 |
ImFusion SDK 4.3
|
|
ImFusion SDK 4.3
|
Inheritance diagram for FakeFrankaControlStream:Protected Member Functions | |
| void | initRobotInstance () override |
| Protected Member Functions inherited from FakeRobotControlStream | |
| virtual std::unique_ptr< RobotState > | generateRobotState () |
| void | publishRobotState () |
| bool | activateCollisionPresetImpl (CollisionDetectionPreset preset) override |
| Protected Member Functions inherited from RobotStateStream | |
| void | publishNewData (std::shared_ptr< const RobotState > newData) |
| Emit new robot state data to all the stream listeners, with data containing RobotState. | |
| Protected Member Functions inherited from Stream | |
| virtual bool | pauseImpl () |
| Pause stream (not required to be supported). | |
| virtual bool | resumeImpl () |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| virtual bool | workerThreadRequiresOpenGl () const |
| Override and return true if worker thread should create a GL::Context. | |
| virtual bool | worksWhilePaused () const |
| Override if doWork() should be called also in the Paused state. | |
| void | changeState (State newState) |
| std::shared_future< bool > | attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError) |
| Protected Member Functions inherited from Data | |
| void | swapWith (Data &other) |
| Swaps the data and emits a matrix and name changed signal for both. | |
Additional Inherited Members | |
| Public Types inherited from Stream | |
| enum class | ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading } |
| This flag represents the two supported threading modes of a Stream. More... | |
| enum class | State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing } |
| Public Types inherited from Data | |
| enum | Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 } |
| Kind of data. More... | |
| enum | Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 } |
| Image modality of the data. More... | |
| Public Member Functions inherited from FakeRobotControlStream | |
| FakeRobotControlStream (RobotType robotTypeName, const std::string &name="Fake Robot Control Stream") | |
| bool | init () |
| std::string | uuid () override |
| Unique identifier for stream. | |
| JointPosition | jointPositions () |
| void | setJointPositions (const JointPosition &jointPositions) |
| void | setCartesianPose (const isom3 &desiredPose) |
| size_t | numberOfJoints () const |
| void | configuration (Properties *p) const override |
| Serialize the current object configuration into the given Properties object. | |
| void | configure (const Properties *properties) override |
| Configure this object instance by de-serializing the given Properties. | |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| std::optional< Stream::WorkContinuation > | doWork () override |
| Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;. | |
| MotionGeneratorBase * | activeMotionGenerator () override |
| bool | isMoving () const override |
| bool | isError () const override |
| bool | canStartNewMotion () const override |
| bool | tryRecoverFromError () override |
| void | stopMotion () override |
| bool | supportsSetting_flange_T_effector_nominal () const override |
| if true, the TCP transform can be set in the robot firmware | |
| MotionResult | startMotion (std::unique_ptr< MotionGenerator< JointPosition > > &&motion) override |
| MotionResult | startMotion (std::unique_ptr< MotionGenerator< isom3 > > &&motion) override |
| Public Member Functions inherited from RobotStateStream | |
| RobotStateStream () | |
| Create robot state stream with an empty robot name, a simulated stream type, and a custom robot state stream tag. | |
| RobotStateStream (RobotType robotType, RobotStreamType streamType, const std::string &name="Robot State Stream") | |
| Initialize a robot state stream with particular parameters. | |
| bool | init (std::shared_ptr< RobotInstance > instance) |
| Initialize the stream with a robot instance by. | |
| ~RobotStateStream () override | |
| Virtual destructor. | |
| RobotStreamType | robotStreamType () const |
| Gets the stream's operational mode (simulated, state, control) indicating the type of connection \Return the current type of the robot stream. | |
| RobotType | robotType () |
| Gets the robot identifier as defined in the ImFusion SDK \Return the current type (name) of the robot as string(e.g "Franka Emika Panda") | |
| std::shared_ptr< const RobotStateStreamData > | lastData () const |
| Get the most recent robot state data or nullptr if not available. | |
| Data::Kind | kind () const override |
| The functions must be overridden to inherit from the Data class. | |
| Modality | modality () const override |
| The data type is primarily used for particular algorithms in the SDK, while the robotics plugin has its own dedicated implementation. | |
| void | configure (const Properties *p) override |
| Configure the Robot Instance. | |
| void | configuration (Properties *p) const override |
| Retrieve the properties of the RobotInstance. | |
| std::shared_ptr< const RobotInstance > | robotInstance () |
| Access to the robot instance and its configuration. | |
| const RobotInstance * | robotInstanceRef () const |
| Read-only access to the robot instance and its configuration. | |
| std::shared_ptr< const RobotModel > | robotModel () const |
| Access to the robot's kinematic and dynamic model via the robot instance. | |
| const RobotModel * | robotModelRef () const |
| Read-only access to the robot's kinematic and dynamic model via the robot instance. | |
| isom3 | flange_T_effector () const override |
| Retrieve the effector-to-flange transformation. | |
| std::optional< isom3 > | base_T_effector_current () const override |
| Return the current-effector-to-base transformation. | |
| std::optional< isom3 > | flange_T_effector_nominal () const override |
| Get the nominal Tool Center Point (TCP)-to-flange transformation. | |
| bool | set_flange_T_effector (const isom3 &newValue, bool setNominal) override |
| Update the end-effector-to-flange (TCP) transformation and optionally the nominal configuration. | |
| bool | set_flange_T_effector_nominal (const ImFusion::isom3 &newValue) override |
| Set the nominal TCP transformation. | |
| void | set_world_T_base (const isom3 &newValue) |
| Updates the robot's pose in world coordinates. | |
| isom3 | world_T_base () const |
| Returns the base-to-world transformation. | |
| Public Member Functions inherited from Stream | |
| Stream (const std::string &name="") | |
Constructor with the name for this stream. | |
| virtual ThreadingMode | threadingMode () const |
| Configures threading mode of stream. | |
| virtual bool | supportsAsyncOperation () |
| Returns true if xxxAsync() methods support execution in a background thread. | |
| std::shared_future< bool > | openAsync () |
| Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | closeAsync () |
| Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | startAsync () |
| Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | stopAsync () |
| Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | pauseAsync () |
| Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | resumeAsync () |
| Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| bool | open () |
| Open stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | close () |
| Close stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | start () |
| Start stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | stop () |
| Stop stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | pause () |
| Pause stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | resume () |
| Resume stream and wait for the operation to complete. Returns whether the operation was successful. | |
| virtual bool | supportsPausing () const |
| Override and return true if this stream implements the pausing and resume operations. | |
| bool | restart () |
| Stops, closes, opens and starts the stream. Returns whether the operation was successful. | |
| virtual bool | reset () |
| Reverts stream to first frame, if possible. Returns whether the operation was successful. | |
| virtual bool | isRunning () const |
| Return whether stream is currently running. | |
| State | currentState () const |
| bool | isStateOneOf (const std::vector< State > &states) const |
| Geometry::AlignedBox | bounds () const override |
| Per default a Stream has empty/invalid bounds. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Matrices of streams by default map to the world coordinate system. | |
| virtual bool | createDefaultStreamController () |
| Indicates whether a StreamController should be created for the stream (by default returns true). | |
| double | updateRate () const |
Average update rate in Hz of the signalStreamData. | |
| std::string | describe () const override |
| Short description of the stream including latest state and update rate information. | |
| Public Member Functions inherited from Data | |
| Data (const std::string &name="") | |
| Data (const Data &other) | |
| Data & | operator= (const Data &other) |
| virtual | ~Data () |
| Mandatory virtual destructor. | |
| const std::string & | name () const |
| Return the name of this data. | |
| void | setName (const std::string &name) |
| Sets the name of this data. | |
| virtual bool | isAnnotationType () const |
| Return whether this data type is visualized through an annotation (e.g. mesh) | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| virtual void | setMatrixFromWorld (const mat4 &m) |
| Set matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual void | setMatrixToWorld (const mat4 &m) |
| Set matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrixFromWorld () const |
| Get matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual mat4 | matrixToWorld () const |
| Get matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrix () const |
| Return the transformation matrix. | |
| virtual void | setMatrix (const mat4 &m) |
| Set the transformation matrix. | |
| Public Member Functions inherited from Configurable | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
| Public Member Functions inherited from RobotControlInterfacesHolder | |
| template<typename T> | |
| bool | hasControlInterface () const |
| template<typename T> | |
| void | registerControlInterface (T *newInterface) |
| template<typename T> | |
| bool | deRegisterControlInterface () |
| template<typename T> | |
| T * | getControlInterface () const |
| Public Member Functions inherited from PlanningFrameInterface | |
| virtual bool | set_flange_T_effector_nominal (const isom3 &newValue)=0 |
| sets the TCP transform in the robot controller RobotStateStream has a dummy implementation that will log an error if a Streams declaring support does not override this function | |
| Public Member Functions inherited from StatusInterface | |
| StatusInterface (RateLimits rateLimits) | |
| RobotLocation * | robotLocation () const |
| template<typename LocationType> | |
| LocationType * | typedRobotLocation () const |
| template<typename LocationType> | |
| bool | updateRobotLocation (std::unique_ptr< LocationType > newLocation) |
| RateLimits | rateLimits () const |
| virtual void | setRateLimits (RateLimits rateLimits) |
| Public Member Functions inherited from ControllerConfigurationInterface | |
| ControllerConfigurationInterface (std::vector< ControllerConfiguration > controllers) | |
| std::vector< ControllerConfiguration > | controllers () const |
| Returns descriptions of controllers with default parameter values. | |
| std::optional< ControllerConfiguration > | controllerWithName (const std::string &name) const |
| Get the controller with the given name. | |
| bool | activateController (const ControllerConfiguration &controllerConfiguration) |
| Activates the given controller, taking the parameters from the given configuration. | |
| std::optional< ControllerConfiguration > | activeController () const |
| Which controller is currently active. | |
| Public Member Functions inherited from CollisionDetectionPresetInterface | |
| bool | activateCollisionPreset (const CollisionDetectionPreset &preset) |
| Activate given collision setting, taking the parameters. | |
| virtual CollisionDetectionPreset | activeCollisionSetting () const |
| Which collision setting is currently active. | |
| Static Public Member Functions inherited from Stream | |
| static std::string | stateToString (State state) |
| Static Public Member Functions inherited from Data | |
| static std::string | modalityString (Data::Modality m) |
| Return the name of an image modality. | |
| static Data::Modality | stringToModality (const std::string &s) |
| Returns the modality corresponding to a modality string or NA if nothing matches. | |
| Static Public Member Functions inherited from PlanningFrameInterface | |
| static std::string | id () |
| Static Public Member Functions inherited from StatusInterface | |
| static std::string | id () |
| Static Public Member Functions inherited from JointStreamingControlInterface | |
| static std::string | id () |
| Static Public Member Functions inherited from CartesianStreamingControlInterface | |
| static std::string | id () |
| Static Public Member Functions inherited from ControllerConfigurationInterface | |
| static std::string | id () |
| Static Public Member Functions inherited from CollisionDetectionPresetInterface | |
| static std::string | id () |
| Public Attributes inherited from Stream | |
| ProtectedSignal< StateChange > | signalStateChanged |
| Emitted after a state change has been completed with the old and new state. | |
| ProtectedSignal | signalEnded |
| Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end. | |
| ProtectedSignal< std::shared_ptr< const StreamData > > | signalStreamData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & > | signalNewData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| Public Attributes inherited from Data | |
| Signal< const Data * > | signalDeleted |
| Signal emitted when this instance is deleted. | |
| Signal< const Data * > | signalMatrixChanged |
| Signal emitted when the transformation of this Data has changed. | |
| Signal< std::string > | signalNameChanged |
| Signal emitted when the name changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Public Attributes inherited from StatusInterface | |
| Signal | motionStarted |
| Signal | motionFinished |
| Protected Attributes inherited from FakeRobotControlStream | |
| ControlIterationInfo | m_iterationInfo |
| std::chrono::milliseconds | m_period {1} |
| JointPosition | m_jointPositions |
| double | m_jointVelocityLimitRadSec = 0.6 |
| double | m_controlFrequencyHertz = 500 |
| std::optional< std::chrono::steady_clock::time_point > | m_lastControlIterationTimestamp |
| std::unique_ptr< Threading::StoppableThread > | m_motionThread |
| std::unique_ptr< MotionGeneratorBase > | m_motion |
| Protected Attributes inherited from RobotStateStream | |
| std::shared_ptr< RobotInstance > | m_robotInstance |
| Active robot instance. | |
| RobotStreamType | m_robotStreamType |
| Stream type (Simulated, Control, State) | |
| RobotType | m_robotType |
| Robot name in the SDK. | |
| std::shared_ptr< const RobotStateStreamData > | m_lastData |
| A copy of most recent stream data. | |
| std::mutex | m_lastDataMtx |
| Synchronizes access to m_lastData. | |
| Protected Attributes inherited from Data | |
| mat4 | m_matrix |
| Transformation matrix. | |
| std::recursive_mutex * | m_matrixMutex |
| Used to internally synchronize access to the matrix of data. | |
| DataComponentList | m_dataComponentList |
| The list of DataComponents for this data. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| Protected Attributes inherited from StatusInterface | |
| RateLimits | m_rateLimits |
| std::unique_ptr< RobotLocation > | m_robotLocation |
| Robot location (e.g. | |
| Protected Attributes inherited from CollisionDetectionPresetInterface | |
| CollisionDetectionPreset | m_activeCollisionDetectionPreset = CollisionDetectionPreset::Off |
|
overrideprotectedvirtual |
Implements FakeRobotControlStream.
