ImFusion::Robotics::JointTrajectoryDataComponent Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/JointTrajectoryDataComponent.h>

DataComponent to hold the joint position of the robot over time. More...

Inheritance diagram for ImFusion::Robotics::JointTrajectoryDataComponent:

Detailed Description

DataComponent to hold the joint position of the robot over time.

This class is primarily targeted as a complement to TrackingSequence to define a planned robot trajectory. The tracking information of the TrackingSequence should contain the position of the end effector instead. There should be a 1-to-1 correspondence with the matrices of the TrackingSequence, so that the timestamp can be recovered by extracting the timestamp at the same index from the TrackingSequence.

Public Member Functions
	JointTrajectoryDataComponent (const RobotInstance *instance, const std::vector< JointPosition > &trajectory)
bool	operator== (const JointTrajectoryDataComponent &rhs) const
std::string	id () const override
	Returns a unique string identifier for this type of data component.
std::vector< JointPosition >	trajectory () const
void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.
Public Member Functions inherited from ImFusion::DataComponent< JointTrajectoryDataComponent >
std::unique_ptr< DataComponentBase >	clone () const override
	Creates a clone of this data component.
std::unique_ptr< Subclass >	cloneDerived () const
bool	assign (const DataComponentBase &other) override
	Assigns the content of other to this data component.
bool	equals (const DataComponentBase &other) const override
	Compares this data component to other for equality.
Public Member Functions inherited from ImFusion::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

Protected Attributes
RobotInstance *	m_instance
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Additional Inherited Members
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from ImFusion::DataComponentBase
	DataComponentBase (const DataComponentBase &)=default
DataComponentBase &	operator= (const DataComponentBase &other)=default

Member Function Documentation

id()

std::string ImFusion::Robotics::JointTrajectoryDataComponent::id ( ) const

inlineoverridevirtual

Returns a unique string identifier for this type of data component.

Note

To avoid conflicts make sure to include potential plugin names into this ID. Due to the modular architecture of the ImFusion library, uniqueness of IDs cannot be checked at compile time. However, DataComponentFactory will check the uniqueness of the ID during registration.

Implements ImFusion::DataComponentBase.

configure()

void ImFusion::Robotics::JointTrajectoryDataComponent::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 ImFusion::Configurable.

configuration()

void ImFusion::Robotics::JointTrajectoryDataComponent::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 ImFusion::Configurable.

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

• RoboticsPlugin/Include/ImFusion/Robotics/JointTrajectoryDataComponent.h