Map2D_nwc_yarp: A device which allows a client application to store/retrieve user maps device in a map server. More...

#include <networkWrappers/map2D_nwc_yarp/Map2D_nwc_yarp.h>

Inheritance diagram for Map2D_nwc_yarp:

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

bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	clearAllMaps () override
	Removes all the registered maps from the server.

yarp::dev::ReturnValue	remove_map (std::string map_name) override
	Removes a map from the map server.

yarp::dev::ReturnValue	store_map (const yarp::dev::Nav2D::MapGrid2D &map) override
	Stores a map into the map server.

yarp::dev::ReturnValue	get_map (std::string map_name, yarp::dev::Nav2D::MapGrid2D &map) override
	Gets a map from the map server.

yarp::dev::ReturnValue	get_map_names (std::vector< std::string > &map_names) override
	Gets a list containing the names of all registered maps.

yarp::dev::ReturnValue	storeLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) override
	Store a location specified by the user in the world reference frame.

yarp::dev::ReturnValue	storeArea (std::string area_name, yarp::dev::Nav2D::Map2DArea area) override
	Store an area.

yarp::dev::ReturnValue	storePath (std::string path_name, yarp::dev::Nav2D::Map2DPath path) override
	Store a path.

yarp::dev::ReturnValue	getLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc) override
	Retrieves a location specified by the user in the world reference frame.

yarp::dev::ReturnValue	getArea (std::string location_name, yarp::dev::Nav2D::Map2DArea &area) override
	Retrieves an area.

yarp::dev::ReturnValue	getPath (std::string path_name, yarp::dev::Nav2D::Map2DPath &path) override
	Retrieves a path.

yarp::dev::ReturnValue	renameLocation (std::string original_name, std::string new_name) override
	Searches for a location and renames it.

yarp::dev::ReturnValue	renameArea (std::string original_name, std::string new_name) override
	Searches for an area and renames it.

yarp::dev::ReturnValue	renamePath (std::string original_name, std::string new_name) override
	Searches for a path and renames it.

yarp::dev::ReturnValue	deleteLocation (std::string location_name) override
	Delete a location.

yarp::dev::ReturnValue	deleteArea (std::string location_name) override
	Delete an area.

yarp::dev::ReturnValue	deletePath (std::string path_name) override
	Delete a path.

yarp::dev::ReturnValue	getLocationsList (std::vector< std::string > &locations) override
	Get a list of the names of all stored locations.

yarp::dev::ReturnValue	getAreasList (std::vector< std::string > &locations) override
	Get a list of the names of all stored areas.

yarp::dev::ReturnValue	getPathsList (std::vector< std::string > &paths) override
	Get a list of the names of all stored paths.

yarp::dev::ReturnValue	getAllLocations (std::vector< yarp::dev::Nav2D::Map2DLocation > &locations) override
	Get a list of all stored locations.

yarp::dev::ReturnValue	getAllAreas (std::vector< yarp::dev::Nav2D::Map2DArea > &areas) override
	Get a list of all stored areas.

yarp::dev::ReturnValue	getAllPaths (std::vector< yarp::dev::Nav2D::Map2DPath > &paths) override
	Get a list of all stored paths.

yarp::dev::ReturnValue	clearAllLocations () override
	Delete all stored locations.

yarp::dev::ReturnValue	clearAllAreas () override
	Delete all stored areas.

yarp::dev::ReturnValue	clearAllPaths () override
	Delete all stored paths.

yarp::dev::ReturnValue	clearAllMapsTemporaryFlags () override
	Clear all temporary flags from all stored maps.

yarp::dev::ReturnValue	clearMapTemporaryFlags (std::string map_name) override
	Clear all temporary flags from a specific map.

yarp::dev::ReturnValue	saveMapsCollection (std::string maps_collection_file) override
	Save a collection of maps to disk.

yarp::dev::ReturnValue	loadMapsCollection (std::string maps_collection_file) override
	Load a collection of maps from disk.

yarp::dev::ReturnValue	saveLocationsAndExtras (std::string locations_collection_file) override
	Save a collection of locations/area/paths etc to disk.

yarp::dev::ReturnValue	loadLocationsAndExtras (std::string locations_collection_file) override
	Load a collection of locations/areas/paths etc from disk.

yarp::dev::ReturnValue	saveMapToDisk (std::string map_name, std::string file_name) override
	Save a map to disk.

yarp::dev::ReturnValue	loadMapFromDisk (std::string file_name) override
	Load a map from disk.

yarp::dev::ReturnValue	enableMapsCompression (bool enable) override
	Enable/disables maps compression over the network.

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::dev::Nav2D::IMap2D
virtual	~IMap2D ()
	Destructor.

Public Member Functions inherited from Map2D_nwc_yarp_ParamsParser
	Map2D_nwc_yarp_ParamsParser ()

	~Map2D_nwc_yarp_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.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

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

Protected Attributes
yarp::os::Port	m_rpcPort_to_Map2D_nws

IMap2DMsgs	m_map_RPC

std::mutex	m_mutex

Additional Inherited Members
Public Attributes inherited from Map2D_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"Map2D_nwc_yarp"}

const std::string	m_device_name = {"map2D_nwc_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_local_defaultValue = {""}

const std::string	m_remote_defaultValue = {""}

const std::string	m_carrier_defaultValue = {"fast_tcp"}

std::string	m_local = {}

std::string	m_remote = {}

std::string	m_carrier = {"fast_tcp"}

Detailed Description

Map2D_nwc_yarp: A device which allows a client application to store/retrieve user maps device in a map server.

Map2D_nwc_yarp

Parameters required by this device are shown in class: Map2D_nwc_yarp_ParamsParser

Definition at line 35 of file Map2D_nwc_yarp.h.

Member Function Documentation

◆ clearAllAreas()

ReturnValue Map2D_nwc_yarp::clearAllAreas ( )

overridevirtual

Delete all stored areas.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 281 of file Map2D_nwc_yarp.cpp.

◆ clearAllLocations()

ReturnValue Map2D_nwc_yarp::clearAllLocations ( )

overridevirtual

Delete all stored locations.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 275 of file Map2D_nwc_yarp.cpp.

◆ clearAllMaps()

ReturnValue Map2D_nwc_yarp::clearAllMaps ( )

overridevirtual

Removes all the registered maps from the server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 79 of file Map2D_nwc_yarp.cpp.

◆ clearAllMapsTemporaryFlags()

ReturnValue Map2D_nwc_yarp::clearAllMapsTemporaryFlags ( )

overridevirtual

Clear all temporary flags from all stored maps.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 287 of file Map2D_nwc_yarp.cpp.

◆ clearAllPaths()

ReturnValue Map2D_nwc_yarp::clearAllPaths ( )

overridevirtual

Delete all stored paths.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 299 of file Map2D_nwc_yarp.cpp.

◆ clearMapTemporaryFlags()

ReturnValue Map2D_nwc_yarp::clearMapTemporaryFlags ( std::string map_name )

overridevirtual

Clear all temporary flags from a specific map.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 293 of file Map2D_nwc_yarp.cpp.

◆ close()

bool Map2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 305 of file Map2D_nwc_yarp.cpp.

◆ deleteArea()

ReturnValue Map2D_nwc_yarp::deleteArea ( std::string area_name )

overridevirtual

Delete an area.

Parameters

area_name the name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 251 of file Map2D_nwc_yarp.cpp.

◆ deleteLocation()

ReturnValue Map2D_nwc_yarp::deleteLocation ( std::string location_name )

overridevirtual

Delete a location.

Parameters

location_name the name of the location

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 239 of file Map2D_nwc_yarp.cpp.

◆ deletePath()

ReturnValue Map2D_nwc_yarp::deletePath ( std::string path_name )

overridevirtual

Delete a path.

Parameters

path_name the name of the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 257 of file Map2D_nwc_yarp.cpp.

◆ enableMapsCompression()

ReturnValue Map2D_nwc_yarp::enableMapsCompression ( bool enable )

overridevirtual

Enable/disables maps compression over the network.

Parameters

enable

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 346 of file Map2D_nwc_yarp.cpp.

◆ get_map()

ReturnValue Map2D_nwc_yarp::get_map	(	std::string	map_name,
		yarp::dev::Nav2D::MapGrid2D &	map
	)

overridevirtual

Gets a map from the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 66 of file Map2D_nwc_yarp.cpp.

◆ get_map_names()

ReturnValue Map2D_nwc_yarp::get_map_names ( std::vector< std::string > & map_names )

overridevirtual

Gets a list containing the names of all registered maps.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 85 of file Map2D_nwc_yarp.cpp.

◆ getAllAreas()

ReturnValue Map2D_nwc_yarp::getAllAreas ( std::vector< yarp::dev::Nav2D::Map2DArea > & areas )

overridevirtual

Get a list of all stored areas.

Parameters

the	returned list of areas

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 174 of file Map2D_nwc_yarp.cpp.

◆ getAllLocations()

ReturnValue Map2D_nwc_yarp::getAllLocations ( std::vector< yarp::dev::Nav2D::Map2DLocation > & locations )

overridevirtual

Get a list of all stored locations.

Parameters

the	returned list of locations

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 161 of file Map2D_nwc_yarp.cpp.

◆ getAllPaths()

ReturnValue Map2D_nwc_yarp::getAllPaths ( std::vector< yarp::dev::Nav2D::Map2DPath > & paths )

overridevirtual

Get a list of all stored paths.

Parameters

the	returned list of paths

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 187 of file Map2D_nwc_yarp.cpp.

◆ getArea()

ReturnValue Map2D_nwc_yarp::getArea	(	std::string	area_name,
		yarp::dev::Nav2D::Map2DArea &	area
	)

overridevirtual

Retrieves an area.

Parameters

area_name	the name of the area
area	the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 213 of file Map2D_nwc_yarp.cpp.

◆ getAreasList()

ReturnValue Map2D_nwc_yarp::getAreasList ( std::vector< std::string > & areas )

overridevirtual

Get a list of the names of all stored areas.

Parameters

the	returned list of areas names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 135 of file Map2D_nwc_yarp.cpp.

◆ getLocation()

ReturnValue Map2D_nwc_yarp::getLocation	(	std::string	location_name,
		yarp::dev::Nav2D::Map2DLocation &	loc
	)

overridevirtual

Retrieves a location specified by the user in the world reference frame.

Parameters

location_name	the name of the location
loc	the location

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 200 of file Map2D_nwc_yarp.cpp.

◆ getLocationsList()

ReturnValue Map2D_nwc_yarp::getLocationsList ( std::vector< std::string > & locations )

overridevirtual

Get a list of the names of all stored locations.

Parameters

the	returned list of locations names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 122 of file Map2D_nwc_yarp.cpp.

◆ getPath()

ReturnValue Map2D_nwc_yarp::getPath	(	std::string	path_name,
		yarp::dev::Nav2D::Map2DPath &	path
	)

overridevirtual

Retrieves a path.

Parameters

path_name	the name of the path
path	the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 226 of file Map2D_nwc_yarp.cpp.

◆ getPathsList()

ReturnValue Map2D_nwc_yarp::getPathsList ( std::vector< std::string > & paths )

overridevirtual

Get a list of the names of all stored paths.

Parameters

the	returned list of paths names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 148 of file Map2D_nwc_yarp.cpp.

◆ loadLocationsAndExtras()

ReturnValue Map2D_nwc_yarp::loadLocationsAndExtras ( std::string file_name )

overridevirtual

Load a collection of locations/areas/paths etc from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 328 of file Map2D_nwc_yarp.cpp.

◆ loadMapFromDisk()

ReturnValue Map2D_nwc_yarp::loadMapFromDisk ( std::string file_name )

overridevirtual

Load a map from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 340 of file Map2D_nwc_yarp.cpp.

◆ loadMapsCollection()

ReturnValue Map2D_nwc_yarp::loadMapsCollection ( std::string file_name )

overridevirtual

Load a collection of maps from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 316 of file Map2D_nwc_yarp.cpp.

◆ open()

bool Map2D_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 27 of file Map2D_nwc_yarp.cpp.

◆ remove_map()

ReturnValue Map2D_nwc_yarp::remove_map ( std::string map_name )

overridevirtual

Removes a map from the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 98 of file Map2D_nwc_yarp.cpp.

◆ renameArea()

ReturnValue Map2D_nwc_yarp::renameArea	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for an area and renames it.

Parameters

original_name	the name of the area
new_name	the new name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 263 of file Map2D_nwc_yarp.cpp.

◆ renameLocation()

ReturnValue Map2D_nwc_yarp::renameLocation	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for a location and renames it.

Parameters

original_name	the name of the area
new_name	the new name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 245 of file Map2D_nwc_yarp.cpp.

◆ renamePath()

ReturnValue Map2D_nwc_yarp::renamePath	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for a path and renames it.

Parameters

original_name	the name of the path
new_name	the new name of the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 269 of file Map2D_nwc_yarp.cpp.

◆ saveLocationsAndExtras()

ReturnValue Map2D_nwc_yarp::saveLocationsAndExtras ( std::string file_name )

overridevirtual

Save a collection of locations/area/paths etc to disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 322 of file Map2D_nwc_yarp.cpp.

◆ saveMapsCollection()

ReturnValue Map2D_nwc_yarp::saveMapsCollection ( std::string file_name )

overridevirtual

Save a collection of maps to disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 310 of file Map2D_nwc_yarp.cpp.

◆ saveMapToDisk()

ReturnValue Map2D_nwc_yarp::saveMapToDisk	(	std::string	map_name,
		std::string	file_name
	)

overridevirtual

Save a map to disk.

Parameters

map_name	the name of the area
file_name	file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 334 of file Map2D_nwc_yarp.cpp.

◆ store_map()

ReturnValue Map2D_nwc_yarp::store_map ( const yarp::dev::Nav2D::MapGrid2D & map )

overridevirtual

Stores a map into the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 60 of file Map2D_nwc_yarp.cpp.

◆ storeArea()

ReturnValue Map2D_nwc_yarp::storeArea	(	std::string	area_name,
		yarp::dev::Nav2D::Map2DArea	area
	)

overridevirtual

Store an area.

Parameters

area_name	the name of the area
area	the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 110 of file Map2D_nwc_yarp.cpp.

◆ storeLocation()

ReturnValue Map2D_nwc_yarp::storeLocation	(	std::string	location_name,
		yarp::dev::Nav2D::Map2DLocation	loc
	)

overridevirtual

Store a location specified by the user in the world reference frame.

Parameters

location_name	the name of the location
loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 104 of file Map2D_nwc_yarp.cpp.

◆ storePath()

ReturnValue Map2D_nwc_yarp::storePath	(	std::string	path_name,
		yarp::dev::Nav2D::Map2DPath	path
	)

overridevirtual

Store a path.

Parameters

path_name	the name of the path
path	the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 116 of file Map2D_nwc_yarp.cpp.

Member Data Documentation

◆ m_map_RPC

IMap2DMsgs Map2D_nwc_yarp::m_map_RPC

protected

Definition at line 42 of file Map2D_nwc_yarp.h.

◆ m_mutex

std::mutex Map2D_nwc_yarp::m_mutex

protected

Definition at line 43 of file Map2D_nwc_yarp.h.

◆ m_rpcPort_to_Map2D_nws

yarp::os::Port Map2D_nwc_yarp::m_rpcPort_to_Map2D_nws

protected

Definition at line 41 of file Map2D_nwc_yarp.h.

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

src/devices/networkWrappers/map2D_nwc_yarp/Map2D_nwc_yarp.h
src/devices/networkWrappers/map2D_nwc_yarp/Map2D_nwc_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Map2D_nwc_yarp

Member Function Documentation

◆ clearAllAreas()

◆ clearAllLocations()

◆ clearAllMaps()

◆ clearAllMapsTemporaryFlags()

◆ clearAllPaths()

◆ clearMapTemporaryFlags()

◆ close()

◆ deleteArea()

◆ deleteLocation()

◆ deletePath()

◆ enableMapsCompression()

◆ get_map()

◆ get_map_names()

◆ getAllAreas()

◆ getAllLocations()

◆ getAllPaths()

◆ getArea()

◆ getAreasList()

◆ getLocation()

◆ getLocationsList()

◆ getPath()

◆ getPathsList()

◆ loadLocationsAndExtras()

◆ loadMapFromDisk()

◆ loadMapsCollection()

◆ open()

◆ remove_map()

◆ renameArea()

◆ renameLocation()

◆ renamePath()

◆ saveLocationsAndExtras()

◆ saveMapsCollection()

◆ saveMapToDisk()

◆ store_map()

◆ storeArea()

◆ storeLocation()

◆ storePath()

Member Data Documentation

◆ m_map_RPC

◆ m_mutex

◆ m_rpcPort_to_Map2D_nws