pitasc_library - monitors/measurements.xml
Model definitions
line 7: monitor_control_error
line 56: monitor_threshold
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<pitasc>
4
5 <models>
6
7 <type id="monitor_control_error" prototype="monitor">
8 <meta>
9 <member id="description">Checks control_errors (desired vs. measured values)</member>
10 <member id="categories">measurements</member>
11 <member id="implementation">
12 <clone prototype="orocos">
13 <member id="package">cppitasc_monitors</member>
14 <member id="component">ControlErrorMonitor</member>
15 <member id="arguments">scene, event, controllers, coordinates, prefix, thresholds, samples</member>
16 </clone>
17 </member>
18 </meta>
19 <data>
20 <type id="controllers" data_type="list:controller" prototype="base">
21 <meta>
22 <member id="description">Controllers for which to check the control errors.</member>
23 <member id="visibility">required</member>
24 </meta>
25 </type>
26 <type id="coordinates" prototype="string_csv">
27 <meta>
28 <member id="description">Coordinates to be monitored</member>
29 <member id="visibility">required</member>
30 </meta>
31 </type>
32 <type id="prefix" prototype="string_parameter">
33 <meta>
34 <member id="description">Prefix for the coordinates</member>
35 <member id="visibility">required</member>
36 </meta>
37 <data></data>
38 </type>
39 <type id="thresholds" prototype="float_csv">
40 <meta>
41 <member id="description">Thresholds for the control errors</member>
42 <member id="visibility">required</member>
43 </meta>
44 </type>
45 <type id="samples" prototype="int_parameter">
46 <meta>
47 <member id="description">Number of consecutive samples to be below the threshold before raising the event</member>
48 <member id="visibility">basic</member>
49 </meta>
50 <data>1</data>
51 </type>
52 </data>
53 </type>
54
55
56 <type id="monitor_threshold" prototype="monitor">
57 <meta>
58 <member id="description">Triggers when a measurement exceeds a certain threshold.</member>
59 <member id="categories">measurements</member>
60 <member id="implementation">
61 <clone prototype="orocos">
62 <member id="package">cppitasc_monitors</member>
63 <member id="component">ThresholdMonitor</member>
64 <member id="arguments">scene, event, provider, coordinates, prefix, operator, thresholds, multi_coordinates_handling, samples</member>
65 </clone>
66 </member>
67 </meta>
68 <data>
69 <type id="provider" data_type="parameter:data_source" prototype="base">
70 <meta>
71 <member id="description">Data source for which to check the outputs.</member>
72 <member id="visibility">required</member>
73 </meta>
74 </type>
75
76 <type id="coordinates" prototype="string_csv">
77 <meta>
78 <member id="description">Coordinate of the value to be checked</member>
79 <member id="visibility">required</member>
80 </meta>
81 </type>
82
83 <type id="prefix" prototype="string_parameter">
84 <meta>
85 <member id="description">Prefix for the coordinates</member>
86 <member id="visibility">required</member>
87 </meta>
88 <data></data>
89 </type>
90
91 <type id="operator" prototype="operator">
92 <meta>
93 <member id="description">Defines if the measurements should be lower or greater than the thresholds.</member>
94 <member id="visibility">required</member>
95 </meta>
96 </type>
97
98 <type id="thresholds" prototype="float_csv">
99 <meta>
100 <member id="description">Threshold values</member>
101 <member id="visibility">required</member>
102 </meta>
103 </type>
104
105 <type id="multi_coordinates_handling" prototype="string_parameter">
106 <meta>
107 <member id="description">Behavior for applying the thresholds to multiple coordinates. </member>
108 <member id="visibility">basic</member>
109 <clone prototype="restrictions">
110 <clone prototype="enum">single_element, vector_norm, all_elements</clone>
111 </clone>
112 </meta>
113 <data>single_element</data>
114 </type>
115
116 <type id="samples" prototype="int_parameter">
117 <meta>
118 <member id="description">Number of consecutive samples that need to meet the threshold condition before the monitor fires</member>
119 <member id="visibility">basic</member>
120 </meta>
121 <data>1</data>
122 </type>
123 </data>
124 </type>
125
126
127 <type id="monitor_wrench" prototype="monitor">
128 <meta>
129 <member id="description">Triggers when a wrench component exceeds a certain threshold.</member>
130 <member id="categories">measurements</member>
131 <member id="implementation">
132 </member>
133 </meta>
134 <data>
135 <reference prototype="kinematic_graph" reference_id="configuration.kinematic_graph"/>
136 <member id="kinematic_graph.meta.visibility">hidden</member>
137
138 <type id="coordinate" prototype="string_parameter">
139 <meta>
140 <member id="description">The component of the wrench that should be checked (x, y, z, a, b, c)</member>
141 <member id="visibility">required</member>
142 </meta>
143 </type>
144
145 <type id="operator" prototype="operator">
146 <meta>
147 <member id="description">Defines if the measurements should be lower or greater than the thresholds.</member>
148 <member id="visibility">required</member>
149 </meta>
150 </type>
151
152 <type id="threshold" prototype="float_parameter">
153 <meta>
154 <member id="description">The value of the threshold</member>
155 <member id="visibility">required</member>
156 </meta>
157 </type>
158
159 <type id="topic" prototype="string_parameter"> <!-- TODO: replace by force sensor -->
160 <meta>
161 <member id="description">The WrenchStamped topic to observe</member>
162 </meta>
163 </type>
164
165 <type id="frame" prototype="string_parameter">
166 <meta>
167 <member id="description">The frame of reference in which the wrench should be analyzed</member>
168 <member id="visibility">required</member>
169 </meta>
170 </type>
171 </data>
172 </type>
173
174
175 <type id="monitor_topic_threshold" prototype="monitor">
176 <meta>
177 <member id="description">Triggers when a value in a topic exceeds a certain threshold.</member>
178 <member id="categories">measurements</member>
179 <member id="implementation">
180 </member>
181 </meta>
182 <data>
183 <type id="topic" prototype="string_parameter">
184 <meta>
185 <member id="description">The topic to listen on</member>
186 <member id="visibility">required</member>
187 </meta>
188 </type>
189
190 <type id="field" prototype="string_parameter">
191 <meta>
192 <member id="description">The value to listen on</member>
193 <member id="visibility">required</member>
194 </meta>
195 </type>
196
197 <type id="operator" prototype="operator">
198 <meta>
199 <member id="description">Defines if the measurements should be lower or greater than the thresholds.</member>
200 <member id="visibility">required</member>
201 </meta>
202 </type>
203
204 <type id="threshold" prototype="float_parameter">
205 <meta>
206 <member id="description">The value of the threshold</member>
207 <member id="visibility">required</member>
208 </meta>
209 </type>
210 </data>
211 </type>
212
213 </models>
214
215</pitasc>