YARP  2.3.68+225-20170329.5+gitb0d3289
Yet Another Robot Platform

Dealing with devices. More...

+ Collaboration diagram for Devices:


 Device Creation/Configuration
 Basic classes and methods related to creating and configuring devices, and network communication to and from devices.
 Device Interfaces
 Device interfaces, specified independently of specific implementations.
 Device Implementations
 Concrete device drivers that implement sets of interfaces.
 Command-line Accessible Devices
 Devices that can be created and configured from the command-line.
 Device invocation examples
 Example configuration files.

Detailed Description

Dealing with devices.

What do you need to know to use devices in YARP? First, we try to write our devices so that they implement a set of interfaces. Your program ideally would use the minimal set of interfaces needed for the particular task you have in mind. Then you'll be later able to switch to any implementation that meets your interface. This is something you often have to do in robotics.

Of course, pretty much every device has some special magic numbers you need to set up at the beginning. This process of configuration process is separated out in YARP to make it easy to control it via external command line switches or configuration files.

Under normal use, YARP devices are started from the commandline.