YARP
Yet Another Robot Platform
MultipleAnalogSensorsRemapper Class Reference

multipleanalogsensorsremapper : device that takes a list of sensor from multiple analog sensors device and expose them as a single device exposing MultipleAnalogSensors interface. More...

#include <multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.h>

+ Inheritance diagram for MultipleAnalogSensorsRemapper:

Detailed Description

multipleanalogsensorsremapper : device that takes a list of sensor from multiple analog sensors device and expose them as a single device exposing MultipleAnalogSensors interface.

YARP device name
multipleanalogsensorsremapper

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
{sensorTag}Names - vector of strings - - Yes Ordered list of name that must belong of the remapped device. The list also defines the index that the sensor will

The sensorTag is a tag identifing the spefici sensor interface, see Multiple Analog Sensor Interfaces for a list of possible sensors. The tag of each sensor interface is provided in the doxygen documentation of the specific interface.

Configuration file using .ini format.

device multipleanalogsensorsremapper
ThreeAxisGyroscopesNames (head torso)
SixAxisForceTorqueSensorsNames (left_foot right_foot left_leg right_leg)

Configuration of the device from C++ code.

Property options;
options.put("device","multipleanalogsensorsremapper");
Bottle gyrosNames;
Bottle & gyrosList = gyrosNames.addList();
gyrosList.addString("head");
gyrosList.addString("torso");
options.put("ThreeAxisGyroscopesNames", gyrosNames.get(0));
Bottle ftNames;
Bottle & ftList = ftNames.addList();
ftList.addString("left_foot");
ftList.addString("right_foot");
ftList.addString("left_leg");
ftList.addString("right_leg");
options.put("SixAxisForceTorqueSensorsNames", ftNames.get(0));
// Actually open the device
PolyDriver multipleAnalogRemappedDevice(options);
// Use it as you would use any controlboard device
// ...

Definition at line 87 of file MultipleAnalogSensorsRemapper.h.

Public Member Functions

bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool attachAll (const yarp::dev::PolyDriverList &p) override
 MultipeWrapper methods. More...
 
bool detachAll () override
 Detach the object (you must have first called attach). More...
 
size_t getNrOfThreeAxisGyroscopes () const override
 Get the number of three axis gyroscopes exposed by this sensor. More...
 
yarp::dev::MAS_status getThreeAxisGyroscopeStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the gyroscope. More...
 
size_t getNrOfThreeAxisLinearAccelerometers () const override
 Get the number of three axis linear accelerometers exposed by this device. More...
 
yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getNrOfThreeAxisMagnetometers () const override
 Get the number of magnetometers exposed by this device. More...
 
yarp::dev::MAS_status getThreeAxisMagnetometerStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getNrOfOrientationSensors () const override
 Get the number of orientation sensors exposed by this device. More...
 
yarp::dev::MAS_status getOrientationSensorStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getOrientationSensorName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
 Get the last reading of the orientation sensor as roll pitch yaw. More...
 
size_t getNrOfTemperatureSensors () const override
 Get the number of temperature sensors exposed by this device. More...
 
yarp::dev::MAS_status getTemperatureSensorStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getTemperatureSensorName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getTemperatureSensorFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getTemperatureSensorMeasure (size_t sens_index, double &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
bool getTemperatureSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getNrOfSixAxisForceTorqueSensors () const override
 Get the number of six axis force torque sensors exposed by this device. More...
 
yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frame) const override
 Get the name of the frame of the specified sensor. More...
 
bool getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getNrOfContactLoadCellArrays () const override
 Get the number of contact load cell array exposed by this device. More...
 
yarp::dev::MAS_status getContactLoadCellArrayStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getContactLoadCellArrayName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getContactLoadCellArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getContactLoadCellArraySize (size_t sens_index) const override
 Get the size of the specified contact load cell array. More...
 
size_t getNrOfEncoderArrays () const override
 Get the number of encoder arrays exposed by this device. More...
 
yarp::dev::MAS_status getEncoderArrayStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getEncoderArrayName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getEncoderArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getEncoderArraySize (size_t sens_index) const override
 Get the size of the specified encoder array. More...
 
size_t getNrOfSkinPatches () const override
 Get the number of skin patches exposed by this device. More...
 
yarp::dev::MAS_status getSkinPatchStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getSkinPatchName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getSkinPatchMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
 Get the last reading of the specified sensor. More...
 
size_t getSkinPatchSize (size_t sens_index) const override
 Get the size of the specified skin patch. More...
 
size_t getNrOfPositionSensors () const override
 Get the number of position sensors exposed by this device. More...
 
yarp::dev::MAS_status getPositionSensorStatus (size_t sens_index) const override
 Get the status of the specified sensor. More...
 
bool getPositionSensorName (size_t sens_index, std::string &name) const override
 Get the name of the specified sensor. More...
 
bool getPositionSensorFrameName (size_t sens_index, std::string &frameName) const override
 Get the name of the frame of the specified sensor. More...
 
bool getPositionSensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
 Get the last reading of the position sensor as x y z. More...
 
template<typename Interface >
MAS_status genericGetStatus (const MAS_SensorType sensorType, size_t &sens_index, const std::vector< Interface * > &subDeviceVec, MAS_status(Interface::*methodPtr)(size_t) const) const
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
virtual ~DeviceDriver ()
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual ~IMultipleWrapper ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IThreeAxisGyroscopes
virtual ~IThreeAxisGyroscopes ()
 
- Public Member Functions inherited from yarp::dev::IThreeAxisLinearAccelerometers
virtual ~IThreeAxisLinearAccelerometers ()
 
- Public Member Functions inherited from yarp::dev::IThreeAxisMagnetometers
virtual ~IThreeAxisMagnetometers ()
 
- Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual ~IOrientationSensors ()
 
- Public Member Functions inherited from yarp::dev::ITemperatureSensors
virtual ~ITemperatureSensors ()
 
- Public Member Functions inherited from yarp::dev::ISixAxisForceTorqueSensors
virtual ~ISixAxisForceTorqueSensors ()
 
- Public Member Functions inherited from yarp::dev::IContactLoadCellArrays
virtual ~IContactLoadCellArrays ()
 
- Public Member Functions inherited from yarp::dev::IEncoderArrays
virtual ~IEncoderArrays ()
 
- Public Member Functions inherited from yarp::dev::ISkinPatches
virtual ~ISkinPatches ()
 
- Public Member Functions inherited from yarp::dev::IPositionSensors
virtual ~IPositionSensors ()
 

Member Function Documentation

◆ attachAll()

bool MultipleAnalogSensorsRemapper::attachAll ( const yarp::dev::PolyDriverList p)
overridevirtual

MultipeWrapper methods.

Implements yarp::dev::IMultipleWrapper.

Definition at line 209 of file MultipleAnalogSensorsRemapper.cpp.

◆ close()

bool MultipleAnalogSensorsRemapper::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 67 of file MultipleAnalogSensorsRemapper.cpp.

◆ detachAll()

bool MultipleAnalogSensorsRemapper::detachAll ( )
overridevirtual

Detach the object (you must have first called attach).

Returns
true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 237 of file MultipleAnalogSensorsRemapper.cpp.

◆ genericGetStatus()

template<typename Interface >
MAS_status MultipleAnalogSensorsRemapper::genericGetStatus ( const MAS_SensorType  sensorType,
size_t &  sens_index,
const std::vector< Interface * > &  subDeviceVec,
MAS_status(Interface::*)(size_t) const  methodPtr 
) const

Definition at line 255 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayMeasure()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getContactLoadCellArrayMeasure()-1).
[out]outThe requested measure. The vector should be getContactLoadCellArrayMeasure(sens_index)-dimensional. The measure is expressed in Newton.
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 584 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayName()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 579 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArraySize()

size_t MultipleAnalogSensorsRemapper::getContactLoadCellArraySize ( size_t  sens_index) const
overridevirtual

Get the size of the specified contact load cell array.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 589 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getContactLoadCellArrayStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 574 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayMeasure()

bool MultipleAnalogSensorsRemapper::getEncoderArrayMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfEncoderArrays()-1).
[out]outThe requested measure. The vector should be getEncoderArraySize(sens_index)-dimensional. The measure is expressed in Newton.
[out]timestampThe timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::IEncoderArrays.

Definition at line 609 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayName()

bool MultipleAnalogSensorsRemapper::getEncoderArrayName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 604 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArraySize()

size_t MultipleAnalogSensorsRemapper::getEncoderArraySize ( size_t  sens_index) const
overridevirtual

Get the size of the specified encoder array.

Implements yarp::dev::IEncoderArrays.

Definition at line 614 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getEncoderArrayStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 599 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfContactLoadCellArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfContactLoadCellArrays ( ) const
overridevirtual

Get the number of contact load cell array exposed by this device.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 569 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfEncoderArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfEncoderArrays ( ) const
overridevirtual

Get the number of encoder arrays exposed by this device.

Implements yarp::dev::IEncoderArrays.

Definition at line 594 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfOrientationSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfOrientationSensors ( ) const
overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 486 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfPositionSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfPositionSensors ( ) const
overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 461 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSixAxisForceTorqueSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfSixAxisForceTorqueSensors ( ) const
overridevirtual

Get the number of six axis force torque sensors exposed by this device.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 544 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSkinPatches()

size_t MultipleAnalogSensorsRemapper::getNrOfSkinPatches ( ) const
overridevirtual

Get the number of skin patches exposed by this device.

Implements yarp::dev::ISkinPatches.

Definition at line 619 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfTemperatureSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfTemperatureSensors ( ) const
overridevirtual

Get the number of temperature sensors exposed by this device.

Implements yarp::dev::ITemperatureSensors.

Definition at line 511 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisGyroscopes ( ) const
overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 386 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisLinearAccelerometers ( ) const
overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 411 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisMagnetometers ( ) const
overridevirtual

Get the number of magnetometers exposed by this device.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 436 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorFrameName()

bool MultipleAnalogSensorsRemapper::getOrientationSensorFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Note
This is an implementation specific method, that may return the name of the sensor frame in a scenegraph
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 501 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool MultipleAnalogSensorsRemapper::getOrientationSensorMeasureAsRollPitchYaw ( size_t  sens_index,
yarp::sig::Vector rpy,
double &  timestamp 
) const
overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $ r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

\[ {}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right) \]

with

\[ RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix} \]

,

\[ RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix} \]

and

\[ RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix} \]

where $ {}^f R_s \in \mathbb{R}^{3 \times 3} $ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]outThe requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 506 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorName()

bool MultipleAnalogSensorsRemapper::getOrientationSensorName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 496 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getOrientationSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 491 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorFrameName()

bool MultipleAnalogSensorsRemapper::getPositionSensorFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Note
This is an implementation specific method, that may return the name of the sensor frame in a scenegraph
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 476 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorMeasure()

bool MultipleAnalogSensorsRemapper::getPositionSensorMeasure ( size_t  sens_index,
yarp::sig::Vector xyz,
double &  timestamp 
) const
overridevirtual

Get the last reading of the position sensor as x y z.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfPositionSensors()-1).
[out]outThe requested measure. The vector should be 3-dimensional. The measure is expressed in meters.
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 481 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorName()

bool MultipleAnalogSensorsRemapper::getPositionSensorName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 471 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getPositionSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 466 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorFrameName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 559 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorMeasure()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
[out]outThe requested measure. The vector should be 6-dimensional. The measure is expressed in Newton for the first three elements, Newton Meters for the last three elements.
[out]timestampThe timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 564 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 554 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 549 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchMeasure()

bool MultipleAnalogSensorsRemapper::getSkinPatchMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfSkinPatches()-1).
[out]outThe requested measure. The vector should be getNrOfSkinPatches(sens_index)-dimensional. The measure is expressed in implementation-specific unit of measure.
[out]timestampThe timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISkinPatches.

Definition at line 634 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchName()

bool MultipleAnalogSensorsRemapper::getSkinPatchName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 629 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchSize()

size_t MultipleAnalogSensorsRemapper::getSkinPatchSize ( size_t  sens_index) const
overridevirtual

Get the size of the specified skin patch.

Implements yarp::dev::ISkinPatches.

Definition at line 639 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchStatus()

MAS_status MultipleAnalogSensorsRemapper::getSkinPatchStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 624 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorFrameName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 526 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [1/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure ( size_t  sens_index,
double &  out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

TODO(traversaro) : make the method swig-friendly

Implements yarp::dev::ITemperatureSensors.

Definition at line 536 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [2/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfTemperatureSensors()-1).
[out]outThe requested measure. The vector should be 1-dimensional. The measure is expressed in celsius degrees .
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::ITemperatureSensors.

Definition at line 531 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 521 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getTemperatureSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 516 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 401 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the gyroscope.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]outThe requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 406 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 396 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 391 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 426 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]outThe requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 431 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 421 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 416 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerFrameName ( size_t  sens_index,
std::string &  frameName 
) const
overridevirtual

Get the name of the frame of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 451 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerMeasure ( size_t  sens_index,
yarp::sig::Vector out,
double &  timestamp 
) const
overridevirtual

Get the last reading of the specified sensor.

Parameters
[in]sens_indexThe index of the specified sensor (should be between 0 and getNrOfThreeAxisMagnetometers()-1).
[out]outThe requested measure. The vector should be 3-dimensional. The measure is expressed in tesla .
[out]timestampThe timestamp of the requested measure, expressed in seconds.
Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 456 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerName ( size_t  sens_index,
std::string &  name 
) const
overridevirtual

Get the name of the specified sensor.

Returns
false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 446 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 441 of file MultipleAnalogSensorsRemapper.cpp.

◆ open()

bool MultipleAnalogSensorsRemapper::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 72 of file MultipleAnalogSensorsRemapper.cpp.


The documentation for this class was generated from the following files:
yarp::os::Property::put
void put(const std::string &key, const std::string &value)
Associate the given key with the given string.
Definition: Property.cpp:998