fakeLaserWithMotor : fake sensor device driver for testing purposes and reference for IRangefinder2D devices. More...

#include <fake/fakeLaserWithMotor/FakeLaserWithMotor.h>

Inheritance diagram for FakeLaserWithMotor:

Public Member Functions
	FakeLaserWithMotor (double period=0.02)

	~FakeLaserWithMotor ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

bool	setDistanceRange (double min, double max) override
	set the device detection range.

bool	setScanLimits (double min, double max) override
	set the scan angular range.

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds)

bool	alloc (int njoints)

bool	dealloc ()

bool	resetEncoderRaw (int j) override
	Reset encoder, single joint.

bool	resetEncodersRaw () override
	Reset encoders.

bool	setEncoderRaw (int j, double val) override
	Set the value of the encoder for a given joint.

bool	setEncodersRaw (const double *vals) override
	Set the value of all encoders.

bool	getEncoderRaw (int j, double *v) override
	Read the value of an encoder.

bool	getEncodersRaw (double *encs) override
	Read the position of all axes.

bool	getEncoderSpeedRaw (int j, double *sp) override
	Read the instantaneous speed of an axis.

bool	getEncoderSpeedsRaw (double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerationRaw (int j, double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerationsRaw (double *accs) override
	Read the instantaneous acceleration of all axes.

bool	getEncodersTimedRaw (double encs, double stamps) override
	Read the instantaneous acceleration of all axes.

bool	getEncoderTimedRaw (int j, double encs, double stamp) override
	Read the instantaneous acceleration of all axes.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	positionMoveRaw (int j, double ref) override
	Set new reference point for a single axis.

bool	positionMoveRaw (const double *refs) override
	Set new reference point for all axes.

bool	relativeMoveRaw (int j, double delta) override
	Set relative position.

bool	relativeMoveRaw (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDoneRaw (bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDoneRaw (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeedRaw (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

bool	setRefSpeedsRaw (const double *spds) override
	Set reference speed on all joints.

bool	setRefAccelerationRaw (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerationsRaw (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefSpeedRaw (int j, double *ref) override
	Get reference speed for a joint.

bool	getRefSpeedsRaw (double *spds) override
	Get reference speed of all joints.

bool	getRefAccelerationRaw (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerationsRaw (double *accs) override
	Get reference acceleration of all joints.

bool	stopRaw (int j) override
	Stop motion, single joint.

bool	stopRaw () override
	Stop motion, multiple joints.

bool	positionMoveRaw (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

bool	relativeMoveRaw (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints.

bool	checkMotionDoneRaw (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated.

bool	setRefSpeedsRaw (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefAccelerationsRaw (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	getRefSpeedsRaw (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefAccelerationsRaw (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	stopRaw (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

bool	getTargetPositionRaw (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getTargetPositionsRaw (double *refs) override
	Get the last position reference for all axes.

bool	getTargetPositionsRaw (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

bool	getControlModeRaw (int j, int *v) override

bool	getControlModesRaw (int *v) override

bool	getControlModesRaw (const int n_joint, const int joints, int modes) override

bool	setControlModeRaw (const int j, const int mode) override

bool	setControlModesRaw (const int n_joint, const int joints, int modes) override

bool	setControlModesRaw (int *modes) override

bool	velocityMoveRaw (int j, double sp) override
	Start motion at a given speed, single joint.

bool	velocityMoveRaw (const double *sp) override
	Start motion at a given speed, multiple joints.

bool	velocityMoveRaw (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints.

bool	getRefVelocityRaw (const int joint, double *ref) override
	Get the last reference speed set by velocityMove for single joint.

bool	getRefVelocitiesRaw (double *refs) override
	Get the last reference speed set by velocityMove for all joints.

bool	getRefVelocitiesRaw (const int n_joint, const int joints, double refs) override
	Get the last reference speed set by velocityMove for a group of joints.

bool	getAxisNameRaw (int axis, std::string &name) override

bool	getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override

bool	acquireDataFromHW () override final
	This method should be implemented by the user, and contain the logic to grab data from the hardware.

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::Lidar2DDeviceBase
bool	parseConfiguration (yarp::os::Searchable &config)

	Lidar2DDeviceBase ()

bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getDeviceStatus (Device_status &status) override
	get the device status

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

bool	getDistanceRange (double &min, double &max) override
	get the device detection range

bool	getScanLimits (double &min, double &max) override
	get the scan angular range.

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual	~IRangefinder2D ()

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::dev::IEncodersTimedRaw
virtual	~IEncodersTimedRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IEncodersRaw
virtual	~IEncodersRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IPositionControlRaw
virtual	~IPositionControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IVelocityControlRaw
virtual	~IVelocityControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IControlModeRaw
virtual	~IControlModeRaw ()

Public Member Functions inherited from yarp::dev::IAxisInfoRaw
virtual	~IAxisInfoRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::StubImplInteractionModeRaw
virtual	~StubImplInteractionModeRaw ()
	Destructor.

bool	getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant.

bool	getInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

bool	setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant.

bool	setInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Public Member Functions inherited from yarp::dev::IInteractionModeRaw
virtual	~IInteractionModeRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementPositionControl
	ImplementPositionControl (yarp::dev::IPositionControlRaw *y)
	Constructor.

virtual	~ImplementPositionControl ()
	Destructor.

bool	getAxes (int *axis) override
	Get the number of controlled axes.

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis.

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

bool	positionMove (const double *refs) override
	Set new reference point for all axes.

bool	relativeMove (int j, double delta) override
	Set relative position.

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints.

bool	relativeMove (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints.

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint.

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints.

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

bool	stop () override
	Stop motion, multiple joints.

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes.

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

Public Member Functions inherited from yarp::dev::IPositionControl
virtual	~IPositionControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementVelocityControl
	ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y)
	Constructor.

virtual	~ImplementVelocityControl ()
	Destructor.

bool	getAxes (int *axes) override
	Get the number of controlled axes.

bool	velocityMove (int j, double sp) override
	Start motion at a given speed, single joint.

bool	velocityMove (const double *sp) override
	Start motion at a given speed, multiple joints.

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop () override
	Stop motion, multiple joints.

bool	velocityMove (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints.

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint.

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints.

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration for a subset of joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a subset of joints.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for a subset of joints.

Public Member Functions inherited from yarp::dev::IVelocityControl
virtual	~IVelocityControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementControlMode
bool	initialize (int k, const int *amap)

bool	uninitialize ()

	ImplementControlMode (IControlModeRaw *v)

	~ImplementControlMode ()

bool	getControlMode (int j, int *f) override
	Get the current control mode.

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints).

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes.

bool	setControlMode (const int j, const int mode) override
	Set the current control mode.

bool	setControlModes (const int n_joint, const int joints, int modes) override
	Set the current control mode for a subset of axes.

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints).

Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

Public Member Functions inherited from yarp::dev::ImplementInteractionMode
	ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p)
	Constructor.

virtual	~ImplementInteractionMode ()
	Destructor.

bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant.

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant.

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Public Member Functions inherited from yarp::dev::IInteractionMode
virtual	~IInteractionMode ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementEncodersTimed
	ImplementEncodersTimed (yarp::dev::IEncodersTimedRaw *y)

virtual	~ImplementEncodersTimed ()

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	resetEncoder (int j) override
	Reset encoder, single joint.

bool	resetEncoders () override
	Reset encoders.

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint.

bool	setEncoders (const double *vals) override
	Set the value of all encoders.

bool	getEncoder (int j, double *v) override
	Read the value of an encoder.

bool	getEncodersTimed (double encs, double time) override
	Read the instantaneous acceleration of all axes.

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes.

bool	getEncoders (double *encs) override
	Read the position of all axes.

bool	getEncoderSpeed (int j, double *spds) override
	Read the istantaneous speed of an axis.

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes.

bool	getEncoderAcceleration (int j, double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes.

Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual	~IEncodersTimed ()
	Destructor.

Public Member Functions inherited from yarp::dev::IEncoders
virtual	~IEncoders ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementAxisInfo
	ImplementAxisInfo (yarp::dev::IAxisInfoRaw *y)

virtual	~ImplementAxisInfo ()

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	getAxisName (int axis, std::string &name) override

bool	getJointType (int axis, yarp::dev::JointTypeEnum &type) override

Public Member Functions inherited from yarp::dev::IAxisInfo
virtual	~IAxisInfo ()
	Destructor.

Public Member Functions inherited from FakeLaserWithMotor_ParamsParser
	FakeLaserWithMotor_ParamsParser ()

	~FakeLaserWithMotor_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Public Attributes
std::string *	_axisName = nullptr

yarp::dev::JointTypeEnum *	_jointType = nullptr

int *	_controlModes = nullptr

double *	_encoders = nullptr

double *	_posCtrl_references = nullptr

double *	_ref_speeds = nullptr

double *	_command_speeds = nullptr

double *	_ref_accs = nullptr

Public Attributes inherited from FakeLaserWithMotor_ParamsParser
const std::string	m_device_classname = {"FakeLaserWithMotor"}

const std::string	m_device_name = {"fakeLaserWithMotor"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_test_defaultValue = {"use_pattern"}

const std::string	m_localization_port_defaultValue = {"/fakeLaser/location:i"}

const std::string	m_localization_server_defaultValue = {"/localizationServer"}

const std::string	m_localization_client_defaultValue = {"/fakeLaser/localizationClient"}

const std::string	m_localization_device_defaultValue = {"localization2DClient"}

const std::string	m_MAP_MODE_map_file_defaultValue = {""}

const std::string	m_MAP_MODE_map_context_defaultValue = {""}

const std::string	m_clip_max_defaultValue = {"3.5"}

const std::string	m_clip_min_defaultValue = {"0.1"}

const std::string	m_GENERAL_period_defaultValue = {"0.02"}

const std::string	m_CONSTANT_MODE_const_distance_defaultValue = {"1"}

std::string	m_test = {"use_pattern"}

std::string	m_localization_port = {"/fakeLaser/location:i"}

std::string	m_localization_server = {"/localizationServer"}

std::string	m_localization_client = {"/fakeLaser/localizationClient"}

std::string	m_localization_device = {"localization2DClient"}

std::string	m_MAP_MODE_map_file = {}

std::string	m_MAP_MODE_map_context = {}

double	m_clip_max = {3.5}

double	m_clip_min = {0.1}

double	m_GENERAL_period = {0.02}

double	m_CONSTANT_MODE_const_distance = {1}

Protected Types
enum	test_mode_t { NO_OBSTACLES = 0 , USE_PATTERN =1 , USE_MAPFILE =2 , USE_CONSTANT_VALUE =3 , USE_SQUARE_TRAP }

Protected Attributes
test_mode_t	m_test_mode

yarp::dev::Nav2D::MapGrid2D	m_originally_loaded_map

yarp::dev::Nav2D::MapGrid2D	m_map

size_t	m_njoints =3

double	m_robot_loc_x =0

double	m_robot_loc_y =0

double	m_robot_loc_t =0

std::random_device *	m_rd

std::mt19937 *	m_gen

std::uniform_real_distribution *	m_dis

yarp::os::Port	m_rpcPort

Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector	m_laser_data

yarp::os::Stamp	m_timestamp

yarp::dev::IRangefinder2D::Device_status	m_device_status

std::mutex	m_mutex

std::string	m_info

double	m_scan_rate

size_t	m_sensorsNum

double	m_min_angle

double	m_max_angle

double	m_min_distance

double	m_max_distance

double	m_resolution

bool	m_clip_max_enable

bool	m_clip_min_enable

bool	m_do_not_clip_and_allow_infinity_enable

std::vector< Range_t >	m_range_skip_vector

Protected Attributes inherited from yarp::dev::ImplementPositionControl
IPositionControlRaw *	iPosition

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager< bool > *	boolBuffManager

Protected Attributes inherited from yarp::dev::ImplementVelocityControl
IVelocityControlRaw *	iVelocity

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementInteractionMode
yarp::dev::IInteractionModeRaw *	iInteraction

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::InteractionModeEnum > *	imodeBuffManager

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

Protected Attributes inherited from yarp::dev::ImplementEncodersTimed
IEncodersTimedRaw *	iEncoders

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	buffManager

Protected Attributes inherited from yarp::dev::ImplementAxisInfo
IAxisInfoRaw *	iinfo

void *	helper

double *	temp1

double *	temp2

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
virtual bool	updateLidarData ()
	This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData().

virtual bool	updateTimestamp ()
	By default, it automatically updates the internal timestamp with the yarp time.

virtual bool	applyLimitsOnLaserData ()
	Apply the limits on the internally stored lidar measurements.

Protected Member Functions inherited from yarp::dev::StubImplInteractionModeRaw
bool	NOT_YET_IMPLEMENTED (const char *func=0)
	Helper for printing error message, see below.

Protected Member Functions inherited from yarp::dev::ImplementPositionControl
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementVelocityControl
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementInteractionMode
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory, smaller version.

bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementEncodersTimed
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementAxisInfo
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Detailed Description

fakeLaserWithMotor : fake sensor device driver for testing purposes and reference for IRangefinder2D devices.

Parameters required by this device are shown in class: FakeLaserWithMotor_ParamsParser

examples:

yarpdev –device fakeLaser –help yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test no_obstacles yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test use_pattern yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map yarpdev –device rangefinder2D_nws_yarp –subdevice fakeLaserWithMotor –period 0.01 –name /ikart/laser:o –test use_mapfile –map_file mymap.map

Definition at line 50 of file FakeLaserWithMotor.h.

Member Enumeration Documentation

◆ test_mode_t

enum FakeLaserWithMotor::test_mode_t

protected

Enumerator
NO_OBSTACLES
USE_PATTERN
USE_MAPFILE
USE_CONSTANT_VALUE
USE_SQUARE_TRAP

Definition at line 70 of file FakeLaserWithMotor.h.

Constructor & Destructor Documentation

◆ FakeLaserWithMotor()

FakeLaserWithMotor::FakeLaserWithMotor ( double period = 0.02 )

inline

Definition at line 92 of file FakeLaserWithMotor.h.

◆ ~FakeLaserWithMotor()

FakeLaserWithMotor::~FakeLaserWithMotor ( )

inline

Definition at line 115 of file FakeLaserWithMotor.h.

Member Function Documentation

◆ acquireDataFromHW()

bool FakeLaserWithMotor::acquireDataFromHW ( )

finaloverridevirtual

This method should be implemented by the user, and contain the logic to grab data from the hardware.

Returns: true/false if the method is successful.

Implements yarp::dev::Lidar2DDeviceBase.

Definition at line 66 of file FakeLaserWithMotor_laser.cpp.

◆ alloc()

bool FakeLaserWithMotor::alloc ( int njoints )

Definition at line 324 of file FakeLaserWithMotor_motors.cpp.

◆ checkMotionDoneRaw() [1/3]

bool FakeLaserWithMotor::checkMotionDoneRaw ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 144 of file FakeLaserWithMotor_motors.cpp.

◆ checkMotionDoneRaw() [2/3]

bool FakeLaserWithMotor::checkMotionDoneRaw	(	const int	n_joint,
		const int *	joints,
		bool *	flags
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControlRaw.

Definition at line 497 of file FakeLaserWithMotor_motors.cpp.

◆ checkMotionDoneRaw() [3/3]

bool FakeLaserWithMotor::checkMotionDoneRaw	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 138 of file FakeLaserWithMotor_motors.cpp.

◆ close()

bool FakeLaserWithMotor::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 189 of file FakeLaserWithMotor.cpp.

◆ dealloc()

bool FakeLaserWithMotor::dealloc ( )

Definition at line 342 of file FakeLaserWithMotor_motors.cpp.

◆ getAxes()

bool FakeLaserWithMotor::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns: the number of controlled axes.

Implements yarp::dev::IEncodersRaw.

Definition at line 81 of file FakeLaserWithMotor_motors.cpp.

◆ getAxisNameRaw()

bool FakeLaserWithMotor::getAxisNameRaw	(	int	axis,
		std::string &	name
	)

overridevirtual

Implements yarp::dev::IAxisInfoRaw.

Definition at line 617 of file FakeLaserWithMotor_motors.cpp.

◆ getControlModeRaw()

bool FakeLaserWithMotor::getControlModeRaw	(	int	j,
		int *	v
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 261 of file FakeLaserWithMotor_motors.cpp.

◆ getControlModesRaw() [1/2]

bool FakeLaserWithMotor::getControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 278 of file FakeLaserWithMotor_motors.cpp.

◆ getControlModesRaw() [2/2]

bool FakeLaserWithMotor::getControlModesRaw ( int * v )

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 268 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderAccelerationRaw()

bool FakeLaserWithMotor::getEncoderAccelerationRaw	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implements yarp::dev::IEncodersRaw.

Definition at line 414 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderAccelerationsRaw()

bool FakeLaserWithMotor::getEncoderAccelerationsRaw ( double * accs )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersRaw.

Definition at line 422 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderRaw()

bool FakeLaserWithMotor::getEncoderRaw	(	int	j,
		double *	v
	)

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncodersRaw.

Definition at line 376 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderSpeedRaw()

bool FakeLaserWithMotor::getEncoderSpeedRaw	(	int	j,
		double *	sp
	)

overridevirtual

Read the instantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IEncodersRaw.

Definition at line 397 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderSpeedsRaw()

bool FakeLaserWithMotor::getEncoderSpeedsRaw ( double * spds )

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncodersRaw.

Definition at line 404 of file FakeLaserWithMotor_motors.cpp.

◆ getEncodersRaw()

bool FakeLaserWithMotor::getEncodersRaw ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncodersRaw.

Definition at line 385 of file FakeLaserWithMotor_motors.cpp.

◆ getEncodersTimedRaw()

bool FakeLaserWithMotor::getEncodersTimedRaw	(	double *	encs,
		double *	stamps
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
stamps	pointer to the array that will contain individual timestamps

Returns: return true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 60 of file FakeLaserWithMotor_motors.cpp.

◆ getEncoderTimedRaw()

bool FakeLaserWithMotor::getEncoderTimedRaw	(	int	j,
		double *	encs,
		double *	stamp
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value
stamp	corresponding timestamp

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 71 of file FakeLaserWithMotor_motors.cpp.

◆ getJointTypeRaw()

bool FakeLaserWithMotor::getJointTypeRaw	(	int	axis,
		yarp::dev::JointTypeEnum &	type
	)

overridevirtual

Reimplemented from yarp::dev::IAxisInfoRaw.

Definition at line 631 of file FakeLaserWithMotor_motors.cpp.

◆ getRefAccelerationRaw()

bool FakeLaserWithMotor::getRefAccelerationRaw	(	int	j,
		double *	acc
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 233 of file FakeLaserWithMotor_motors.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool FakeLaserWithMotor::getRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 452 of file FakeLaserWithMotor_motors.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool FakeLaserWithMotor::getRefAccelerationsRaw ( double * accs )

overridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 239 of file FakeLaserWithMotor_motors.cpp.

◆ getRefSpeedRaw()

bool FakeLaserWithMotor::getRefSpeedRaw	(	int	j,
		double *	ref
	)

overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 221 of file FakeLaserWithMotor_motors.cpp.

◆ getRefSpeedsRaw() [1/2]

bool FakeLaserWithMotor::getRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 442 of file FakeLaserWithMotor_motors.cpp.

◆ getRefSpeedsRaw() [2/2]

bool FakeLaserWithMotor::getRefSpeedsRaw ( double * spds )

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControlRaw.

Definition at line 227 of file FakeLaserWithMotor_motors.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool FakeLaserWithMotor::getRefVelocitiesRaw	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 606 of file FakeLaserWithMotor_motors.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool FakeLaserWithMotor::getRefVelocitiesRaw ( double * vels )

overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 596 of file FakeLaserWithMotor_motors.cpp.

◆ getRefVelocityRaw()

bool FakeLaserWithMotor::getRefVelocityRaw	(	const int	joint,
		double *	vel
	)

overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 590 of file FakeLaserWithMotor_motors.cpp.

◆ getTargetPositionRaw()

bool FakeLaserWithMotor::getTargetPositionRaw	(	const int	joint,
		double *	ref
	)

overridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 522 of file FakeLaserWithMotor_motors.cpp.

◆ getTargetPositionsRaw() [1/2]

bool FakeLaserWithMotor::getTargetPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 546 of file FakeLaserWithMotor_motors.cpp.

◆ getTargetPositionsRaw() [2/2]

bool FakeLaserWithMotor::getTargetPositionsRaw ( double * refs )

overridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 537 of file FakeLaserWithMotor_motors.cpp.

◆ open()

bool FakeLaserWithMotor::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 32 of file FakeLaserWithMotor.cpp.

◆ positionMoveRaw() [1/3]

bool FakeLaserWithMotor::positionMoveRaw ( const double * refs )

overridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 102 of file FakeLaserWithMotor_motors.cpp.

◆ positionMoveRaw() [2/3]

bool FakeLaserWithMotor::positionMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 472 of file FakeLaserWithMotor_motors.cpp.

◆ positionMoveRaw() [3/3]

bool FakeLaserWithMotor::positionMoveRaw	(	int	j,
		double	ref
	)

overridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 87 of file FakeLaserWithMotor_motors.cpp.

◆ read()

bool FakeLaserWithMotor::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 238 of file FakeLaserWithMotor.cpp.

◆ relativeMoveRaw() [1/3]

bool FakeLaserWithMotor::relativeMoveRaw ( const double * deltas )

overridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 127 of file FakeLaserWithMotor_motors.cpp.

◆ relativeMoveRaw() [2/3]

bool FakeLaserWithMotor::relativeMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 487 of file FakeLaserWithMotor_motors.cpp.

◆ relativeMoveRaw() [3/3]

bool FakeLaserWithMotor::relativeMoveRaw	(	int	j,
		double	delta
	)

overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 112 of file FakeLaserWithMotor_motors.cpp.

◆ resetEncoderRaw()

bool FakeLaserWithMotor::resetEncoderRaw ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 366 of file FakeLaserWithMotor_motors.cpp.

◆ resetEncodersRaw()

bool FakeLaserWithMotor::resetEncodersRaw ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 371 of file FakeLaserWithMotor_motors.cpp.

◆ run()

void FakeLaserWithMotor::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 209 of file FakeLaserWithMotor.cpp.

◆ setControlModeRaw()

bool FakeLaserWithMotor::setControlModeRaw	(	const int	j,
		const int	mode
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 290 of file FakeLaserWithMotor_motors.cpp.

◆ setControlModesRaw() [1/2]

bool FakeLaserWithMotor::setControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 304 of file FakeLaserWithMotor_motors.cpp.

◆ setControlModesRaw() [2/2]

bool FakeLaserWithMotor::setControlModesRaw ( int * modes )

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 314 of file FakeLaserWithMotor_motors.cpp.

◆ setDistanceRange()

bool FakeLaserWithMotor::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 32 of file FakeLaserWithMotor_laser.cpp.

◆ setEncoderRaw()

bool FakeLaserWithMotor::setEncoderRaw	(	int	j,
		double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 356 of file FakeLaserWithMotor_motors.cpp.

◆ setEncodersRaw()

bool FakeLaserWithMotor::setEncodersRaw ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 361 of file FakeLaserWithMotor_motors.cpp.

◆ setHorizontalResolution()

bool FakeLaserWithMotor::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 50 of file FakeLaserWithMotor_laser.cpp.

◆ setRefAccelerationRaw()

bool FakeLaserWithMotor::setRefAccelerationRaw	(	int	j,
		double	acc
	)

overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 178 of file FakeLaserWithMotor_motors.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool FakeLaserWithMotor::setRefAccelerationsRaw ( const double * accs )

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 199 of file FakeLaserWithMotor_motors.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool FakeLaserWithMotor::setRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 432 of file FakeLaserWithMotor_motors.cpp.

◆ setRefSpeedRaw()

bool FakeLaserWithMotor::setRefSpeedRaw	(	int	j,
		double	sp
	)

overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 158 of file FakeLaserWithMotor_motors.cpp.

◆ setRefSpeedsRaw() [1/2]

bool FakeLaserWithMotor::setRefSpeedsRaw ( const double * spds )

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 167 of file FakeLaserWithMotor_motors.cpp.

◆ setRefSpeedsRaw() [2/2]

bool FakeLaserWithMotor::setRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 512 of file FakeLaserWithMotor_motors.cpp.

◆ setScanLimits()

bool FakeLaserWithMotor::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 41 of file FakeLaserWithMotor_laser.cpp.

◆ setScanRate()

bool FakeLaserWithMotor::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 58 of file FakeLaserWithMotor_laser.cpp.

◆ stopRaw() [1/3]

bool FakeLaserWithMotor::stopRaw ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 250 of file FakeLaserWithMotor_motors.cpp.

◆ stopRaw() [2/3]

bool FakeLaserWithMotor::stopRaw	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 462 of file FakeLaserWithMotor_motors.cpp.

◆ stopRaw() [3/3]

bool FakeLaserWithMotor::stopRaw ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 245 of file FakeLaserWithMotor_motors.cpp.

◆ threadInit()

bool FakeLaserWithMotor::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 199 of file FakeLaserWithMotor.cpp.

◆ threadRelease()

void FakeLaserWithMotor::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 316 of file FakeLaserWithMotor.cpp.

◆ velocityMoveRaw() [1/3]

bool FakeLaserWithMotor::velocityMoveRaw ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 572 of file FakeLaserWithMotor_motors.cpp.

◆ velocityMoveRaw() [2/3]

bool FakeLaserWithMotor::velocityMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	pointer to the array of joint numbers
spds	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 580 of file FakeLaserWithMotor_motors.cpp.

◆ velocityMoveRaw() [3/3]

bool FakeLaserWithMotor::velocityMoveRaw	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 556 of file FakeLaserWithMotor_motors.cpp.

Member Data Documentation

◆ _axisName

std::string* FakeLaserWithMotor::_axisName = nullptr

Definition at line 152 of file FakeLaserWithMotor.h.

◆ _command_speeds

double* FakeLaserWithMotor::_command_speeds = nullptr

Definition at line 158 of file FakeLaserWithMotor.h.

◆ _controlModes

int* FakeLaserWithMotor::_controlModes = nullptr

Definition at line 154 of file FakeLaserWithMotor.h.

◆ _encoders

double* FakeLaserWithMotor::_encoders = nullptr

Definition at line 155 of file FakeLaserWithMotor.h.

◆ _jointType

yarp::dev::JointTypeEnum* FakeLaserWithMotor::_jointType = nullptr

Definition at line 153 of file FakeLaserWithMotor.h.

◆ _posCtrl_references

double* FakeLaserWithMotor::_posCtrl_references = nullptr

Definition at line 156 of file FakeLaserWithMotor.h.

◆ _ref_accs

double* FakeLaserWithMotor::_ref_accs = nullptr

Definition at line 159 of file FakeLaserWithMotor.h.

◆ _ref_speeds

double* FakeLaserWithMotor::_ref_speeds = nullptr

Definition at line 157 of file FakeLaserWithMotor.h.

◆ m_dis

std::uniform_real_distribution* FakeLaserWithMotor::m_dis

protected

Definition at line 87 of file FakeLaserWithMotor.h.

◆ m_gen

std::mt19937* FakeLaserWithMotor::m_gen

protected

Definition at line 86 of file FakeLaserWithMotor.h.

◆ m_map

yarp::dev::Nav2D::MapGrid2D FakeLaserWithMotor::m_map

protected

Definition at line 75 of file FakeLaserWithMotor.h.

◆ m_njoints

size_t FakeLaserWithMotor::m_njoints =3

protected

Definition at line 78 of file FakeLaserWithMotor.h.

◆ m_originally_loaded_map

yarp::dev::Nav2D::MapGrid2D FakeLaserWithMotor::m_originally_loaded_map

protected

Definition at line 74 of file FakeLaserWithMotor.h.

◆ m_rd

std::random_device* FakeLaserWithMotor::m_rd

protected

Definition at line 85 of file FakeLaserWithMotor.h.

◆ m_robot_loc_t

double FakeLaserWithMotor::m_robot_loc_t =0

protected

Definition at line 83 of file FakeLaserWithMotor.h.

◆ m_robot_loc_x

double FakeLaserWithMotor::m_robot_loc_x =0

protected

Definition at line 81 of file FakeLaserWithMotor.h.

◆ m_robot_loc_y

double FakeLaserWithMotor::m_robot_loc_y =0

protected

Definition at line 82 of file FakeLaserWithMotor.h.

◆ m_rpcPort

yarp::os::Port FakeLaserWithMotor::m_rpcPort

protected

Definition at line 89 of file FakeLaserWithMotor.h.

◆ m_test_mode

test_mode_t FakeLaserWithMotor::m_test_mode

protected

Definition at line 72 of file FakeLaserWithMotor.h.

The documentation for this class was generated from the following files:

src/devices/fake/fakeLaserWithMotor/FakeLaserWithMotor.h
src/devices/fake/fakeLaserWithMotor/FakeLaserWithMotor.cpp
src/devices/fake/fakeLaserWithMotor/FakeLaserWithMotor_laser.cpp
src/devices/fake/fakeLaserWithMotor/FakeLaserWithMotor_motors.cpp
src/devices/fake/fakeLaserWithMotor/FakeLaserWithMotor_utils.cpp

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

examples:

Member Enumeration Documentation

◆ test_mode_t

Constructor & Destructor Documentation

◆ FakeLaserWithMotor()

◆ ~FakeLaserWithMotor()

Member Function Documentation

◆ acquireDataFromHW()

◆ alloc()

◆ checkMotionDoneRaw() [1/3]

◆ checkMotionDoneRaw() [2/3]

◆ checkMotionDoneRaw() [3/3]

◆ close()

◆ dealloc()

◆ getAxes()

◆ getAxisNameRaw()

◆ getControlModeRaw()

◆ getControlModesRaw() [1/2]

◆ getControlModesRaw() [2/2]

◆ getEncoderAccelerationRaw()

◆ getEncoderAccelerationsRaw()

◆ getEncoderRaw()

◆ getEncoderSpeedRaw()

◆ getEncoderSpeedsRaw()

◆ getEncodersRaw()

◆ getEncodersTimedRaw()

◆ getEncoderTimedRaw()

◆ getJointTypeRaw()

◆ getRefAccelerationRaw()

◆ getRefAccelerationsRaw() [1/2]

◆ getRefAccelerationsRaw() [2/2]

◆ getRefSpeedRaw()

◆ getRefSpeedsRaw() [1/2]

◆ getRefSpeedsRaw() [2/2]

◆ getRefVelocitiesRaw() [1/2]

◆ getRefVelocitiesRaw() [2/2]

◆ getRefVelocityRaw()

◆ getTargetPositionRaw()

◆ getTargetPositionsRaw() [1/2]

◆ getTargetPositionsRaw() [2/2]

◆ open()

◆ positionMoveRaw() [1/3]

◆ positionMoveRaw() [2/3]

◆ positionMoveRaw() [3/3]

◆ read()

◆ relativeMoveRaw() [1/3]

◆ relativeMoveRaw() [2/3]

◆ relativeMoveRaw() [3/3]

◆ resetEncoderRaw()

◆ resetEncodersRaw()

◆ run()

◆ setControlModeRaw()

◆ setControlModesRaw() [1/2]

◆ setControlModesRaw() [2/2]

◆ setDistanceRange()

◆ setEncoderRaw()

◆ setEncodersRaw()

◆ setHorizontalResolution()

◆ setRefAccelerationRaw()

◆ setRefAccelerationsRaw() [1/2]

◆ setRefAccelerationsRaw() [2/2]

◆ setRefSpeedRaw()

◆ setRefSpeedsRaw() [1/2]

◆ setRefSpeedsRaw() [2/2]

◆ setScanLimits()

◆ setScanRate()

◆ stopRaw() [1/3]

◆ stopRaw() [2/3]

◆ stopRaw() [3/3]

◆ threadInit()

◆ threadRelease()

◆ velocityMoveRaw() [1/3]

◆ velocityMoveRaw() [2/3]

◆ velocityMoveRaw() [3/3]