aikido::control::JointCommandExecutor< T > Class Template Reference

Abstract class for executing a command of a single type on a group of joints. More...

#include <aikido/control/JointCommandExecutor.hpp>

Inheritance diagram for aikido::control::JointCommandExecutor< T >:

Public Member Functions
	JointCommandExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
virtual	~JointCommandExecutor ()
virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout, const std::chrono::system_clock::time_point &timepoint)=0
	Execute a Joint Command, setting future upon completion. More...
virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout)
	Execute a Joint Command, setting future upon completion. More...
virtual void	step (const std::chrono::system_clock::time_point &timepoint) override=0
	Step to a point in time. More...
virtual void	cancel ()=0
	Cancels the current command. More...
Public Member Functions inherited from aikido::control::Executor
	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...
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...

Additional Inherited Members
Protected Attributes inherited from aikido::control::Executor
std::set< ExecutorType >	mTypes
	Vector of executor types. More...
std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Detailed Description

template<ExecutorType T>
class aikido::control::JointCommandExecutor< T >

Abstract class for executing a command of a single type on a group of joints.

Template Parameters

T	The primary and only type of this executor.

Constructor & Destructor Documentation

JointCommandExecutor()

template<ExecutorType T>

aikido::control::JointCommandExecutor< T >::JointCommandExecutor ( const std::vector< dart::dynamics::DegreeOfFreedom * >  dofs, const std::set< ExecutorType >  otherTypes = std::set<ExecutorType>(), const std::chrono::milliseconds  threadRate = defaultThreadRate  )

inline

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()
[in]	otherTypes	Other resources this executor needs beyond the primary

~JointCommandExecutor()

template<ExecutorType T>

virtual aikido::control::JointCommandExecutor< T >::~JointCommandExecutor ( )

inlinevirtual

Member Function Documentation

cancel()

template<ExecutorType T>

virtual void aikido::control::JointCommandExecutor< T >::cancel ( )

pure virtual

Cancels the current command.

Reimplemented from aikido::control::Executor.

Implemented in aikido::control::KinematicSimulationJointCommandExecutor< T >, aikido::control::ros::RosJointCommandExecutor< T >, and aikido::control::JacobianExecutor< T >.

execute() [1/2]

template<ExecutorType T>

virtual std::future<int> aikido::control::JointCommandExecutor< T >::execute ( const std::vector< double > &  command, const std::chrono::duration< double > &  timeout  )

inlinevirtual

Execute a Joint Command, setting future upon completion.

If applicable, simulate to the current time.

Note

Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires

Reimplemented in aikido::control::KinematicSimulationJointCommandExecutor< T >, and aikido::control::JacobianExecutor< T >.

execute() [2/2]

template<ExecutorType T>

virtual std::future<int> aikido::control::JointCommandExecutor< T >::execute ( const std::vector< double > &  command, const std::chrono::duration< double > &  timeout, const std::chrono::system_clock::time_point &  timepoint  )

pure virtual

Execute a Joint Command, setting future upon completion.

Note

Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires
timepoint	If supplied, time to simulate to

Implemented in aikido::control::ros::RosJointCommandExecutor< T >, aikido::control::KinematicSimulationJointCommandExecutor< T >, and aikido::control::JacobianExecutor< T >.

step()

template<ExecutorType T>

virtual void aikido::control::JointCommandExecutor< T >::step ( const std::chrono::system_clock::time_point &  )

overridepure virtual

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 from aikido::control::Executor.

Implemented in aikido::control::JacobianExecutor< T >, aikido::control::KinematicSimulationJointCommandExecutor< T >, and aikido::control::ros::RosJointCommandExecutor< T >.