diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h index 85d41ffc493a792e7fd2ecf0519e473bb6b91c35..162b5c6666ccf43a2b706aa98f63bc00ceda47ef 100644 --- a/source/RobotAPI/components/RobotState/RobotStateComponent.h +++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h @@ -122,9 +122,13 @@ namespace armarx // PlatformUnitListener interface + /// Stores the platform pose in the pose history. void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override; + /// Does nothing. void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override; + /// Does nothing. void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override; + /// Does nothing. void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override; @@ -136,23 +140,30 @@ namespace armarx * RobotNodeSet specified in the RobotNodeSetName property. */ void onInitComponent() override; - /** - * Setup RobotStateObjectFactories needed for creating RemoteRobot instances. - */ + /// Setup RobotStateObjectFactories needed for creating RemoteRobot instances. void onConnectComponent() override; void onDisconnectComponent() override; /// Calls unref() on RobotStateComponent::_synchronizedPrx. ~RobotStateComponent() override; + // Inherited from KinematicUnitInterface + /// Does nothing. void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Stores the reported joint angles in the joint history and publishes the new joint angles. void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Sends the joint velocities to the robot state observer. void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Does nothing. void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Does nothing. void reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override; + /// Does nothing. void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Does nothing. void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override; + /// Does nothing. void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;