Detailed Description

Stream data containing robot state information.

This class is the payload emitted by the signalNewData Signal of RobotStateStream child classes. Each instance of RobotStateStreamData holds a RobotState instance that captures the robot's status at the moment the signal is emitted. This includes at least the joint positions, enabling to compute the forward kinematics of and determine the Cartesian configuration of the robot. The RobotState can also include the joint velocities and further information provided by the robot firmware.

Each robot integration may subclass RobotState to further extend the information provided to the user.

It is recommended to use the RobotState instance passed to a listener of RobotStateStream::signalNewData to get the spatial information of the robot. Mixing the information contained in the RobotState instance and queried directly by the stream may lead to incoherences, if the robot registration / TCP transform has changed since the time of emission of the payload.

Public Member Functions
	RobotStateStreamData (Stream *stream, std::shared_ptr< const RobotState > state)
	Create new data container for robot stream information.

const RobotState *	robotState () const
	Read-only access to the current robot state.

std::unique_ptr< StreamData >	clone () const override

Public Member Functions inherited from StreamData
virtual Stream *	stream () const
	Returns the stream object which updates this data.

virtual unsigned long long	timestampDevice () const
	Timestamp in milliseconds. Set by the streaming device.

virtual void	setTimestampDevice (unsigned long long time)
	Set timestamp provided by the streaming device, in milliseconds.

virtual unsigned long long	timestampArrival () const
	Timestamp in milliseconds. Based on message's arrival time.

virtual void	setTimestampArrival (std::chrono::system_clock::time_point time)
	Set the system time when this streamData was arrived. It will be stored in milliseconds relative to epoch time.

virtual void	setTimestampArrival (unsigned long long time)
	Set arrival timestamp manually, in milliseconds.

const DataComponentList &	components () const
	Returns the list of DataComponents for this data.

DataComponentList &	components ()
	Returns the list of DataComponents for this data.

template<typename StreamDataClass>
const StreamDataClass *	typed () const

Additional Inherited Members
Protected Member Functions inherited from StreamData
	StreamData (const StreamData &other)=default

	StreamData (Stream *stream)

	StreamData (Stream *stream, DataComponentList &&components)

Protected Attributes inherited from StreamData
Stream *	m_stream
	The stream object which updates this data.

unsigned long long	m_timestampDevice
	Timestamp of the streaming device, in milliseconds.

unsigned long long	m_timestampArrival
	Timestamp when the data is received in ImFusion framework, in milliseconds.

DataComponentList	m_dataComponentList
	The list of DataComponents for this StreamData.

Constructor & Destructor Documentation

◆ RobotStateStreamData()

RobotStateStreamData	(	Stream *	stream,
		std::shared_ptr< const RobotState >	state )

inline

Create new data container for robot stream information.

Parameters

stream	non-owning pointer to the parent stream
state	current robot state to be encapsulated

Member Function Documentation

◆ robotState()

const RobotState * robotState ( ) const

inline

Read-only access to the current robot state.

Returns: non-owning pointer to the current robot state or null pointer if no state is set

◆ clone()

std::unique_ptr< StreamData > clone ( ) const

inlineoverridevirtual

Implements StreamData.

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

RoboticsPlugin/Include/ImFusion/Robotics/RobotStateStream.h