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	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.

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::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 ()

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 84 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 219 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 68 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 247 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 265 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 594 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 589 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 599 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 584 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 619 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 614 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 624 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 609 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 579 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 604 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 496 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 471 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 554 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 629 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 521 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 396 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 421 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 446 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 511 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 516 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 506 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 501 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 486 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 491 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 481 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 476 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 569 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 574 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 564 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 559 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 644 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 639 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 649 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 634 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 536 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 546 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 541 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 531 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 526 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 411 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 416 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 406 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 401 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 436 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 441 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 431 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 426 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 461 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 466 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 456 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 451 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 73 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()

◆ getNrOfContactLoadCellArrays()

◆ getNrOfEncoderArrays()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getNrOfSixAxisForceTorqueSensors()

◆ getNrOfSkinPatches()

◆ getNrOfTemperatureSensors()

◆ 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()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open()