fakeJointCoupling: Documentation to be added More...

#include <fake/fakeJointCoupling/FakeJointCoupling.h>

Inheritance diagram for FakeJointCoupling:

Public Member Functions
	FakeJointCoupling ()=default

virtual	~FakeJointCoupling ()=default

bool	open (yarp::os::Searchable &par) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	convertFromPhysicalJointsToActuatedAxesPos (const yarp::sig::Vector &physJointsPos, yarp::sig::Vector &actAxesPos) override

bool	convertFromPhysicalJointsToActuatedAxesVel (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsVel, yarp::sig::Vector &actAxesVel) override

bool	convertFromPhysicalJointsToActuatedAxesAcc (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsVel, const yarp::sig::Vector &physJointsAcc, yarp::sig::Vector &actAxesAcc) override

bool	convertFromPhysicalJointsToActuatedAxesTrq (const yarp::sig::Vector &physJointsPos, const yarp::sig::Vector &physJointsTrq, yarp::sig::Vector &actAxesTrq) override

bool	convertFromActuatedAxesToPhysicalJointsPos (const yarp::sig::Vector &actAxesPos, yarp::sig::Vector &physJointsPos) override

bool	convertFromActuatedAxesToPhysicalJointsVel (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesVel, yarp::sig::Vector &physJointsVel) override

bool	convertFromActuatedAxesToPhysicalJointsAcc (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesVel, const yarp::sig::Vector &actAxesAcc, yarp::sig::Vector &physJointsAcc) override

bool	convertFromActuatedAxesToPhysicalJointsTrq (const yarp::sig::Vector &actAxesPos, const yarp::sig::Vector &actAxesTrq, yarp::sig::Vector &physJointsTrq) 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::ImplementJointCoupling
	ImplementJointCoupling ()=default

virtual	~ImplementJointCoupling ()=default
	Destructor.

void	initialise (yarp::sig::VectorOf< size_t > coupled_physical_joints, yarp::sig::VectorOf< size_t > coupled_actuated_axes, std::vector< std::string > physical_joint_names, std::vector< std::string > actuated_axes_names, std::vector< std::pair< double, double > > coupled_physical_joint_limits)

bool	getNrOfPhysicalJoints (size_t &nrOfPhysicalJoints) override final

bool	getNrOfActuatedAxes (size_t &nrOfActuatedAxes) override final

bool	getCoupledPhysicalJoints (yarp::sig::VectorOf< size_t > &coupPhysJointsIndexes) override final

bool	getCoupledActuatedAxes (yarp::sig::VectorOf< size_t > &coupActAxesIndexes) override final

bool	getPhysicalJointName (size_t physicalJointIndex, std::string &physicalJointName) override final

bool	getActuatedAxisName (size_t actuatedAxisIndex, std::string &actuatedAxisName) override final

bool	getPhysicalJointLimits (size_t physicalJointIndex, double &min, double &max) override final

Public Member Functions inherited from FakeJointCoupling_ParamsParser
	FakeJointCoupling_ParamsParser ()

	~FakeJointCoupling_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

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

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

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

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_rpc_port_name_defaultValue = {"/fakeJointCoupling/rpc"}

std::string	m_rpc_port_name = {"/fakeJointCoupling/rpc"}

Protected Member Functions inherited from yarp::dev::ImplementJointCoupling
bool	checkPhysicalJointIsCoupled (size_t physicalJointIndex)

Protected Attributes inherited from yarp::dev::ImplementJointCoupling
yarp::sig::VectorOf< size_t >	m_coupledPhysicalJoints

yarp::sig::VectorOf< size_t >	m_coupledActuatedAxes

std::vector< std::string >	m_physicalJointNames

std::vector< std::string >	m_actuatedAxesNames

std::vector< std::pair< double, double > >	m_physicalJointLimits

unsigned int	m_controllerPeriod

unsigned int	m_couplingSize

Detailed Description

fakeJointCoupling: Documentation to be added

The aim of this device is to mimic the expected behavior of a joint coupling device to help testing the high level software.

WIP - it is very basic now, not all interfaces are implemented yet.

Parameters required by this device are shown in class: FakeJointCoupling_ParamsParser

Definition at line 31 of file FakeJointCoupling.h.

Constructor & Destructor Documentation

◆ FakeJointCoupling()

FakeJointCoupling::FakeJointCoupling ( )

default

◆ ~FakeJointCoupling()

virtual FakeJointCoupling::~FakeJointCoupling ( )

virtualdefault

Member Function Documentation

◆ close()

bool FakeJointCoupling::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 42 of file FakeJointCoupling.cpp.

◆ convertFromActuatedAxesToPhysicalJointsAcc()

bool FakeJointCoupling::convertFromActuatedAxesToPhysicalJointsAcc	(	const yarp::sig::Vector &	actAxesPos,
		const yarp::sig::Vector &	actAxesVel,
		const yarp::sig::Vector &	actAxesAcc,
		yarp::sig::Vector &	physJointsAcc
	)

override

Definition at line 125 of file FakeJointCoupling.cpp.

◆ convertFromActuatedAxesToPhysicalJointsPos()

bool FakeJointCoupling::convertFromActuatedAxesToPhysicalJointsPos	(	const yarp::sig::Vector &	actAxesPos,
		yarp::sig::Vector &	physJointsPos
	)

override

Definition at line 94 of file FakeJointCoupling.cpp.

◆ convertFromActuatedAxesToPhysicalJointsTrq()

bool FakeJointCoupling::convertFromActuatedAxesToPhysicalJointsTrq	(	const yarp::sig::Vector &	actAxesPos,
		const yarp::sig::Vector &	actAxesTrq,
		yarp::sig::Vector &	physJointsTrq
	)

override

Definition at line 140 of file FakeJointCoupling.cpp.

◆ convertFromActuatedAxesToPhysicalJointsVel()

bool FakeJointCoupling::convertFromActuatedAxesToPhysicalJointsVel	(	const yarp::sig::Vector &	actAxesPos,
		const yarp::sig::Vector &	actAxesVel,
		yarp::sig::Vector &	physJointsVel
	)

override

Definition at line 109 of file FakeJointCoupling.cpp.

◆ convertFromPhysicalJointsToActuatedAxesAcc()

bool FakeJointCoupling::convertFromPhysicalJointsToActuatedAxesAcc	(	const yarp::sig::Vector &	physJointsPos,
		const yarp::sig::Vector &	physJointsVel,
		const yarp::sig::Vector &	physJointsAcc,
		yarp::sig::Vector &	actAxesAcc
	)

override

Definition at line 75 of file FakeJointCoupling.cpp.

◆ convertFromPhysicalJointsToActuatedAxesPos()

bool FakeJointCoupling::convertFromPhysicalJointsToActuatedAxesPos	(	const yarp::sig::Vector &	physJointsPos,
		yarp::sig::Vector &	actAxesPos
	)

override

Definition at line 46 of file FakeJointCoupling.cpp.

◆ convertFromPhysicalJointsToActuatedAxesTrq()

bool FakeJointCoupling::convertFromPhysicalJointsToActuatedAxesTrq	(	const yarp::sig::Vector &	physJointsPos,
		const yarp::sig::Vector &	physJointsTrq,
		yarp::sig::Vector &	actAxesTrq
	)

override

Definition at line 90 of file FakeJointCoupling.cpp.

◆ convertFromPhysicalJointsToActuatedAxesVel()

bool FakeJointCoupling::convertFromPhysicalJointsToActuatedAxesVel	(	const yarp::sig::Vector &	physJointsPos,
		const yarp::sig::Vector &	physJointsVel,
		yarp::sig::Vector &	actAxesVel
	)

override

Definition at line 61 of file FakeJointCoupling.cpp.

◆ open()

bool FakeJointCoupling::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 30 of file FakeJointCoupling.cpp.

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

src/devices/fake/fakeJointCoupling/FakeJointCoupling.h
src/devices/fake/fakeJointCoupling/FakeJointCoupling.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeJointCoupling()

◆ ~FakeJointCoupling()

Member Function Documentation

◆ close()

◆ convertFromActuatedAxesToPhysicalJointsAcc()

◆ convertFromActuatedAxesToPhysicalJointsPos()

◆ convertFromActuatedAxesToPhysicalJointsTrq()

◆ convertFromActuatedAxesToPhysicalJointsVel()

◆ convertFromPhysicalJointsToActuatedAxesAcc()

◆ convertFromPhysicalJointsToActuatedAxesPos()

◆ convertFromPhysicalJointsToActuatedAxesTrq()

◆ convertFromPhysicalJointsToActuatedAxesVel()

◆ open()