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

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

DeviceDriver &	operator= (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 DeviceDriver *	getImplementation ()
	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_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The 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_index	The index of the specified sensor (should be between 0 and getNrOfPositionSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters.
[out]	timestamp	The 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

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 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:

src/devices/fakePositionSensor/fakePositionSensor.h
src/devices/fakePositionSensor/fakePositionSensor.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakePositionSensor()

◆ ~FakePositionSensor()

Member Function Documentation

◆ close()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getPositionSensorFrameName()

◆ getPositionSensorMeasure()

◆ getPositionSensorName()

◆ getPositionSensorStatus()

◆ open()

◆ run()

◆ threadInit()

◆ threadRelease()