multipleanalogsensorsremapper : device that takes a list of sensors from multiple analog sensors device and exposes them as a single device exposing MultipleAnalogSensors interface. More...

#include <multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.h>

Inheritance diagram for MultipleAnalogSensorsRemapper:

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

bool	close () override
	Close the DeviceDriver.

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	MultipeWrapper methods.

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

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor.

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope.

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfThreeAxisAngularAccelerometers () const override
	Get the number of three axis angular accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisAngularAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisAngularAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisAngularAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisAngularAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfThreeAxisMagnetometers () const override
	Get the number of magnetometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisMagnetometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device.

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw.

size_t	getNrOfTemperatureSensors () const override
	Get the number of temperature sensors exposed by this device.

yarp::dev::MAS_status	getTemperatureSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getTemperatureSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getTemperatureSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getTemperatureSensorMeasure (size_t sens_index, double &out, double &timestamp) const override
	Get the last reading of the specified sensor.

bool	getTemperatureSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfSixAxisForceTorqueSensors () const override
	Get the number of six axis force torque sensors exposed by this device.

yarp::dev::MAS_status	getSixAxisForceTorqueSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frame) const override
	Get the name of the frame of the specified sensor.

bool	getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfContactLoadCellArrays () const override
	Get the number of contact load cell array exposed by this device.

yarp::dev::MAS_status	getContactLoadCellArrayStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getContactLoadCellArrayName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getContactLoadCellArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getContactLoadCellArraySize (size_t sens_index) const override
	Get the size of the specified contact load cell array.

size_t	getNrOfEncoderArrays () const override
	Get the number of encoder arrays exposed by this device.

yarp::dev::MAS_status	getEncoderArrayStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getEncoderArrayName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getEncoderArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getEncoderArraySize (size_t sens_index) const override
	Get the size of the specified encoder array.

size_t	getNrOfSkinPatches () const override
	Get the number of skin patches exposed by this device.

yarp::dev::MAS_status	getSkinPatchStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getSkinPatchName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getSkinPatchMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getSkinPatchSize (size_t sens_index) const override
	Get the size of the specified skin patch.

size_t	getNrOfPositionSensors () const override
	Get the number of position sensors exposed by this device.

yarp::dev::MAS_status	getPositionSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getPositionSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getPositionSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

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.

size_t	getNrOfLinearVelocitySensors () const override
	Get the number of linear velocity sensors exposed by this device.

yarp::dev::MAS_status	getLinearVelocitySensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getLinearVelocitySensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getLinearVelocitySensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getLinearVelocitySensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
	Get the last reading of the linear velocity sensor as x y z.

template<typename Interface >
MAS_status	genericGetStatus (const MAS_SensorType sensorType, size_t &sens_index, const std::vector< Interface * > &subDeviceVec, MAS_status(Interface::*methodPtr)(size_t) const) const

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::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

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

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

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

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

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

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

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

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

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

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

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

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

Detailed Description

multipleanalogsensorsremapper : device that takes a list of sensors from multiple analog sensors device and exposes them as a single device exposing MultipleAnalogSensors interface.

YARP device name
`multipleanalogsensorsremapper`

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
{sensorTag}Names	-	vector of strings	-	-	Yes	Ordered list of name that must belong of the remapped device. The list also defines which index will be associated to a given sensor in the remapped devices. For example, if the list (sensorNameA,sensorNameB,sensorNameC) is given, these sensors will have respectively index 0, 1 and 2 in the remapped device.

The sensorTag is a tag identifying the specific sensor interface, see Multiple Analog Sensor Interfaces for a list of possible sensors. The tag of each sensor interface is provided in the doxygen documentation of the specific interface.

Configuration file using .ini format.

device multipleanalogsensorsremapper
ThreeAxisGyroscopesNames (head torso)
SixAxisForceTorqueSensorsNames (left_foot right_foot left_leg right_leg)

Configuration of the device from C++ code.

Property options;
options.put("device","multipleanalogsensorsremapper");
Bottle gyrosNames;
Bottle & gyrosList = gyrosNames.addList();
gyrosList.addString("head");
gyrosList.addString("torso");
options.put("ThreeAxisGyroscopesNames", gyrosNames.get(0));
Bottle ftNames;
Bottle & ftList = ftNames.addList();
ftList.addString("left_foot");
ftList.addString("right_foot");
ftList.addString("left_leg");
ftList.addString("right_leg");
options.put("SixAxisForceTorqueSensorsNames", ftNames.get(0));
 
// Actually open the device
PolyDriver multipleAnalogRemappedDevice(options);
 
// Use it as  you would use any controlboard device
// ...

Definition at line 86 of file MultipleAnalogSensorsRemapper.h.

Member Function Documentation

◆ attachAll()

bool MultipleAnalogSensorsRemapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

MultipeWrapper methods.

Implements yarp::dev::IMultipleWrapper.

Definition at line 225 of file MultipleAnalogSensorsRemapper.cpp.

◆ close()

bool MultipleAnalogSensorsRemapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 74 of file MultipleAnalogSensorsRemapper.cpp.

◆ detachAll()

bool MultipleAnalogSensorsRemapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 257 of file MultipleAnalogSensorsRemapper.cpp.

◆ genericGetStatus()

template<typename Interface >

MAS_status MultipleAnalogSensorsRemapper::genericGetStatus	(	const MAS_SensorType	sensorType,
		size_t &	sens_index,
		const std::vector< Interface * > &	subDeviceVec,
		MAS_status(Interface::*)(size_t) const	methodPtr
	)		const

Definition at line 277 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayMeasure()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getContactLoadCellArrayMeasure()-1).
[out]	out	The requested measure. The vector should be getContactLoadCellArrayMeasure(sens_index)-dimensional. The measure is expressed in Newton.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 656 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayName()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayName	(	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::IContactLoadCellArrays.

Definition at line 651 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArraySize()

size_t MultipleAnalogSensorsRemapper::getContactLoadCellArraySize ( size_t sens_index ) const

overridevirtual

Get the size of the specified contact load cell array.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 661 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getContactLoadCellArrayStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 646 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayMeasure()

bool MultipleAnalogSensorsRemapper::getEncoderArrayMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfEncoderArrays()-1).
[out]	out	The requested measure. The vector should be getEncoderArraySize(sens_index)-dimensional. The measure is expressed in Newton.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::IEncoderArrays.

Definition at line 681 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayName()

bool MultipleAnalogSensorsRemapper::getEncoderArrayName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 676 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArraySize()

size_t MultipleAnalogSensorsRemapper::getEncoderArraySize ( size_t sens_index ) const

overridevirtual

Get the size of the specified encoder array.

Implements yarp::dev::IEncoderArrays.

Definition at line 686 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getEncoderArrayStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 671 of file MultipleAnalogSensorsRemapper.cpp.

◆ getLinearVelocitySensorFrameName()

bool MultipleAnalogSensorsRemapper::getLinearVelocitySensorFrameName	(	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::ILinearVelocitySensors.

Definition at line 548 of file MultipleAnalogSensorsRemapper.cpp.

◆ getLinearVelocitySensorMeasure()

bool MultipleAnalogSensorsRemapper::getLinearVelocitySensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	xyz,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the linear velocity sensor as x y z.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfLinearVelocitySensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters/second.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 553 of file MultipleAnalogSensorsRemapper.cpp.

◆ getLinearVelocitySensorName()

bool MultipleAnalogSensorsRemapper::getLinearVelocitySensorName	(	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::ILinearVelocitySensors.

Definition at line 543 of file MultipleAnalogSensorsRemapper.cpp.

◆ getLinearVelocitySensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getLinearVelocitySensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 538 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfContactLoadCellArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfContactLoadCellArrays ( ) const

overridevirtual

Get the number of contact load cell array exposed by this device.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 641 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfEncoderArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfEncoderArrays ( ) const

overridevirtual

Get the number of encoder arrays exposed by this device.

Implements yarp::dev::IEncoderArrays.

Definition at line 666 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfLinearVelocitySensors()

size_t MultipleAnalogSensorsRemapper::getNrOfLinearVelocitySensors ( ) const

overridevirtual

Get the number of linear velocity sensors exposed by this device.

Implements yarp::dev::ILinearVelocitySensors.

Definition at line 533 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfOrientationSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 558 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfPositionSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfPositionSensors ( ) const

overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 508 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSixAxisForceTorqueSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfSixAxisForceTorqueSensors ( ) const

overridevirtual

Get the number of six axis force torque sensors exposed by this device.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 616 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSkinPatches()

size_t MultipleAnalogSensorsRemapper::getNrOfSkinPatches ( ) const

overridevirtual

Get the number of skin patches exposed by this device.

Implements yarp::dev::ISkinPatches.

Definition at line 691 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfTemperatureSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfTemperatureSensors ( ) const

overridevirtual

Get the number of temperature sensors exposed by this device.

Implements yarp::dev::ITemperatureSensors.

Definition at line 583 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisAngularAccelerometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisAngularAccelerometers ( ) const

overridevirtual

Get the number of three axis angular accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 458 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 408 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 433 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisMagnetometers ( ) const

overridevirtual

Get the number of magnetometers exposed by this device.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 483 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorFrameName()

bool MultipleAnalogSensorsRemapper::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 573 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool MultipleAnalogSensorsRemapper::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 578 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorName()

bool MultipleAnalogSensorsRemapper::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 568 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 563 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorFrameName()

bool MultipleAnalogSensorsRemapper::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 523 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorMeasure()

bool MultipleAnalogSensorsRemapper::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 528 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorName()

bool MultipleAnalogSensorsRemapper::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 518 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getPositionSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 513 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorFrameName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 631 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorMeasure()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
[out]	out	The requested measure. The vector should be 6-dimensional. The measure is expressed in Newton for the first three elements, Newton Meters for the last three elements.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 636 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 626 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 621 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchMeasure()

bool MultipleAnalogSensorsRemapper::getSkinPatchMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSkinPatches()-1).
[out]	out	The requested measure. The vector should be getSkinPatchSize(sens_index)-dimensional. The measure is expressed in implementation-specific unit of measure.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISkinPatches.

Definition at line 706 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchName()

bool MultipleAnalogSensorsRemapper::getSkinPatchName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 701 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchSize()

size_t MultipleAnalogSensorsRemapper::getSkinPatchSize ( size_t sens_index ) const

overridevirtual

Get the size of the specified skin patch.

Implements yarp::dev::ISkinPatches.

Definition at line 711 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchStatus()

MAS_status MultipleAnalogSensorsRemapper::getSkinPatchStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 696 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorFrameName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 598 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [1/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure	(	size_t	sens_index,
		double &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

TODO(traversaro) : make the method swig-friendly

Implements yarp::dev::ITemperatureSensors.

Definition at line 608 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [2/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfTemperatureSensors()-1).
[out]	out	The requested measure. The vector should be 1-dimensional. The measure is expressed in celsius degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ITemperatureSensors.

Definition at line 603 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 593 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getTemperatureSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 588 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisAngularAccelerometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisAngularAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 473 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisAngularAccelerometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisAngularAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisAngularAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 478 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisAngularAccelerometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisAngularAccelerometerName	(	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::IThreeAxisAngularAccelerometers.

Definition at line 468 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisAngularAccelerometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisAngularAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisAngularAccelerometers.

Definition at line 463 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 423 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 428 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 418 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 413 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 448 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 453 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerName	(	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::IThreeAxisLinearAccelerometers.

Definition at line 443 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 438 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 498 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisMagnetometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in tesla .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 503 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerName	(	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::IThreeAxisMagnetometers.

Definition at line 493 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 488 of file MultipleAnalogSensorsRemapper.cpp.

◆ open()

bool MultipleAnalogSensorsRemapper::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 79 of file MultipleAnalogSensorsRemapper.cpp.

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

src/devices/multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.h
src/devices/multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ genericGetStatus()

◆ getContactLoadCellArrayMeasure()

◆ getContactLoadCellArrayName()

◆ getContactLoadCellArraySize()

◆ getContactLoadCellArrayStatus()

◆ getEncoderArrayMeasure()

◆ getEncoderArrayName()

◆ getEncoderArraySize()

◆ getEncoderArrayStatus()

◆ getLinearVelocitySensorFrameName()

◆ getLinearVelocitySensorMeasure()

◆ getLinearVelocitySensorName()

◆ getLinearVelocitySensorStatus()

◆ getNrOfContactLoadCellArrays()

◆ getNrOfEncoderArrays()

◆ getNrOfLinearVelocitySensors()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getNrOfSixAxisForceTorqueSensors()

◆ getNrOfSkinPatches()

◆ getNrOfTemperatureSensors()

◆ getNrOfThreeAxisAngularAccelerometers()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getNrOfThreeAxisMagnetometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getPositionSensorFrameName()

◆ getPositionSensorMeasure()

◆ getPositionSensorName()

◆ getPositionSensorStatus()

◆ getSixAxisForceTorqueSensorFrameName()

◆ getSixAxisForceTorqueSensorMeasure()

◆ getSixAxisForceTorqueSensorName()

◆ getSixAxisForceTorqueSensorStatus()

◆ getSkinPatchMeasure()

◆ getSkinPatchName()

◆ getSkinPatchSize()

◆ getSkinPatchStatus()

◆ getTemperatureSensorFrameName()

◆ getTemperatureSensorMeasure() [1/2]

◆ getTemperatureSensorMeasure() [2/2]

◆ getTemperatureSensorName()

◆ getTemperatureSensorStatus()

◆ getThreeAxisAngularAccelerometerFrameName()

◆ getThreeAxisAngularAccelerometerMeasure()

◆ getThreeAxisAngularAccelerometerName()

◆ getThreeAxisAngularAccelerometerStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open()