fakeNavigation: Documentation to be added More...

#include <fake/fakeNavigationDevice/FakeNavigation.h>

Inheritance diagram for FakeNavigation:

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

	FakeNavigation ()

virtual bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc) override
	Ask the robot to reach a position defined in the world reference frame.

yarp::dev::ReturnValue	gotoTargetByRelativeLocation (double x, double y, double theta) override
	Ask the robot to reach a position defined in the robot reference frame.

yarp::dev::ReturnValue	gotoTargetByRelativeLocation (double x, double y) override
	Ask the robot to reach a position defined in the robot reference frame.

yarp::dev::ReturnValue	followPath (const yarp::dev::Nav2D::Map2DPath &path) override
	Ask the robot to navigate through a set of locations defined in the world reference frame.

yarp::dev::ReturnValue	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &target) override
	Gets the last navigation target in the world reference frame.

yarp::dev::ReturnValue	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta) override
	Gets the last navigation target in the robot reference frame.

yarp::dev::ReturnValue	getNavigationStatus (yarp::dev::Nav2D::NavigationStatusEnum &status) override
	Gets the current status of the navigation task.

yarp::dev::ReturnValue	stopNavigation () override
	Terminates the current navigation task.

yarp::dev::ReturnValue	suspendNavigation (double time) override
	Ask to the robot to suspend the current navigation task for a defined amount of time.

yarp::dev::ReturnValue	resumeNavigation () override
	Resume a previously suspended navigation task.

yarp::dev::ReturnValue	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints) override
	Returns the list of waypoints generated by the navigation algorithm.

yarp::dev::ReturnValue	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint) override
	Returns the current waypoint pursued by the navigation algorithm.

yarp::dev::ReturnValue	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map) override
	Returns the current navigation map processed by the navigation algorithm.

yarp::dev::ReturnValue	recomputeCurrentNavigationPath () override
	Forces the navigation system to recompute the path from the current robot position to the current goal.

yarp::dev::ReturnValue	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
	Apply a velocity command.

yarp::dev::ReturnValue	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
	Returns the last applied velocity command.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

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::Nav2D::INavigation2DTargetActions
virtual	~INavigation2DTargetActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions
virtual	~INavigation2DControlActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DVelocityActions
virtual	~INavigation2DVelocityActions ()
	Destructor.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from FakeNavigation_ParamsParser
	FakeNavigation_ParamsParser ()

	~FakeNavigation_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 ()

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_navigation_time_defaultValue = {"500"}

const std::string	m_reached_time_defaultValue = {"100"}

int	m_navigation_time = {500}

int	m_reached_time = {100}

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Detailed Description

fakeNavigation: Documentation to be added

Parameters required by this device are shown in class: FakeNavigation_ParamsParser

Definition at line 25 of file FakeNavigation.h.

Constructor & Destructor Documentation

◆ FakeNavigation()

FakeNavigation::FakeNavigation ( )

Definition at line 36 of file FakeNavigation.cpp.

Member Function Documentation

◆ applyVelocityCommand()

ReturnValue FakeNavigation::applyVelocityCommand	(	double	x_vel,
		double	y_vel,
		double	theta_vel,
		double	timeout = `0.1`
	)

overridevirtual

Apply a velocity command.

Velocities are expressed in the robot reference frame.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns: a ReturnValue, convertible to true/false

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

Definition at line 75 of file FakeNavigation.cpp.

◆ close()

bool FakeNavigation::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 41 of file FakeNavigation.cpp.

◆ followPath()

ReturnValue FakeNavigation::followPath ( const yarp::dev::Nav2D::Map2DPath & path )

overridevirtual

Ask the robot to navigate through a set of locations defined in the world reference frame.

Parameters

path	the locations to be reached

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 69 of file FakeNavigation.cpp.

◆ getAbsoluteLocationOfCurrentTarget()

ReturnValue FakeNavigation::getAbsoluteLocationOfCurrentTarget ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Gets the last navigation target in the world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 143 of file FakeNavigation.cpp.

◆ getAllNavigationWaypoints()

ReturnValue FakeNavigation::getAllNavigationWaypoints	(	yarp::dev::Nav2D::TrajectoryTypeEnum	trajectory_type,
		yarp::dev::Nav2D::Map2DPath &	waypoints
	)

overridevirtual

Returns the list of waypoints generated by the navigation algorithm.

Parameters

trajectory_type	specifies if we are requesting the waypoints of the global trajectory or the waypoints of the local trajectory
waypoints	the list of waypoints generated by the navigation algorithm

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 119 of file FakeNavigation.cpp.

◆ getCurrentNavigationMap()

ReturnValue FakeNavigation::getCurrentNavigationMap	(	yarp::dev::Nav2D::NavigationMapTypeEnum	map_type,
		yarp::dev::Nav2D::MapGrid2D &	map
	)

overridevirtual

Returns the current navigation map processed by the navigation algorithm.

Parameters

map_type	the map to be requested (e.g. global, local, etc.)
map	the map, currently used by the navigation algorithm

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 131 of file FakeNavigation.cpp.

◆ getCurrentNavigationWaypoint()

ReturnValue FakeNavigation::getCurrentNavigationWaypoint ( yarp::dev::Nav2D::Map2DLocation & curr_waypoint )

overridevirtual

Returns the current waypoint pursued by the navigation algorithm.

Parameters

curr_waypoint the current waypoint pursued by the navigation algorithm

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 125 of file FakeNavigation.cpp.

◆ getLastVelocityCommand()

ReturnValue FakeNavigation::getLastVelocityCommand	(	double &	x_vel,
		double &	y_vel,
		double &	theta_vel
	)

overridevirtual

Returns the last applied velocity command.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]

Returns: a ReturnValue, convertible to true/false

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

Definition at line 85 of file FakeNavigation.cpp.

◆ getNavigationStatus()

ReturnValue FakeNavigation::getNavigationStatus ( yarp::dev::Nav2D::NavigationStatusEnum & status )

overridevirtual

Gets the current status of the navigation task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 137 of file FakeNavigation.cpp.

◆ getRelativeLocationOfCurrentTarget()

ReturnValue FakeNavigation::getRelativeLocationOfCurrentTarget	(	double &	x,
		double &	y,
		double &	theta
	)

overridevirtual

Gets the last navigation target in the robot reference frame.

Parameters

x
y
theta

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 158 of file FakeNavigation.cpp.

◆ gotoTargetByAbsoluteLocation()

ReturnValue FakeNavigation::gotoTargetByAbsoluteLocation ( yarp::dev::Nav2D::Map2DLocation loc )

overridevirtual

Ask the robot to reach a position defined in the world reference frame.

Parameters

loc	the location to be reached

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 46 of file FakeNavigation.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

ReturnValue FakeNavigation::gotoTargetByRelativeLocation	(	double	x,
		double	y
	)

overridevirtual

Ask the robot to reach a position defined in the robot reference frame.

The final orientation of the goal is unspecified.

Parameters

x
y

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 63 of file FakeNavigation.cpp.

◆ gotoTargetByRelativeLocation() [2/2]

ReturnValue FakeNavigation::gotoTargetByRelativeLocation	(	double	x,
		double	y,
		double	theta
	)

overridevirtual

Ask the robot to reach a position defined in the robot reference frame.

Parameters

x
y
theta

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 57 of file FakeNavigation.cpp.

◆ open()

bool FakeNavigation::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 26 of file FakeNavigation.cpp.

◆ recomputeCurrentNavigationPath()

ReturnValue FakeNavigation::recomputeCurrentNavigationPath ( )

overridevirtual

Forces the navigation system to recompute the path from the current robot position to the current goal.

If no goal has been set, the command has no effect.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 149 of file FakeNavigation.cpp.

◆ resumeNavigation()

ReturnValue FakeNavigation::resumeNavigation ( )

overridevirtual

Resume a previously suspended navigation task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 110 of file FakeNavigation.cpp.

◆ run()

void FakeNavigation::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 174 of file FakeNavigation.cpp.

◆ stopNavigation()

ReturnValue FakeNavigation::stopNavigation ( )

overridevirtual

Terminates the current navigation task.

Cannot be resumed.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 94 of file FakeNavigation.cpp.

◆ suspendNavigation()

ReturnValue FakeNavigation::suspendNavigation ( double time_s )

overridevirtual

Ask to the robot to suspend the current navigation task for a defined amount of time.

Can be resumed by resume().

Parameters

time_s

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 101 of file FakeNavigation.cpp.

◆ threadInit()

bool FakeNavigation::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 164 of file FakeNavigation.cpp.

◆ threadRelease()

void FakeNavigation::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 169 of file FakeNavigation.cpp.

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

src/devices/fake/fakeNavigationDevice/FakeNavigation.h
src/devices/fake/fakeNavigationDevice/FakeNavigation.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeNavigation()

Member Function Documentation

◆ applyVelocityCommand()

◆ close()

◆ followPath()

◆ getAbsoluteLocationOfCurrentTarget()

◆ getAllNavigationWaypoints()

◆ getCurrentNavigationMap()

◆ getCurrentNavigationWaypoint()

◆ getLastVelocityCommand()

◆ getNavigationStatus()

◆ getRelativeLocationOfCurrentTarget()

◆ gotoTargetByAbsoluteLocation()

◆ gotoTargetByRelativeLocation() [1/2]

◆ gotoTargetByRelativeLocation() [2/2]

◆ open()

◆ recomputeCurrentNavigationPath()

◆ resumeNavigation()

◆ run()

◆ stopNavigation()

◆ suspendNavigation()

◆ threadInit()

◆ threadRelease()