Wraps a TrajectoryExecutor to enable queuing trajectories for execution. More...

#include <aikido/control/QueuedTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::QueuedTrajectoryExecutor:

Public Member Functions
	QueuedTrajectoryExecutor (std::shared_ptr< TrajectoryExecutor > executor)
	Constructor. More...

virtual	~QueuedTrajectoryExecutor ()

void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...

std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Execute trajectory and set future upon completion. More...

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

void	cancel () override
	Cancel the current trajectory, as well as all trajectories currently in the queue. More...

Public Member Functions inherited from aikido::control::TrajectoryExecutor
	TrajectoryExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor Documentation Inherited. More...

virtual	~TrajectoryExecutor ()=default

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...

Private Attributes
std::shared_ptr< TrajectoryExecutor >	mExecutor
	Underlying TrajectoryExecutor. More...

bool	mInProgress
	Whether a trajectory is currently being executed. More...

std::future< void >	mFuture
	Future from wrapped executor. More...

std::queue< trajectory::ConstTrajectoryPtr >	mTrajectoryQueue
	Queue of trajectories. More...

std::queue< std::shared_ptr< std::promise< void > > >	mPromiseQueue
	Queue of promises made by this to the client. More...

std::mutex	mMutex
	Manages access to mInProgress, mFuture, mTrajectoryQueue, mPromiseQueue. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...

std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

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

Wraps a TrajectoryExecutor to enable queuing trajectories for execution.

Constructor & Destructor Documentation

◆ QueuedTrajectoryExecutor()

aikido::control::QueuedTrajectoryExecutor::QueuedTrajectoryExecutor ( std::shared_ptr< TrajectoryExecutor > executor )

explicit

Constructor.

Parameters

executor Underlying TrajectoryExecutor

◆ ~QueuedTrajectoryExecutor()

virtual aikido::control::QueuedTrajectoryExecutor::~QueuedTrajectoryExecutor ( )

virtual

Member Function Documentation

◆ cancel()

void aikido::control::QueuedTrajectoryExecutor::cancel ( )

overridevirtual

Cancel the current trajectory, as well as all trajectories currently in the queue.

Does NOT stop the trajectory that is currently executing if the underlying executor does not support it.

Implements aikido::control::TrajectoryExecutor.

◆ execute()

std::future<void> aikido::control::QueuedTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr & traj )

overridevirtual

Execute trajectory and set future upon completion.

If another trajectory is already running, queue the trajectory for later execution. If executing a trajectory terminates in an error, all queued trajectories are canceled.

Parameters

traj	Trajectory to be executed or queued.

Returns: future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Exceptions

invalid_argument if traj is invalid.

Implements aikido::control::TrajectoryExecutor.

◆ step()

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

overridevirtual

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

Implements aikido::control::TrajectoryExecutor.

◆ validate()

void aikido::control::QueuedTrajectoryExecutor::validate ( const trajectory::Trajectory * traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

◆ mExecutor

std::shared_ptr<TrajectoryExecutor> aikido::control::QueuedTrajectoryExecutor::mExecutor

private

Underlying TrajectoryExecutor.

◆ mFuture

std::future<void> aikido::control::QueuedTrajectoryExecutor::mFuture

private

Future from wrapped executor.

◆ mInProgress

bool aikido::control::QueuedTrajectoryExecutor::mInProgress

private

Whether a trajectory is currently being executed.

◆ mMutex

std::mutex aikido::control::QueuedTrajectoryExecutor::mMutex

mutableprivate

Manages access to mInProgress, mFuture, mTrajectoryQueue, mPromiseQueue.

◆ mPromiseQueue

std::queue<std::shared_ptr<std::promise<void> > > aikido::control::QueuedTrajectoryExecutor::mPromiseQueue

private

Queue of promises made by this to the client.

◆ mTrajectoryQueue

std::queue<trajectory::ConstTrajectoryPtr> aikido::control::QueuedTrajectoryExecutor::mTrajectoryQueue

private

Queue of trajectories.

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QueuedTrajectoryExecutor()

◆ ~QueuedTrajectoryExecutor()

Member Function Documentation

◆ cancel()

◆ execute()

◆ step()

◆ validate()

Member Data Documentation

◆ mExecutor

◆ mFuture

◆ mInProgress

◆ mMutex

◆ mPromiseQueue

◆ mTrajectoryQueue