YARP
Yet Another Robot Platform

MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base. More...

#include <mobileBaseVelocityControl_nwc_yarp/MobileBaseVelocityControl_nwc_yarp.h>

+ Inheritance diagram for MobileBaseVelocityControl_nwc_yarp:

Public Member Functions

bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
 Apply a velocity command. More...
 
bool getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
 Returns the last applied velocity command. 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::dev::Nav2D::INavigation2DVelocityActions
virtual ~INavigation2DVelocityActions ()
 Destructor. More...
 
virtual bool applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
 Apply a velocity command. More...
 
virtual bool getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0
 Returns the last applied velocity command. More...
 

Protected Attributes

std::mutex m_mutex
 
yarp::os::Port m_rpc_port
 
std::string m_local_name
 
std::string m_server_name
 
std::string m_carrier
 
MobileBaseVelocityControlRPC m_RPC
 

Detailed Description

MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base.

MobileBaseVelocityControl_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 device.
server - string - - Yes Full port name of the port remotely opened by the server, to which this client connects to.
carrier - string - tcp No The carier used for the connection with the server.

Definition at line 36 of file MobileBaseVelocityControl_nwc_yarp.h.

Member Function Documentation

◆ applyVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::applyVelocityCommand ( double  x_vel,
double  y_vel,
double  theta_vel,
double  timeout = 0.1 
)
overridevirtual

Apply a velocity command.

Velocities are expressed in the robot reference frame.

Parameters
x[m/s]
y[m/s]
theta[deg/s]
timeoutThe velocity command expires after the specified amount of time (by default 0.1 seconds)
Returns
true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 99 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ close()

bool MobileBaseVelocityControl_nwc_yarp::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 78 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ getLastVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::getLastVelocityCommand ( double &  x_vel,
double &  y_vel,
double &  theta_vel 
)
overridevirtual

Returns the last applied velocity command.

Parameters
x[m/s]
y[m/s]
theta[deg/s]
Returns
true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 84 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ open()

bool MobileBaseVelocityControl_nwc_yarp::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 27 of file MobileBaseVelocityControl_nwc_yarp.cpp.

Member Data Documentation

◆ m_carrier

std::string MobileBaseVelocityControl_nwc_yarp::m_carrier
protected

Definition at line 45 of file MobileBaseVelocityControl_nwc_yarp.h.

◆ m_local_name

std::string MobileBaseVelocityControl_nwc_yarp::m_local_name
protected

Definition at line 43 of file MobileBaseVelocityControl_nwc_yarp.h.

◆ m_mutex

std::mutex MobileBaseVelocityControl_nwc_yarp::m_mutex
protected

Definition at line 41 of file MobileBaseVelocityControl_nwc_yarp.h.

◆ m_RPC

MobileBaseVelocityControlRPC MobileBaseVelocityControl_nwc_yarp::m_RPC
protected

Definition at line 46 of file MobileBaseVelocityControl_nwc_yarp.h.

◆ m_rpc_port

yarp::os::Port MobileBaseVelocityControl_nwc_yarp::m_rpc_port
protected

Definition at line 42 of file MobileBaseVelocityControl_nwc_yarp.h.

◆ m_server_name

std::string MobileBaseVelocityControl_nwc_yarp::m_server_name
protected

Definition at line 44 of file MobileBaseVelocityControl_nwc_yarp.h.


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