Abstract class for executing commands on degrees of freedom. More...

#include <aikido/control/Executor.hpp>

Inheritance diagram for aikido::control::Executor:

Public Member Functions
	Executor (const std::set< ExecutorType > &types, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

	Executor (const ExecutorType type, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

virtual	~Executor ()

std::set< ExecutorType >	getTypes () const
	Get all of this Executor's ExecutorTypes. More...

const std::vector< dart::dynamics::DegreeOfFreedom * >	getDofs () const
	Get list of dofs needed by this Executor. More...

virtual void	step (const std::chrono::system_clock::time_point &)
	Step to a point in time. More...

void	start ()
	Start the underlying ExecutorThread. More...

void	stop ()
	Stops the underlying ExecutorThread. More...

bool	registerDofs ()
	Lock the resources required by the DoFs. More...

void	releaseDofs ()
	Unlock any resources required by the DoFs. More...

virtual void	cancel ()
	Cancel the current command. More...

Protected Attributes
std::set< ExecutorType >	mTypes
	Vector of executor types. More...

std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Private Member Functions
void	spin ()
	Call to spin first to pass current time to step Necessary for real-time execution via mThread. More...

Private Attributes
std::chrono::milliseconds	mThreadRate
	How often to run spin() on internal thread. More...

bool	mDofsRegistered {false}
	Whether this executor has a lock on its DoF resources. More...

std::unique_ptr< aikido::common::ExecutorThread >	mThread
	Executor thread calling step function. More...

Static Private Attributes
static std::unordered_map< ExecutorType, std::set< dart::dynamics::DegreeOfFreedom * > >	mDofManager
	Manager for locking resources for degrees of freedom. More...

static std::mutex	mMutex
	Mutex to protects the DofManager. More...

Detailed Description

Abstract class for executing commands on degrees of freedom.

Constructor & Destructor Documentation

◆ Executor() [1/2]

aikido::control::Executor::Executor	(	const std::set< ExecutorType > &	types,
		const std::vector< dart::dynamics::DegreeOfFreedom * > &	dofs,
		const std::chrono::milliseconds	threadRate = `defaultThreadRate`
	)

Constructor.

Parameters

[in]	types	Set of controller types
[in]	dofs	Vector of degree-of-freedom names this Executor acts upon
[in]	threadRate	(Optional) How often to call step()

◆ Executor() [2/2]

aikido::control::Executor::Executor	(	const ExecutorType	type,
		const std::vector< dart::dynamics::DegreeOfFreedom * > &	dofs,
		std::chrono::milliseconds	threadRate = `defaultThreadRate`
	)

Constructor.

Parameters

[in]	type	Single type to be added to this class's set of types
[in]	dofs	Vector of degree-of-freedom names this Executor acts upon
[in]	threadRate	(Optional) How often to call step()

◆ ~Executor()

virtual aikido::control::Executor::~Executor ( )

virtual

Member Function Documentation

◆ cancel()

virtual void aikido::control::Executor::cancel ( )

inlinevirtual

Cancel the current command.

Reimplemented in aikido::control::JointCommandExecutor< T >, aikido::control::TrajectoryExecutor, aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationJointCommandExecutor< T >, aikido::control::ros::RosJointCommandExecutor< T >, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, aikido::control::QueuedTrajectoryExecutor, aikido::control::VisualServoingVelocityExecutor, and aikido::control::JacobianExecutor< T >.

◆ getDofs()

const std::vector<dart::dynamics::DegreeOfFreedom*> aikido::control::Executor::getDofs ( ) const

Get list of dofs needed by this Executor.

◆ getTypes()

std::set<ExecutorType> aikido::control::Executor::getTypes ( ) const

Get all of this Executor's ExecutorTypes.

◆ registerDofs()

bool aikido::control::Executor::registerDofs ( )

Lock the resources required by the DoFs.

Returns: True if locked successfully, false otherwise.

◆ releaseDofs()

void aikido::control::Executor::releaseDofs ( )

Unlock any resources required by the DoFs.

◆ spin()

void aikido::control::Executor::spin ( )

inlineprivate

Call to spin first to pass current time to step Necessary for real-time execution via mThread.

◆ start()

void aikido::control::Executor::start ( )

Start the underlying ExecutorThread.

◆ step()

virtual void aikido::control::Executor::step ( const std::chrono::system_clock::time_point & )

inlinevirtual

Step to a point in time.

Note: timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint Time to simulate to

Reimplemented in aikido::control::JointCommandExecutor< T >, aikido::control::TrajectoryExecutor, aikido::control::VisualServoingVelocityExecutor, aikido::control::JacobianExecutor< T >, aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationJointCommandExecutor< T >, aikido::control::ros::RosJointCommandExecutor< T >, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::QueuedTrajectoryExecutor, and aikido::control::InstantaneousTrajectoryExecutor.

◆ stop()

void aikido::control::Executor::stop ( )

Stops the underlying ExecutorThread.

Member Data Documentation

◆ mDofManager

std:: unordered_map<ExecutorType, std::set<dart::dynamics::DegreeOfFreedom*> > aikido::control::Executor::mDofManager

staticprivate

Manager for locking resources for degrees of freedom.

◆ mDofs

std::vector<dart::dynamics::DegreeOfFreedom*> aikido::control::Executor::mDofs

protected

Vector of dof names.

◆ mDofsRegistered

bool aikido::control::Executor::mDofsRegistered {false}

private

Whether this executor has a lock on its DoF resources.

◆ mMutex

std::mutex aikido::control::Executor::mMutex

staticprivate

Mutex to protects the DofManager.

◆ mThread

std::unique_ptr<aikido::common::ExecutorThread> aikido::control::Executor::mThread

private

Executor thread calling step function.

◆ mThreadRate

std::chrono::milliseconds aikido::control::Executor::mThreadRate

private

How often to run spin() on internal thread.

◆ mTypes

std::set<ExecutorType> aikido::control::Executor::mTypes

protected

Vector of executor types.

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Executor() [1/2]

◆ Executor() [2/2]

◆ ~Executor()

Member Function Documentation

◆ cancel()

◆ getDofs()

◆ getTypes()

◆ registerDofs()

◆ releaseDofs()

◆ spin()

◆ start()

◆ step()

◆ stop()

Member Data Documentation

◆ mDofManager

◆ mDofs

◆ mDofsRegistered

◆ mMutex

◆ mThread

◆ mThreadRate

◆ mTypes