Localization2D_nwc_yarp A device which allows a user application retrieve the current position of the robot in the world. More...

#include <localization2D_nwc_yarp/Localization2D_nwc_yarp.h>

Inheritance diagram for Localization2D_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the current position of the robot w.r.t world reference frame. More...

bool	getEstimatedOdometry (yarp::dev::OdometryData &odom) override
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...

bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

bool	getLocalizationStatus (yarp::dev::Nav2D::LocalizationStatusEnum &status) override
	Gets the current status of the localization task. More...

bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses) override
	Gets a set of pose estimates computed by the localization algorithm. More...

bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov) override
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...

bool	startLocalizationService () override
	Starts the localization service. More...

bool	stopLocalizationService () override
	Stops the localization service. 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::dev::Nav2D::ILocalization2D
virtual	~ILocalization2D ()
	Destructor. More...

virtual bool	startLocalizationService ()=0
	Starts the localization service. More...

virtual bool	stopLocalizationService ()=0
	Stops the localization service. More...

virtual bool	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task. More...

virtual bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...

virtual bool	getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_localization_server

std::string	m_local_name

std::string	m_remote_name

ILocalization2DMsgs	m_RPC

Detailed Description

Localization2D_nwc_yarp A device which allows a user application retrieve the current position of the robot in the world.

Localization2D_nwc_yarp

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
local	-	string	-	-	Yes	Full port name opened by the Localization2D_nwc_yarp device.
remote	-	string	-	-	Yes	Full port name of the port opened on the server side, to which the Localization2D_nwc_yarp connects to.

Definition at line 38 of file Localization2D_nwc_yarp.h.

Member Function Documentation

◆ close()

bool Localization2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 186 of file Localization2D_nwc_yarp.cpp.

◆ getCurrentPosition() [1/2]

bool Localization2D_nwc_yarp::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Gets the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 121 of file Localization2D_nwc_yarp.cpp.

◆ getCurrentPosition() [2/2]

bool Localization2D_nwc_yarp::getCurrentPosition	(	yarp::dev::Nav2D::Map2DLocation &	loc,
		yarp::sig::Matrix &	cov
	)

overridevirtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 134 of file Localization2D_nwc_yarp.cpp.

◆ getEstimatedOdometry()

bool Localization2D_nwc_yarp::getEstimatedOdometry ( yarp::dev::OdometryData & odom )

overridevirtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters

loc	the estimated odometry.

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 108 of file Localization2D_nwc_yarp.cpp.

◆ getEstimatedPoses()

bool Localization2D_nwc_yarp::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > & poses )

overridevirtual

Gets a set of pose estimates computed by the localization algorithm.

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 148 of file Localization2D_nwc_yarp.cpp.

◆ getLocalizationStatus()

bool Localization2D_nwc_yarp::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum & status )

overridevirtual

Gets the current status of the localization task.

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 161 of file Localization2D_nwc_yarp.cpp.

◆ open()

bool Localization2D_nwc_yarp::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 26 of file Localization2D_nwc_yarp.cpp.

◆ setInitialPose() [1/2]

bool Localization2D_nwc_yarp::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 90 of file Localization2D_nwc_yarp.cpp.

◆ setInitialPose() [2/2]

bool Localization2D_nwc_yarp::setInitialPose	(	const yarp::dev::Nav2D::Map2DLocation &	loc,
		const yarp::sig::Matrix &	cov
	)

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 96 of file Localization2D_nwc_yarp.cpp.

◆ startLocalizationService()

bool Localization2D_nwc_yarp::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 174 of file Localization2D_nwc_yarp.cpp.

◆ stopLocalizationService()

bool Localization2D_nwc_yarp::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 180 of file Localization2D_nwc_yarp.cpp.

Member Data Documentation

◆ m_local_name

std::string Localization2D_nwc_yarp::m_local_name

protected

Definition at line 45 of file Localization2D_nwc_yarp.h.

◆ m_mutex

std::mutex Localization2D_nwc_yarp::m_mutex

protected

Definition at line 43 of file Localization2D_nwc_yarp.h.

◆ m_remote_name

std::string Localization2D_nwc_yarp::m_remote_name

protected

Definition at line 46 of file Localization2D_nwc_yarp.h.

◆ m_RPC

ILocalization2DMsgs Localization2D_nwc_yarp::m_RPC

protected

Definition at line 47 of file Localization2D_nwc_yarp.h.

◆ m_rpc_port_localization_server

yarp::os::Port Localization2D_nwc_yarp::m_rpc_port_localization_server

protected

Definition at line 44 of file Localization2D_nwc_yarp.h.

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

src/devices/localization2D_nwc_yarp/Localization2D_nwc_yarp.h
src/devices/localization2D_nwc_yarp/Localization2D_nwc_yarp.cpp

Public Member Functions

Protected Attributes

Detailed Description

Localization2D_nwc_yarp

Member Function Documentation

◆ close()

◆ getCurrentPosition() [1/2]

◆ getCurrentPosition() [2/2]

◆ getEstimatedOdometry()

◆ getEstimatedPoses()

◆ getLocalizationStatus()

◆ open()

◆ setInitialPose() [1/2]

◆ setInitialPose() [2/2]

◆ startLocalizationService()

◆ stopLocalizationService()

Member Data Documentation

◆ m_local_name

◆ m_mutex

◆ m_remote_name

◆ m_RPC

◆ m_rpc_port_localization_server