#include <RoboticsPlugin/Include/ImFusion/Robotics/Simulation/FakeRobotControlStream.h>

Stream that allows to programmatically set the joint position and simulate motion in Cartesian and joint space. More...

Inheritance diagram for FakeRobotControlStream:

Detailed Description

Stream that allows to programmatically set the joint position and simulate motion in Cartesian and joint space.

Useful for visualization, testing or demo purposes.

Public Member Functions
	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.

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.

Protected Member Functions
virtual void	initRobotInstance ()=0

virtual std::unique_ptr< RobotState >	generateRobotState ()

void	publishRobotState ()

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.

Protected Attributes
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

Methods implementing the Stream interface
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;.

Methods implementing StatusInterface
MotionGeneratorBase *	activeMotionGenerator () override

bool	isMoving () const override

bool	isError () const override

bool	canStartNewMotion () const override

bool	tryRecoverFromError () override

void	stopMotion () override

Methods implementing CartesianTCPInterface
bool	supportsSetting_flange_T_effector_nominal () const override
	if true, the TCP transform can be set in the robot firmware

Methods implementing JointStreamingControlInterface
MotionResult	startMotion (std::unique_ptr< MotionGenerator< JointPosition > > &&motion) override

Methods implementing CartesianStreamingControlInterface
MotionResult	startMotion (std::unique_ptr< MotionGenerator< isom3 > > &&motion) override

Methods implementing CollisionDetectionPresetInterface
bool	activateCollisionPresetImpl (CollisionDetectionPreset preset) override

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...

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

Member Function Documentation

◆ openImpl()

bool openImpl ( )

overridevirtual

Open stream.

Returns whether the operation was successful. This method is responsible for allocating necessary resources, initializing device handles, and establishing connections to devices. Implementers should ensure that all one-time setup tasks are completed here.

Implements Stream.

◆ closeImpl()

bool closeImpl ( )

overridevirtual

Close stream.

Returns whether the operation was successful. This method should be used to free any resources that were allocated during the openImpl() call and to disconnect from any devices. Implementers must ensure that all resources are properly released to avoid memory leaks.

Implements Stream.

◆ startImpl()

bool startImpl ( )

overridevirtual

Start stream.

Returns whether the operation was successful. This method is intended to initiate the actual data readout process or to connect a callback function for data handling. Implementers should ensure that the stream is ready and producing data after this call.

Implements Stream.

◆ stopImpl()

bool stopImpl ( )

overridevirtual

Stop stream.

Returns whether the operation was successful. This method should halt any ongoing data readouts or callbacks, effectively pausing the data flow to reduce CPU load. Implementers should ensure that the stream can be restarted after this call.

Implements Stream.

◆ doWork()

std::optional< Stream::WorkContinuation > doWork ( )

overridevirtual

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;.

Implements Stream.

◆ uuid()

std::string uuid ( )

overridevirtual

Unique identifier for stream.

Implements Stream.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configure() for the inverse functionality

Reimplemented from Configurable.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configuration() for the inverse functionality

Reimplemented from Configurable.

◆ activeMotionGenerator()

MotionGeneratorBase * activeMotionGenerator ( )

overridevirtual

Implements StatusInterface.

◆ isMoving()

bool isMoving ( ) const

overridevirtual

Implements StatusInterface.

◆ isError()

bool isError ( ) const

overridevirtual

Implements StatusInterface.

◆ canStartNewMotion()

bool canStartNewMotion ( ) const

overridevirtual

Implements StatusInterface.

◆ tryRecoverFromError()

bool tryRecoverFromError ( )

overridevirtual

Implements StatusInterface.

◆ stopMotion()

void stopMotion ( )

overridevirtual

Implements StatusInterface.

◆ supportsSetting_flange_T_effector_nominal()

bool supportsSetting_flange_T_effector_nominal ( ) const

inlineoverridevirtual

if true, the TCP transform can be set in the robot firmware

Implements PlanningFrameInterface.

◆ startMotion() [1/2]

MotionResult startMotion ( std::unique_ptr< MotionGenerator< JointPosition > > && motion )

overridevirtual

Implements JointStreamingControlInterface.

◆ startMotion() [2/2]

MotionResult startMotion ( std::unique_ptr< MotionGenerator< isom3 > > && motion )

overridevirtual

Implements CartesianStreamingControlInterface.

◆ activateCollisionPresetImpl()

bool activateCollisionPresetImpl ( CollisionDetectionPreset preset )

overrideprotectedvirtual

Implements CollisionDetectionPresetInterface.

The documentation for this class was generated from the following file:

RoboticsPlugin/Include/ImFusion/Robotics/Simulation/FakeRobotControlStream.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Methods implementing the Stream interface

Methods implementing StatusInterface

Methods implementing CartesianTCPInterface

Methods implementing JointStreamingControlInterface

Methods implementing CartesianStreamingControlInterface

Methods implementing CollisionDetectionPresetInterface

Additional Inherited Members

Member Function Documentation

◆ openImpl()

◆ closeImpl()

◆ startImpl()

◆ stopImpl()

◆ doWork()

◆ uuid()

◆ configuration()

◆ configure()

◆ activeMotionGenerator()

◆ isMoving()

◆ isError()

◆ canStartNewMotion()

◆ tryRecoverFromError()

◆ stopMotion()

◆ supportsSetting_flange_T_effector_nominal()

◆ startMotion() [1/2]

◆ startMotion() [2/2]

◆ activateCollisionPresetImpl()