File robot.hpp

namespace robot_interfaces

template<typename Action, typename Observation, typename Driver, typename Data = SingleProcessRobotData<Action, Observation>>
class Robot : public robot_interfaces::RobotFrontend<Action, Observation>

#include <robot.hpp>

RobotFrontend that construct and encapsulates its related RobotBackend.

It also construct and starts the robot driver.

Public Functions

template<typename ...Args>
inline Robot(double max_action_duration_s, double max_inter_action_duration_s, Args... args)

Parameters

• max_action_duration_s – See MonitoredRobotDriver.

• max_inter_action_duration_s – See MonitoredRobotDriver.

• args – Arguments for instantiating Driver

template<typename ...Args>
inline Robot(Args... args)

Robot which instantiates a non real time mode backend.

Parameters

• max_action_duration_s – See MonitoredRobotDriver.

• max_inter_action_duration_s – See MonitoredRobotDriver.

• args – Arguments for instantiating Driver

inline void initialize()

initialize the backend

inline const Data &get_data() const

return the data shared by the frontend and the backend.

Private Types

typedef std::shared_ptr<Data> DataPtr

typedef std::shared_ptr<Driver> RobotDriverPtr

Private Members

RobotDriverPtr driver_ptr_

RobotBackend<Action, Observation> backend_