#include <binpickingtask.h>

mujinclient::BinPickingTaskResourceに対する継承グラフ

mujinclient::BinPickingTaskResourceのコラボレーション図

構成
struct	DetectedObject
struct	PointCloudObstacle
struct	ResultAABB
struct	ResultBase
struct	ResultGetBinpickingState
struct	ResultGetInstObjectAndSensorInfo
struct	ResultGetJointValues
struct	ResultGetPickedPositions
struct	ResultHeartBeat
struct	ResultIsRobotOccludingBody
struct	ResultMoveJoints
struct	ResultOBB
struct	ResultTransform
struct	SensorOcclusionCheck

Public 型
typedef boost::shared_ptr < ResultBase >	ResultBasePtr

Public メソッド
	BinPickingTaskResource (ControllerClientPtr controller, const std::string &pk, const std::string &scenepk, const std::string &tasktype="binpicking")
virtual	~BinPickingTaskResource ()
virtual void	Initialize (const std::string &defaultTaskParameters, const double commandtimeout=0, const std::string &userinfo="{}", const std::string &slaverequestid="")
	Initializes binpicking task.
virtual boost::property_tree::ptree	ExecuteCommand (const std::string &command, const double timeout=0.0, const bool getresult=true)
virtual void	GetJointValues (ResultGetJointValues &result, const double timeout=0)
virtual void	MoveJoints (const std::vector< Real > &jointvalues, const std::vector< int > &jointindices, const Real envclearance, const Real speed, ResultMoveJoints &result, const double timeout=0)
virtual void	GetTransform (const std::string &targetname, Transform &result, const std::string &unit="mm", const double timeout=0)
virtual void	SetTransform (const std::string &targetname, const Transform &transform, const std::string &unit="mm", const double timeout=0)
virtual void	GetManipTransformToRobot (Transform &result, const std::string &unit="mm", const double timeout=0)
virtual void	GetManipTransform (Transform &result, const std::string &unit="mm", const double timeout=0)
virtual void	GetAABB (const std::string &targetname, ResultAABB &result, const std::string &unit="mm", const double timeout=0)
virtual void	GetOBB (ResultOBB &result, const std::string &targetname, const std::string &linkname="", const std::string &unit="mm", const double timeout=0)
virtual void	GetInnerEmptyRegionOBB (ResultOBB &result, const std::string &targetname, const std::string &linkname="", const std::string &unit="mm", const double timeout=0)
virtual void	UpdateObjects (const std::string &basename, const std::vector< Transform > &transformsworld, const std::vector< std::string > &confidence, const std::string &state, const std::string &unit="mm", const double timeout=0)
	Update objects in the scene.
virtual void	InitializeZMQ (const double reinitializetimeout=0, const double timeout=0)
	Establish ZMQ connection to the task.
virtual void	AddPointCloudObstacle (const std::vector< Real > &vpoints, const Real pointsize, const std::string &name, const unsigned long long starttimestamp=0, const unsigned long long endtimestamp=0, const bool executionverification=false, const std::string &unit="mm", int isoccluded=-1, const double timeout=0)
	Add a point cloud collision obstacle with name to the environment.
virtual void	UpdateEnvironmentState (const std::string &objectname, const std::vector< DetectedObject > &detectedobjects, const std::vector< Real > &vpoints, const std::string &resultstate, const Real pointsize, const std::string &pointcloudobstaclename, const std::string &unit="mm", const double timeout=0)
virtual void	VisualizePointCloud (const std::vector< std::vector< Real > > &pointslist, const Real pointsize, const std::vector< std::string > &names, const std::string &unit="m", const double timeout=0)
	Visualize point cloud on controller.
virtual void	ClearVisualization (const double timeout=0)
	Clear visualization made by VisualizePointCloud.
virtual void	IsRobotOccludingBody (const std::string &bodyname, const std::string &sensorname, const unsigned long long starttime, const unsigned long long endtime, bool &result, const double timeout=0)
	Check if robot is occluding the object in the view of sensor between starttime and endtime.
virtual void	GetPickedPositions (ResultGetPickedPositions &result, const std::string &unit="m", const double timeout=0)
	Get the picked positions with corresponding timestamps.
virtual PlanningResultResourcePtr	GetResult ()
	gets the result of the task execution. If no result has been computed yet, will return a NULL pointer.
virtual void	GetInstObjectAndSensorInfo (const std::vector< std::string > &instobjectnames, const std::vector< std::string > &sensornames, ResultGetInstObjectAndSensorInfo &result, const std::string &unit="m", const double timeout=0)
	Gets inst object.
virtual void	GetBinpickingState (ResultGetBinpickingState &result, const std::string &robotname, const std::string &unit="m", const double timeout=0)
	Get state of bin picking.
virtual void	GetPublishedTaskState (ResultGetBinpickingState &result, const std::string &robotname, const std::string &unit="m", const double timeout=0)
	Get published state of bin picking except for initial call, this returns cached value.
virtual void	SetJogModeVelocities (const std::string &jogtype, const std::vector< int > &movejointsigns, const std::string &robotname="", const std::string &toolname="", const double robotspeed=-1, const double robotaccelmult=-1.0, const double timeout=1)
	Jogs robot in joint or tool space.
virtual void	MoveToolLinear (const std::string &goaltype, const std::vector< double > &goals, const std::string &robotname="", const std::string &toolname="", const double robotspeed=-1, const double timeout=10)
	Moves hand to specified posistion linearly.
virtual void	MoveToHandPosition (const std::string &goaltype, const std::vector< double > &goals, const std::string &robotname="", const std::string &toolname="", const double robotspeed=-1, const double timeout=10)
	Moves hand to specified posistion.
virtual void	_HeartbeatMonitorThread (const double reinitializetimeout, const double commandtimeout)
	Monitors heartbeat signals from a running binpicking ZMQ server, and reinitializes the ZMQ server when heartbeat is lost.
virtual const std::string &	GetSlaveRequestId () const
	returns the slaverequestid used to communicate with the controller. If empty, then no id is used.
Public メソッド inherited from mujinclient::TaskResource
	TaskResource (ControllerClientPtr controller, const std::string &pk)
virtual	~TaskResource ()
virtual bool	Execute ()
	execute the task.
virtual void	Cancel ()
	if the task is currently executing, send a cancel request
virtual void	GetRunTimeStatus (JobStatus &status, int options=1)
	get the run-time status of the executed task.
virtual OptimizationResourcePtr	GetOrCreateOptimizationFromName_UTF8 (const std::string &optimizationname, const std::string &optimizationtype=std::string("robotplacement"))
	Gets or creates the a optimization part of the scene.
virtual OptimizationResourcePtr	GetOrCreateOptimizationFromName_UTF16 (const std::wstring &optimizationname, const std::string &optimizationtype=std::string("robotplacement"))
virtual void	GetOptimizationPrimaryKeys (std::vector< std::string > &optimizationkeys)
	gets a list of all the scene primary keys currently available to the user
virtual void	GetTaskParameters (ITLPlanningTaskParameters &taskparameters)
	Get the task info for tasks of type itlplanning
virtual void	SetTaskParameters (const ITLPlanningTaskParameters &taskparameters)
	Set new task info for tasks of type itlplanning
Public メソッド inherited from mujinclient::WebResource
	WebResource (ControllerClientPtr controller, const std::string &resourcename, const std::string &pk)
virtual	~WebResource ()
ControllerClientPtr	GetController () const
const std::string &	GetResourceName () const
const std::string &	GetPrimaryKey () const
virtual std::string	Get (const std::string &field)
	gets an attribute of this web resource
virtual void	Set (const std::string &field, const std::string &newvalue)
	sets an attribute of this web resource
virtual void	Delete ()
	delete the resource and all its child resources
virtual void	Copy (const std::string &newname, int options)
	copy the resource and all its child resources to a new name

Protected 変数
std::stringstream	_ss
std::map< std::string, std::string >	_mapTaskParameters
	set of key value pairs that should be included
std::string	_mujinControllerIp
boost::mutex	_mutexTaskState
ResultGetBinpickingState	_taskstate
int	_zmqPort
int	_heartbeatPort
std::string	_userinfo_json
	userinfo json
std::string	_sceneparams_json
std::string	_slaverequestid
	\ parameters of the scene to run tasks on the backend zmq slave
std::string	_scenepk
	scene pk
const std::string	_tasktype
	the specific task type to create internally. As long as the task supports the binpicking interface, it can be used.
boost::shared_ptr< boost::thread >	_pHeartbeatMonitorThread
bool	_bIsInitialized
bool	_bShutdownHeartbeatMonitor
Protected 変数 inherited from mujinclient::TaskResource
std::string	_jobpk
	the job primary key used to track the status of the running task after Execute is called

説明

binpickingtask.h の 39 行で定義されています。

型定義

typedef boost::shared_ptr<ResultBase> mujinclient::BinPickingTaskResource::ResultBasePtr

binpickingtask.h の 76 行で定義されています。

コンストラクタとデストラクタ

mujinclient::BinPickingTaskResource::BinPickingTaskResource	(	ControllerClientPtr	controller,
		const std::string &	pk,
		const std::string &	scenepk,
		const std::string &	tasktype = `"binpicking"`
	)

virtual mujinclient::BinPickingTaskResource::~BinPickingTaskResource ( )

virtual

関数

virtual void mujinclient::BinPickingTaskResource::_HeartbeatMonitorThread	(	const double	reinitializetimeout,
		const double	commandtimeout
	)

virtual

Monitors heartbeat signals from a running binpicking ZMQ server, and reinitializes the ZMQ server when heartbeat is lost.

引数

reinitializetimeout	seconds to wait before re-initializing the ZMQ server after the heartbeat signal is lost
execfn	function to use to execute the InitializeZMQ command

virtual void mujinclient::BinPickingTaskResource::AddPointCloudObstacle	(	const std::vector< Real > &	vpoints,
		const Real	pointsize,
		const std::string &	name,
		const unsigned long long	starttimestamp = `0`,
		const unsigned long long	endtimestamp = `0`,
		const bool	executionverification = `false`,
		const std::string &	unit = `"mm"`,
		int	isoccluded = `-1`,
		const double	timeout = `0`
	)

virtual

Add a point cloud collision obstacle with name to the environment.

引数

vpoints	list of x,y,z coordinates in meter
state	additional information about the objects
pointsize	size of each point in meter
name	name of the obstacle
isoccluded	occlusion status of robot with the container: -1 if unknown, 0 if not occluding, 1 if robot is occluding container in camera
timeout	seconds until this command times out

virtual void mujinclient::BinPickingTaskResource::ClearVisualization ( const double timeout = 0 )

virtual

Clear visualization made by VisualizePointCloud.

virtual boost::property_tree::ptree mujinclient::BinPickingTaskResource::ExecuteCommand	(	const std::string &	command,
		const double	timeout = `0.0`,
		const bool	getresult = `true`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetAABB	(	const std::string &	targetname,
		ResultAABB &	result,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetBinpickingState	(	ResultGetBinpickingState &	result,
		const std::string &	robotname,
		const std::string &	unit = `"m"`,
		const double	timeout = `0`
	)

virtual

Get state of bin picking.

引数

result	state of bin picking
robotname	name of robot
unit	unit to receive values in, either "m" (indicates radian for angle) or "mm" (indicates degree for angle)
timeout	timeout of communication

virtual void mujinclient::BinPickingTaskResource::GetInnerEmptyRegionOBB	(	ResultOBB &	result,
		const std::string &	targetname,
		const std::string &	linkname = `""`,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetInstObjectAndSensorInfo	(	const std::vector< std::string > &	instobjectnames,
		const std::vector< std::string > &	sensornames,
		ResultGetInstObjectAndSensorInfo &	result,
		const std::string &	unit = `"m"`,
		const double	timeout = `0`
	)

virtual

Gets inst object.

引数

unit	input unit
result	unit is always in meter

virtual void mujinclient::BinPickingTaskResource::GetJointValues	(	ResultGetJointValues &	result,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetManipTransform	(	Transform &	result,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetManipTransformToRobot	(	Transform &	result,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetOBB	(	ResultOBB &	result,
		const std::string &	targetname,
		const std::string &	linkname = `""`,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::GetPickedPositions	(	ResultGetPickedPositions &	result,
		const std::string &	unit = `"m"`,
		const double	timeout = `0`
	)

virtual

Get the picked positions with corresponding timestamps.

引数

timeout seconds until this command times out

virtual void mujinclient::BinPickingTaskResource::GetPublishedTaskState	(	ResultGetBinpickingState &	result,
		const std::string &	robotname,
		const std::string &	unit = `"m"`,
		const double	timeout = `0`
	)

virtual

Get published state of bin picking except for initial call, this returns cached value.

引数

result	state of bin picking
robotname	name of robot
unit	unit to receive values in, either "m" (indicates radian for angle) or "mm" (indicates degree for angle)
timeout	timeout of communication

virtual PlanningResultResourcePtr mujinclient::BinPickingTaskResource::GetResult ( )

virtual

gets the result of the task execution. If no result has been computed yet, will return a NULL pointer.

mujinclient::TaskResourceを再定義しています。

virtual const std::string& mujinclient::BinPickingTaskResource::GetSlaveRequestId ( ) const

virtual

returns the slaverequestid used to communicate with the controller. If empty, then no id is used.

virtual void mujinclient::BinPickingTaskResource::GetTransform	(	const std::string &	targetname,
		Transform &	result,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::Initialize	(	const std::string &	defaultTaskParameters,
		const double	commandtimeout = `0`,
		const std::string &	userinfo = `"{}"`,
		const std::string &	slaverequestid = `""`
	)

virtual

Initializes binpicking task.

引数

commandtimeout	seconds until this command times out
userinfo	json string user info, such as locale
slaverequestid	id of mujincontroller planning slave to connect to

virtual void mujinclient::BinPickingTaskResource::InitializeZMQ	(	const double	reinitializetimeout = `0`,
		const double	timeout = `0`
	)

virtual

Establish ZMQ connection to the task.

引数

reinitializetimeout	seconds to wait before re-initializing the ZMQ server after the heartbeat signal is lost if reinitializetimeout is 0, then this does not invoke heartbeat monitoring thread
timeout	seconds until this command times out

virtual void mujinclient::BinPickingTaskResource::IsRobotOccludingBody	(	const std::string &	bodyname,
		const std::string &	sensorname,
		const unsigned long long	starttime,
		const unsigned long long	endtime,
		bool &	result,
		const double	timeout = `0`
	)

virtual

Check if robot is occluding the object in the view of sensor between starttime and endtime.

引数

sensorname	name of the sensor to be checked, example names: "sensor_kinbodyname/sensor_name" or "sensor_kinbodyname", in the latter case the first attached sensor will be used
timeout	seconds until this command times out

virtual void mujinclient::BinPickingTaskResource::MoveJoints	(	const std::vector< Real > &	jointvalues,
		const std::vector< int > &	jointindices,
		const Real	envclearance,
		const Real	speed,
		ResultMoveJoints &	result,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::MoveToHandPosition	(	const std::string &	goaltype,
		const std::vector< double > &	goals,
		const std::string &	robotname = `""`,
		const std::string &	toolname = `""`,
		const double	robotspeed = `-1`,
		const double	timeout = `10`
	)

virtual

Moves hand to specified posistion.

引数

goaltype	whether to specify goal in full six degrees of freedom (transform6d) or three dimentional position and two dimentional angle (translationdirection5d)
goals	where to move hand to [X, Y, Z, RX, RY, RZ] in mm and deg
robotname	name of the robot to move
toolname	name of the tool to move
robotspeed	speed at which to move
timeout	timeout of communication

virtual void mujinclient::BinPickingTaskResource::MoveToolLinear	(	const std::string &	goaltype,
		const std::vector< double > &	goals,
		const std::string &	robotname = `""`,
		const std::string &	toolname = `""`,
		const double	robotspeed = `-1`,
		const double	timeout = `10`
	)

virtual

Moves hand to specified posistion linearly.

引数

goaltype	whether to specify goal in full six degrees of freedom (transform6d) or three dimentional position and two dimentional angle (translationdirection5d)
goals	where to move hand to [X, Y, Z, RX, RY, RZ] in mm and deg
robotname	name of the robot to move
toolname	name of the tool to move
robotspeed	speed at which to move. this is a ratio to maximum speed and thus valid range is 0 to 1.
timeout	timeout of communication

virtual void mujinclient::BinPickingTaskResource::SetJogModeVelocities	(	const std::string &	jogtype,
		const std::vector< int > &	movejointsigns,
		const std::string &	robotname = `""`,
		const std::string &	toolname = `""`,
		const double	robotspeed = `-1`,
		const double	robotaccelmult = `-1.0`,
		const double	timeout = `1`
	)

virtual

Jogs robot in joint or tool space.

引数

jogtype	type of jogging, either "joints" or "tool"
goals	where to move hand to [X, Y, Z, RX, RY, RZ] in mm and deg
robotname	name of the robot to move
toolname	name of the tool to move
robotspeed	speed at which to move. this is a ratio to maximum speed and thus valid range is 0 to 1.
robotaccelmult	acceleration multiplier at which to move. this is a ratio to maximum acceleration and thus valid range is 0 to 1.
timeout	timeout of communication

例:: mujinjog.cpp.

virtual void mujinclient::BinPickingTaskResource::SetTransform	(	const std::string &	targetname,
		const Transform &	transform,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::UpdateEnvironmentState	(	const std::string &	objectname,
		const std::vector< DetectedObject > &	detectedobjects,
		const std::vector< Real > &	vpoints,
		const std::string &	resultstate,
		const Real	pointsize,
		const std::string &	pointcloudobstaclename,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

virtual void mujinclient::BinPickingTaskResource::UpdateObjects	(	const std::string &	basename,
		const std::vector< Transform > &	transformsworld,
		const std::vector< std::string > &	confidence,
		const std::string &	state,
		const std::string &	unit = `"mm"`,
		const double	timeout = `0`
	)

virtual

Update objects in the scene.

引数

basename	base name of the object. e.g. objects will have name basename_0, basename_1, etc
transformsworld	list of transforms in world frame
confidence	list of confidence of each detection
state	additional information about the objects
unit	unit of detectedobject info
timeout	seconds until this command times out

virtual void mujinclient::BinPickingTaskResource::VisualizePointCloud	(	const std::vector< std::vector< Real > > &	pointslist,
		const Real	pointsize,
		const std::vector< std::string > &	names,
		const std::string &	unit = `"m"`,
		const double	timeout = `0`
	)

virtual

Visualize point cloud on controller.

引数

pointslist	vector of x,y,z coordinates vector in meter
pointsize	size of each point in meter
names	vector of names for each point cloud
unit	of points
timeout	seconds until this command times out

変数

bool mujinclient::BinPickingTaskResource::_bIsInitialized

protected

binpickingtask.h の 350 行で定義されています。

bool mujinclient::BinPickingTaskResource::_bShutdownHeartbeatMonitor

protected

binpickingtask.h の 351 行で定義されています。

int mujinclient::BinPickingTaskResource::_heartbeatPort

protected

binpickingtask.h の 342 行で定義されています。

std::map<std::string, std::string> mujinclient::BinPickingTaskResource::_mapTaskParameters

protected

set of key value pairs that should be included

binpickingtask.h の 334 行で定義されています。

std::string mujinclient::BinPickingTaskResource::_mujinControllerIp

protected

binpickingtask.h の 335 行で定義されています。

boost::mutex mujinclient::BinPickingTaskResource::_mutexTaskState

protected

binpickingtask.h の 336 行で定義されています。

boost::shared_ptr<boost::thread> mujinclient::BinPickingTaskResource::_pHeartbeatMonitorThread

protected

binpickingtask.h の 348 行で定義されています。

std::string mujinclient::BinPickingTaskResource::_sceneparams_json

protected

binpickingtask.h の 344 行で定義されています。

std::string mujinclient::BinPickingTaskResource::_scenepk

protected

scene pk

binpickingtask.h の 346 行で定義されています。

std::string mujinclient::BinPickingTaskResource::_slaverequestid

protected

\ parameters of the scene to run tasks on the backend zmq slave

to ensure the same slave is used for binpicking task

binpickingtask.h の 345 行で定義されています。

std::stringstream mujinclient::BinPickingTaskResource::_ss

protected

binpickingtask.h の 332 行で定義されています。

ResultGetBinpickingState mujinclient::BinPickingTaskResource::_taskstate

protected

binpickingtask.h の 337 行で定義されています。

const std::string mujinclient::BinPickingTaskResource::_tasktype

protected

the specific task type to create internally. As long as the task supports the binpicking interface, it can be used.

binpickingtask.h の 347 行で定義されています。

std::string mujinclient::BinPickingTaskResource::_userinfo_json

protected

userinfo json

binpickingtask.h の 343 行で定義されています。

int mujinclient::BinPickingTaskResource::_zmqPort

protected

binpickingtask.h の 341 行で定義されています。

このクラスの説明は次のファイルから生成されました:

/home/mujin/mujin/checkoutroot/controllerclientcpp/include/mujincontrollerclient/binpickingtask.h (2016-07-21 19:43:21 +0900, commit:f216abb)

構成

Public 型

Public メソッド

Protected 変数

説明

型定義

コンストラクタとデストラクタ

関数

変数