YARP
Yet Another Robot Platform

fakePositionSensor: Fake position sensor device for testing purpose and reference for new similar devices More...

#include <fakePositionSensor/fakePositionSensor.h>

+ Inheritance diagram for FakePositionSensor:

Public Member Functions

 FakePositionSensor (double period=0.05)
 
 ~FakePositionSensor ()
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. 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...
 
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 &xyz, double &timestamp) const override
 Get the last reading of the orientation sensor as roll pitch yaw. More...
 
void run () override
 Loop function. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
virtual std::string id () const
 Return the id assigned to the PolyDriver. More...
 
virtual void setId (const std::string &id)
 Set the id for this device. 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 open (Searchable &config)
 Initialize the object. More...
 
virtual bool close ()
 Shut the object down. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::IPositionSensors
virtual size_t getNrOfPositionSensors () const =0
 Get the number of position sensors exposed by this device. More...
 
virtual yarp::dev::MAS_status getPositionSensorStatus (size_t sens_index) const =0
 Get the status of the specified sensor. More...
 
virtual bool getPositionSensorName (size_t sens_index, std::string &name) const =0
 Get the name of the specified sensor. More...
 
virtual bool getPositionSensorFrameName (size_t sens_index, std::string &frameName) const =0
 Get the name of the frame of the specified sensor. More...
 
virtual bool getPositionSensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const =0
 Get the last reading of the position sensor as x y z. More...
 
virtual ~IPositionSensors ()
 
- Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual size_t getNrOfOrientationSensors () const =0
 Get the number of orientation sensors exposed by this device. More...
 
virtual yarp::dev::MAS_status getOrientationSensorStatus (size_t sens_index) const =0
 Get the status of the specified sensor. More...
 
virtual bool getOrientationSensorName (size_t sens_index, std::string &name) const =0
 Get the name of the specified sensor. More...
 
virtual bool getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const =0
 Get the name of the frame of the specified sensor. More...
 
virtual bool getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const =0
 Get the last reading of the orientation sensor as roll pitch yaw. More...
 
virtual ~IOrientationSensors ()
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool threadInit ()
 Initialization method. More...
 
virtual void threadRelease ()
 Release method. More...
 
virtual void run ()=0
 Loop function. More...
 
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
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(). More...
 

Detailed Description

fakePositionSensor: Fake position sensor device for testing purpose and reference for new similar devices

Parameters accepted in the config argument of the open method:

Parameter name Type Units Default Value Required Description Notes
sensor_period double seconds 0.01 No Period over which the measurement is updated.

Definition at line 28 of file fakePositionSensor.h.

Constructor & Destructor Documentation

◆ FakePositionSensor()

FakePositionSensor::FakePositionSensor ( double  period = 0.05)

Definition at line 18 of file fakePositionSensor.cpp.

◆ ~FakePositionSensor()

FakePositionSensor::~FakePositionSensor ( )

Definition at line 25 of file fakePositionSensor.cpp.

Member Function Documentation

◆ close()

bool FakePositionSensor::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 58 of file fakePositionSensor.cpp.

◆ getNrOfOrientationSensors()

size_t FakePositionSensor::getNrOfOrientationSensors ( ) const
overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 146 of file fakePositionSensor.cpp.

◆ getNrOfPositionSensors()

size_t FakePositionSensor::getNrOfPositionSensors ( ) const
overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 108 of file fakePositionSensor.cpp.

◆ getOrientationSensorFrameName()

bool FakePositionSensor::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 167 of file fakePositionSensor.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool FakePositionSensor::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 175 of file fakePositionSensor.cpp.

◆ getOrientationSensorName()

bool FakePositionSensor::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 159 of file fakePositionSensor.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status FakePositionSensor::getOrientationSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 152 of file fakePositionSensor.cpp.

◆ getPositionSensorFrameName()

bool FakePositionSensor::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 129 of file fakePositionSensor.cpp.

◆ getPositionSensorMeasure()

bool FakePositionSensor::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 137 of file fakePositionSensor.cpp.

◆ getPositionSensorName()

bool FakePositionSensor::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 121 of file fakePositionSensor.cpp.

◆ getPositionSensorStatus()

yarp::dev::MAS_status FakePositionSensor::getPositionSensorStatus ( size_t  sens_index) const
overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 114 of file fakePositionSensor.cpp.

◆ open()

bool FakePositionSensor::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 30 of file fakePositionSensor.cpp.

◆ run()

void FakePositionSensor::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 73 of file fakePositionSensor.cpp.

◆ threadInit()

bool FakePositionSensor::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 67 of file fakePositionSensor.cpp.

◆ threadRelease()

void FakePositionSensor::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 102 of file fakePositionSensor.cpp.


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