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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <RoboticsPlugin/Include/ImFusion/Robotics/UR/URStateStream.h>
Connects to a UR robot arm in read-only mode and publishes its state as a RobotStateStream. More...
Inheritance diagram for URStateStream:Connects to a UR robot arm in read-only mode and publishes its state as a RobotStateStream.
Public Member Functions | |
| URStateStream (const URRobotLocation &location, const std::string &streamName="UR State Stream") | |
| void | setPeriodMs (size_t newPeriodMs) |
| 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 | |
Methods implementing the Stream interface | |
| std::string | uuid () override |
| Unique identifier for stream. | |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| std::optional< 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 CartesianTCPInterface | |
| bool | supportsSetting_flange_T_effector_nominal () const override |
| if true, the TCP transform can be set in the robot firmware | |
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 () |
| 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. | |
| 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 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. | |
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inlineoverridevirtual |
if true, the TCP transform can be set in the robot firmware
Implements PlanningFrameInterface.
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overrideprotectedvirtual |
Unique identifier for stream.
Implements Stream.
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overrideprotectedvirtual |
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.
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overrideprotectedvirtual |
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.
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overrideprotectedvirtual |
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.
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overrideprotectedvirtual |
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.
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overrideprotectedvirtual |
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.
