MobileBaseVelocityControl_nws_yarp: A device which allows a client to control the velocity of a mobile base from YARP. The device opens two ports: a streaming port /exampleName/data:i for receiving streaming commands, and a rpc port /exampleName/rpc:i for rpc connection with a MobileBaseVelocityControl_nwc_yarp client device. More...

#include <networkWrappers/mobileBaseVelocityControl_nws_yarp/MobileBaseVelocityControl_nws_yarp.h>

Inheritance diagram for MobileBaseVelocityControl_nws_yarp:

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

bool	close () override
	Close the DeviceDriver.

bool	detach () override
	Detach the object (you must have first called attach).

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

bool	applyVelocityCommandRPC (const double x_vel, const double y_vel, const double theta_vel, const double timeout) override

return_getLastVelocityCommand	getLastVelocityCommandRPC () override

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::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Public Member Functions inherited from MobileBaseVelocityControlRPC
	MobileBaseVelocityControlRPC ()

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

Public Member Functions inherited from yarp::os::Wire
yarp::os::WireLink &	yarp ()
	Get YARP state associated with this object.

const yarp::os::WireLink &	yarp () const
	Get YARP state associated with this object (const version).

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from MobileBaseVelocityControl_nws_yarp_ParamsParser
	MobileBaseVelocityControl_nws_yarp_ParamsParser ()

	~MobileBaseVelocityControl_nws_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.

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

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_navigation_server

VelocityInputPortProcessor	m_StreamingInput

yarp::dev::Nav2D::INavigation2DVelocityActions *	m_iNavVel = nullptr

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_local_defaultValue = {"/MobileBaseVelocityControl_nws"}

std::string	m_local = {"/MobileBaseVelocityControl_nws"}

Detailed Description

MobileBaseVelocityControl_nws_yarp: A device which allows a client to control the velocity of a mobile base from YARP. The device opens two ports: a streaming port /exampleName/data:i for receiving streaming commands, and a rpc port /exampleName/rpc:i for rpc connection with a MobileBaseVelocityControl_nwc_yarp client device.

MobileBaseVelocityControl_nws_yarp

Check velocityInputHandler or fakeNavigation as an example of device which can be attached to MobileBaseVelocityControl_nws_yarp

Parameters required by this device are shown in class: MobileBaseVelocityControl_nws_yarp_ParamsParser

Definition at line 50 of file MobileBaseVelocityControl_nws_yarp.h.

Member Function Documentation

◆ applyVelocityCommandRPC()

bool MobileBaseVelocityControl_nws_yarp::applyVelocityCommandRPC	(	const double	x_vel,
		const double	y_vel,
		const double	theta_vel,
		const double	timeout
	)

overridevirtual

Reimplemented from MobileBaseVelocityControlRPC.

Definition at line 113 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ attach()

bool MobileBaseVelocityControl_nws_yarp::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 95 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ close()

bool MobileBaseVelocityControl_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 82 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ detach()

bool MobileBaseVelocityControl_nws_yarp::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 89 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ getLastVelocityCommandRPC()

return_getLastVelocityCommand MobileBaseVelocityControl_nws_yarp::getLastVelocityCommandRPC ( )

overridevirtual

Reimplemented from MobileBaseVelocityControlRPC.

Definition at line 132 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ open()

bool MobileBaseVelocityControl_nws_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 42 of file MobileBaseVelocityControl_nws_yarp.cpp.

Member Data Documentation

◆ m_iNavVel

yarp::dev::Nav2D::INavigation2DVelocityActions* MobileBaseVelocityControl_nws_yarp::m_iNavVel = nullptr

protected

Definition at line 61 of file MobileBaseVelocityControl_nws_yarp.h.

◆ m_mutex

std::mutex MobileBaseVelocityControl_nws_yarp::m_mutex

protected

Definition at line 57 of file MobileBaseVelocityControl_nws_yarp.h.

◆ m_rpc_port_navigation_server

yarp::os::Port MobileBaseVelocityControl_nws_yarp::m_rpc_port_navigation_server

protected

Definition at line 58 of file MobileBaseVelocityControl_nws_yarp.h.

◆ m_StreamingInput

VelocityInputPortProcessor MobileBaseVelocityControl_nws_yarp::m_StreamingInput

protected

Definition at line 59 of file MobileBaseVelocityControl_nws_yarp.h.

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

src/devices/networkWrappers/mobileBaseVelocityControl_nws_yarp/MobileBaseVelocityControl_nws_yarp.h
src/devices/networkWrappers/mobileBaseVelocityControl_nws_yarp/MobileBaseVelocityControl_nws_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

MobileBaseVelocityControl_nws_yarp

Member Function Documentation

◆ applyVelocityCommandRPC()

◆ attach()

◆ close()

◆ detach()

◆ getLastVelocityCommandRPC()

◆ open()

Member Data Documentation

◆ m_iNavVel

◆ m_mutex

◆ m_rpc_port_navigation_server

◆ m_StreamingInput