensorActorUnit::release(const Ice::Current& c)
CALLINFO
// retrieve owner id from current connection
std::string callerName = c.adapter->getName();
- Ice::Identity callerId = c.adapter->getCommunicator()->stringToIdentity(callerName);
+ Ice::Identity callerId = Ice::stringToIdentity(callerName);
if (!(ownerId == callerId))
{
@@ -151,7 +152,7 @@ void SensorActorUnit::release(const Ice::Current& c)
}
// unlock mutex
- ownerId = c.adapter->getCommunicator()->stringToIdentity(" ");
+ ownerId = Ice::stringToIdentity(" ");
unitMutex.unlock();
ARMARX_INFO << "unit released" << flush;
diff --git a/source/RobotAPI/components/units/SpeechObserver.h b/source/RobotAPI/components/units/SpeechObserver.h
index ef6e6580d..769677e27 100644
--- a/source/RobotAPI/components/units/SpeechObserver.h
+++ b/source/RobotAPI/components/units/SpeechObserver.h
@@ -58,9 +58,9 @@ namespace armarx
void onInitObserver() override;
void onConnectObserver() override;
- virtual void reportState(armarx::TextToSpeechStateType state, const Ice::Current& = Ice::Current());
- virtual void reportText(const std::string& text, const Ice::Current& = Ice::Current());
- virtual void reportTextWithParams(const std::string& text, const Ice::StringSeq& params, const Ice::Current& = Ice::Current());
+ virtual void reportState(armarx::TextToSpeechStateType state, const Ice::Current& = Ice::Current()) override;
+ virtual void reportText(const std::string& text, const Ice::Current& = Ice::Current()) override;
+ virtual void reportTextWithParams(const std::string& text, const Ice::StringSeq& params, const Ice::Current& = Ice::Current()) override;
static std::string SpeechStateToString(TextToSpeechStateType state);
private:
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 6b32bcb8a..373476a80 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -42,6 +42,7 @@ set(SLICE_FILES
units/GamepadUnit.ice
units/MetaWearIMUInterface.ice
units/MetaWearIMU.ice
+
units/RobotUnit/NJointController.ice
units/RobotUnit/NJointTrajectoryController.ice
units/RobotUnit/NJointCartesianVelocityController.ice
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index 76771b197..9054635c8 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -22,76 +22,7 @@
#pragma once
-#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/core/UserException.ice>
-#include <ArmarXGui/interface/WidgetDescription.ice>
-module armarx
-{
- interface NJointControllerInterface;
- interface RobotUnitInterface;
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice>
-
- module RobotUnitControllerNames
- {
- const string NJointTrajectoryController = "NJointTrajectoryController";
- const string NJointGlobalTCPController = "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
- const string NJointTCPController = "NJointTCPController";
- const string NJointCartesianVelocityController = "NJointCartesianVelocityController";
- };
-
-
- class NJointControllerConfig{};
-
- struct NJointControllerDescription
- {
- string instanceName;
- string className;
- NJointControllerInterface* controller;
- StringStringDictionary controlModeAssignment;
- bool deletable;
- bool internal;
- };
- sequence<NJointControllerDescription> NJointControllerDescriptionSeq;
-
- struct NJointControllerStatus
- {
- string instanceName;
- bool active = false;
- bool requested = false;
- bool error = false;
- long timestampUSec = 0;
- };
- sequence<NJointControllerStatus> NJointControllerStatusSeq;
-
- struct NJointControllerDescriptionWithStatus
- {
- NJointControllerStatus status;
- NJointControllerDescription description;
- };
- sequence<NJointControllerDescriptionWithStatus> NJointControllerDescriptionWithStatusSeq;
-
- interface NJointControllerInterface
- {
- ["cpp:const"] idempotent string getClassName();
- ["cpp:const"] idempotent string getInstanceName();
- ["cpp:const"] idempotent StringStringDictionary getControlDeviceUsedControlModeMap();
- ["cpp:const"] idempotent bool isControllerActive();
- ["cpp:const"] idempotent bool isControllerRequested();
- ["cpp:const"] idempotent bool isDeletable();
- ["cpp:const"] idempotent bool hasControllerError();
- ["cpp:const"] idempotent NJointControllerStatus getControllerStatus();
- ["cpp:const"] idempotent NJointControllerDescription getControllerDescription();
- ["cpp:const"] idempotent NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus();
- ["cpp:const"] idempotent RobotUnitInterface* getRobotUnit();
-
- ["cpp:const"] void activateController();
- ["cpp:const"] void deactivateController();
- ["cpp:const"] void deleteController() throws LogicError;
-
- ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
- void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
- };
-
- dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
-};
+//see RobotUnitInterface.ice (zeroc broke forward declarations)
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index 49a8e8a19..9bb5d585c 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -36,6 +36,81 @@
#include <RobotAPI/interface/units/InertialMeasurementUnit.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXGui/interface/WidgetDescription.ice>
+
+
+module armarx
+{
+ interface NJointControllerInterface;
+ interface RobotUnitInterface;
+
+
+ module RobotUnitControllerNames
+ {
+ const string NJointTrajectoryController = "NJointTrajectoryController";
+ const string NJointGlobalTCPController = "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
+ const string NJointTCPController = "NJointTCPController";
+ const string NJointCartesianVelocityController = "NJointCartesianVelocityController";
+ };
+
+
+ class NJointControllerConfig{};
+
+ struct NJointControllerDescription
+ {
+ string instanceName;
+ string className;
+ NJointControllerInterface* controller;
+ StringStringDictionary controlModeAssignment;
+ bool deletable;
+ bool internal;
+ };
+ sequence<NJointControllerDescription> NJointControllerDescriptionSeq;
+
+ struct NJointControllerStatus
+ {
+ string instanceName;
+ bool active = false;
+ bool requested = false;
+ bool error = false;
+ long timestampUSec = 0;
+ };
+ sequence<NJointControllerStatus> NJointControllerStatusSeq;
+
+ struct NJointControllerDescriptionWithStatus
+ {
+ NJointControllerStatus status;
+ NJointControllerDescription description;
+ };
+ sequence<NJointControllerDescriptionWithStatus> NJointControllerDescriptionWithStatusSeq;
+
+ interface NJointControllerInterface
+ {
+ ["cpp:const"] idempotent string getClassName();
+ ["cpp:const"] idempotent string getInstanceName();
+ ["cpp:const"] idempotent StringStringDictionary getControlDeviceUsedControlModeMap();
+ ["cpp:const"] idempotent bool isControllerActive();
+ ["cpp:const"] idempotent bool isControllerRequested();
+ ["cpp:const"] idempotent bool isDeletable();
+ ["cpp:const"] idempotent bool hasControllerError();
+ ["cpp:const"] idempotent NJointControllerStatus getControllerStatus();
+ ["cpp:const"] idempotent NJointControllerDescription getControllerDescription();
+ ["cpp:const"] idempotent NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus();
+ ["cpp:const"] idempotent RobotUnitInterface* getRobotUnit();
+
+ ["cpp:const"] void activateController();
+ ["cpp:const"] void deactivateController();
+ ["cpp:const"] void deleteController() throws LogicError;
+
+ ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
+ void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
+ };
+
+ dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
+};
+
module armarx
{
dictionary<string, Ice::StringSeq> ControlDeviceNameToControlModesDictionary;
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.h
index 1e4c4054e..42606fff4 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.h
@@ -50,41 +50,41 @@ namespace armarx
NJointBimanualCCDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
- std::string getClassName(const Ice::Current&) const;
+ std::string getClassName(const Ice::Current&) const override;
// NJointController interface
- void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
// NJointBimanualCCDMPControllerInterface interface
- void learnDMPFromFiles(const std::string&, const Ice::StringSeq&, const Ice::Current&);
- bool isFinished(const Ice::Current&)
+ void learnDMPFromFiles(const std::string&, const Ice::StringSeq&, const Ice::Current&) override;
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void runDMP(const Ice::DoubleSeq& leftGoals, const Ice::DoubleSeq& rightGoals, const Ice::Current&);
- void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
- void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&);
+ void runDMP(const Ice::DoubleSeq& leftGoals, const Ice::DoubleSeq& rightGoals, const Ice::Current&) override;
+ void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&) override;
+ void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&) override;
- void changeLeader(const Ice::Current&);
+ void changeLeader(const Ice::Current&) override;
- double getVirtualTime(const Ice::Current&)
+ double getVirtualTime(const Ice::Current&) override
{
return virtualtimer;
}
- std::string getLeaderName(const Ice::Current&)
+ std::string getLeaderName(const Ice::Current&) override
{
return leaderName;
}
protected:
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
- void onInitComponent();
- void onDisconnectComponent();
+ void onInitComponent() override;
+ void onDisconnectComponent() override;
void controllerRun();
private:
@@ -255,7 +255,7 @@ namespace armarx
// NJointController interface
protected:
- void rtPreActivateController();
+ void rtPreActivateController() override;
};
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h
index e318e8f68..a93bba871 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h
@@ -59,35 +59,35 @@ namespace armarx
NJointCCDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
- std::string getClassName(const Ice::Current&) const;
+ std::string getClassName(const Ice::Current&) const override;
// NJointController interface
- void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
// NJointCCDMPControllerInterface interface
- void learnDMPFromFiles(int dmpId, const Ice::StringSeq& fileNames, const Ice::Current&);
- bool isFinished(const Ice::Current&)
+ void learnDMPFromFiles(int dmpId, const Ice::StringSeq& fileNames, const Ice::Current&) override;
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void runDMP(const Ice::Current&);
- void setTemporalFactor(int dmpId, Ice::Double tau, const Ice::Current&);
- void setViaPoints(int dmpId, Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
- void setGoals(int dmpId, const Ice::DoubleSeq& goals, const Ice::Current&);
+ void runDMP(const Ice::Current&) override;
+ void setTemporalFactor(int dmpId, Ice::Double tau, const Ice::Current&) override;
+ void setViaPoints(int dmpId, Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&) override;
+ void setGoals(int dmpId, const Ice::DoubleSeq& goals, const Ice::Current&) override;
- void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&);
- void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&);
- void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&);
+ void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&) override;
+ void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&) override;
+ void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&) override;
protected:
void rtPreActivateController() override;
void rtPostDeactivateController() override;
VirtualRobot::IKSolver::CartesianSelection ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
- void onInitComponent();
- void onDisconnectComponent();
+ void onInitComponent() override;
+ void onDisconnectComponent() override;
void controllerRun();
private:
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.h
index 1f74a9994..d23f3ad88 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.h
@@ -46,23 +46,23 @@ namespace armarx
// NJointController interface
void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
- bool isFinished(const Ice::Current&)
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&);
- void setTemporalFactor(double tau, const Ice::Current&);
+ void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&) override;
+ void setTemporalFactor(double tau, const Ice::Current&) override;
- void runDMP(const Ice::DoubleSeq& goals, double tau, const Ice::Current&);
+ void runDMP(const Ice::DoubleSeq& goals, double tau, const Ice::Current&) override;
- void showMessages(const Ice::Current&);
+ void showMessages(const Ice::Current&) override;
protected:
void rtPreActivateController() override;
void rtPostDeactivateController() override;
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
private:
struct DebugBufferData
@@ -119,8 +119,8 @@ namespace armarx
// ManagedIceObject interface
protected:
void controllerRun();
- void onInitComponent();
- void onDisconnectComponent();
+ void onInitComponent() override;
+ void onDisconnectComponent() override;
};
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
index 173c7cfb1..edc8e28af 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
@@ -47,23 +47,23 @@ namespace armarx
void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
//
- bool isFinished(const Ice::Current&)
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&);
- void setTemporalFactor(double tau, const Ice::Current&);
+ void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&) override;
+ void setTemporalFactor(double tau, const Ice::Current&) override;
- void runDMP(const Ice::DoubleSeq& goals, double tau, const Ice::Current&);
+ void runDMP(const Ice::DoubleSeq& goals, double tau, const Ice::Current&) override;
- void showMessages(const Ice::Current&);
+ void showMessages(const Ice::Current&) override;
protected:
void rtPreActivateController() override;
void rtPostDeactivateController() override;
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
private:
struct DebugBufferData
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h
index 8deb861b1..d2271b6ac 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h
@@ -59,30 +59,30 @@ namespace armarx
NJointTSDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
- std::string getClassName(const Ice::Current&) const;
+ std::string getClassName(const Ice::Current&) const override;
// NJointController interface
- void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
// NJointTSDMPControllerInterface interface
- void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&);
- bool isFinished(const Ice::Current&)
+ void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&) override;
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void runDMP(const Ice::DoubleSeq& goals, Ice::Double tau, const Ice::Current&);
- void setSpeed(Ice::Double times, const Ice::Current&);
- void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
+ void runDMP(const Ice::DoubleSeq& goals, Ice::Double tau, const Ice::Current&) override;
+ void setSpeed(Ice::Double times, const Ice::Current&) override;
+ void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&) override;
- void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&);
+ void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&) override;
- void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&);
- void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&);
- void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&);
+ void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&) override;
+ void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&) override;
+ void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&) override;
- double getCanVal(const Ice::Current&)
+ double getCanVal(const Ice::Current&) override
{
return taskSpaceDMPController->canVal;
}
@@ -91,10 +91,10 @@ namespace armarx
void rtPreActivateController() override;
void rtPostDeactivateController() override;
VirtualRobot::IKSolver::CartesianSelection ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
- void onInitComponent();
- void onDisconnectComponent();
+ void onInitComponent() override;
+ void onDisconnectComponent() override;
void controllerRun();
private:
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
index a3567af7a..8cc6e483f 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
@@ -40,34 +40,34 @@ namespace armarx
NJointTaskSpaceImpedanceDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
- std::string getClassName(const Ice::Current&) const;
+ std::string getClassName(const Ice::Current&) const override;
// NJointController interface
- void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override;
// NJointTaskSpaceImpedanceDMPControllerInterface interface
- void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&);
- bool isFinished(const Ice::Current&)
+ void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&) override;
+ bool isFinished(const Ice::Current&) override
{
return finished;
}
- void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
- void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&);
+ void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&) override;
+ void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&) override;
- void learnJointDMPFromFiles(const std::string& fileName, const Ice::Current&);
- void runDMP(const Ice::DoubleSeq& goals, const Ice::Current&);
- Ice::Double getVirtualTime(const Ice::Current&)
+ void learnJointDMPFromFiles(const std::string& fileName, const Ice::Current&) override;
+ void runDMP(const Ice::DoubleSeq& goals, const Ice::Current&) override;
+ Ice::Double getVirtualTime(const Ice::Current&) override
{
return dmpCtrl->canVal;
}
protected:
- virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&) override;
- void onInitComponent();
- void onDisconnectComponent();
+ void onInitComponent() override;
+ void onDisconnectComponent() override;
void controllerRun();
private:
@@ -162,7 +162,7 @@ namespace armarx
// NJointController interface
protected:
- void rtPreActivateController();
+ void rtPreActivateController() override;
};
} // namespace armarx
--
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