State observation pipeline. More...

#include <mc_observers/ObserverPipeline.h>

Collaboration diagram for mc_observers::ObserverPipeline:

Classes
struct	PipelineObserver

Public Member Functions
	ObserverPipeline (mc_control::MCController &ctl, const std::string &name)

	ObserverPipeline (mc_control::MCController &ctl)

	~ObserverPipeline ()=default

void	create (const mc_rtc::Configuration &config, double dt)

void	reset ()

bool	run ()

bool	runObservers () const noexcept

void	runObservers (bool status)
	Whether to run the observers in this pipeline. More...

bool	updateObservers () const

void	updateObservers (bool status)
	Whether to update the observers in this pipeline. More...

bool	success () const noexcept
	Checks whether the last run of the pipeline succeeded. More...

const PipelineObserver &	observer (const std::string &name) const

PipelineObserver &	observer (const std::string &name)

const std::vector< PipelineObserver > &	observers () const

std::vector< PipelineObserver > &	observers ()

bool	hasObserver (const std::string &name) const
	Checks whether this pipeline has an observer. More...

bool	hasObserverType (const std::string &type) const
	Checks if there is an observer of a specific type in the pipeline. More...

const std::string &	desc () const noexcept
	Short description of the pipeline. More...

const std::string &	name () const noexcept

void	addToLogger (mc_rtc::Logger &)

void	removeFromLogger (mc_rtc::Logger &)

void	addToGUI (mc_rtc::gui::StateBuilder &)

void	removeFromGUI (mc_rtc::gui::StateBuilder &)

Protected Attributes
mc_control::MCController &	ctl_

std::string	name_ = {"DefaultObserverPipeline"}
	Name of this pipeline. More...

std::string	desc_ = {""}

bool	runObservers_ = true
	Whether to run this pipeline. More...

bool	updateObservers_ = true
	Whether to update real robots from estimated state. More...

bool	success_ = false
	Whether the pipeline successfully executed. More...

std::vector< PipelineObserver >	pipelineObservers_

Detailed Description

State observation pipeline.

Observers are responsible for estimating some of the robot properties from sensor measurements and/or fusing several source of information (e.g the EncoderObserver estimates the joint position and velocity based on joint sensors, the KinematicInertialObservers the state of the floating base from kinematics and IMU information, BodySensorObserver uses BodySensor information to update the floating base, etc). The ObserverPipeline groups them into a "State observation pipeline", that will run each observer sequentially. Some observers may be used to update the state of the real robots instances used by the controller, while others may only be used for logging estimated values for comparison purposes.

Constructor & Destructor Documentation

◆ ObserverPipeline() [1/2]

mc_observers::ObserverPipeline::ObserverPipeline	(	mc_control::MCController &	ctl,
		const std::string &	name
	)

◆ ObserverPipeline() [2/2]

mc_observers::ObserverPipeline::ObserverPipeline ( mc_control::MCController & ctl )

◆ ~ObserverPipeline()

mc_observers::ObserverPipeline::~ObserverPipeline ( )

default

Member Function Documentation

◆ addToGUI()

void mc_observers::ObserverPipeline::addToGUI ( mc_rtc::gui::StateBuilder & )

◆ addToLogger()

void mc_observers::ObserverPipeline::addToLogger ( mc_rtc::Logger & )

◆ create()

void mc_observers::ObserverPipeline::create	(	const mc_rtc::Configuration &	config,
		double	dt
	)

◆ desc()

const std::string& mc_observers::ObserverPipeline::desc ( ) const

inlinenoexcept

Short description of the pipeline.

◆ hasObserver()

bool mc_observers::ObserverPipeline::hasObserver ( const std::string & name ) const

inline

Checks whether this pipeline has an observer.

Parameters

name	Name of the observer

Returns: True if the observer is in the pipeline

◆ hasObserverType()

bool mc_observers::ObserverPipeline::hasObserverType ( const std::string & type ) const

inline

Checks if there is an observer of a specific type in the pipeline.

There may be more than one

Parameters

type	Type of the observer

Returns: True if there is at least one observer of this type in the pipeline

◆ name()

const std::string& mc_observers::ObserverPipeline::name ( ) const

inlinenoexcept

◆ observer() [1/2]

PipelineObserver& mc_observers::ObserverPipeline::observer ( const std::string & name )

inline

◆ observer() [2/2]

const PipelineObserver& mc_observers::ObserverPipeline::observer ( const std::string & name ) const

inline

◆ observers() [1/2]

std::vector<PipelineObserver>& mc_observers::ObserverPipeline::observers ( )

inline

◆ observers() [2/2]

const std::vector<PipelineObserver>& mc_observers::ObserverPipeline::observers ( ) const

inline

◆ removeFromGUI()

void mc_observers::ObserverPipeline::removeFromGUI ( mc_rtc::gui::StateBuilder & )

◆ removeFromLogger()

void mc_observers::ObserverPipeline::removeFromLogger ( mc_rtc::Logger & )

◆ reset()

void mc_observers::ObserverPipeline::reset ( )

◆ run()

bool mc_observers::ObserverPipeline::run ( )

◆ runObservers() [1/2]

bool mc_observers::ObserverPipeline::runObservers ( ) const

inlinenoexcept

Returns: True if the observers are running

◆ runObservers() [2/2]

void mc_observers::ObserverPipeline::runObservers ( bool status )

inline

Whether to run the observers in this pipeline.

Parameters

status True if the observers should be run

◆ success()

bool mc_observers::ObserverPipeline::success ( ) const

inlinenoexcept

Checks whether the last run of the pipeline succeeded.

Returns: True when the last call to run() succeeded

◆ updateObservers() [1/2]

bool mc_observers::ObserverPipeline::updateObservers ( ) const

inline

Returns: True if the observers are updating the real robots instance. The update does not occur if runObservers() is false.

◆ updateObservers() [2/2]

void mc_observers::ObserverPipeline::updateObservers ( bool status )

inline

Whether to update the observers in this pipeline.

Parameters

status True if the real robot instances should be update from the observers's result. Update occurs only if runObservers() is true, and the observer succeeded.

Member Data Documentation

◆ ctl_

mc_control::MCController& mc_observers::ObserverPipeline::ctl_

protected

◆ desc_

std::string mc_observers::ObserverPipeline::desc_ = {""}

protected

◆ name_

std::string mc_observers::ObserverPipeline::name_ = {"DefaultObserverPipeline"}

protected

Name of this pipeline.

◆ pipelineObservers_

std::vector<PipelineObserver> mc_observers::ObserverPipeline::pipelineObservers_

protected

Observers that will be run by the pipeline.

◆ runObservers_

bool mc_observers::ObserverPipeline::runObservers_ = true

protected

Whether to run this pipeline.

◆ success_

bool mc_observers::ObserverPipeline::success_ = false

protected

Whether the pipeline successfully executed.

◆ updateObservers_

bool mc_observers::ObserverPipeline::updateObservers_ = true

protected

Whether to update real robots from estimated state.

The documentation for this struct was generated from the following file:

include/mc_observers/ObserverPipeline.h

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ObserverPipeline() [1/2]

◆ ObserverPipeline() [2/2]

◆ ~ObserverPipeline()

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ create()

◆ desc()

◆ hasObserver()

◆ hasObserverType()

◆ name()

◆ observer() [1/2]

◆ observer() [2/2]

◆ observers() [1/2]

◆ observers() [2/2]

◆ removeFromGUI()

◆ removeFromLogger()

◆ reset()

◆ run()

◆ runObservers() [1/2]

◆ runObservers() [2/2]

◆ success()

◆ updateObservers() [1/2]

◆ updateObservers() [2/2]

Member Data Documentation

◆ ctl_

◆ desc_

◆ name_

◆ pipelineObservers_

◆ runObservers_

◆ success_

◆ updateObservers_