#include <mobileBaseVelocityControl_nws_yarp/MobileBaseVelocityControl_nws_yarp.h>

Inheritance diagram for MobileBaseVelocityControl_nws_yarp:

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

bool	close () override
	Close the DeviceDriver.

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

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

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

return_getLastVelocityCommand	getLastVelocityCommandRPC () override

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

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::os::IConfig
virtual	~IConfig ()
	Destructor.

virtual bool	configure (Searchable &config)
	Change online parameters.

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

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

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

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

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

Public Member Functions inherited from MobileBaseVelocityControlRPC
	MobileBaseVelocityControlRPC ()

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

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

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

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

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

virtual Type	getReadType () const

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_navigation_server

VelocityInputPortProcessor	m_StreamingInput

std::string	m_local_name

yarp::dev::PolyDriver	m_subdev

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

Detailed Description

Definition at line 53 of file MobileBaseVelocityControl_nws_yarp.h.

Member Function Documentation

◆ applyVelocityCommandRPC()

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

overridevirtual

Reimplemented from MobileBaseVelocityControlRPC.

Definition at line 143 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ attach()

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

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 126 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ close()

bool MobileBaseVelocityControl_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 112 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ detach()

bool MobileBaseVelocityControl_nws_yarp::detach ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 120 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ getLastVelocityCommandRPC()

return_getLastVelocityCommand MobileBaseVelocityControl_nws_yarp::getLastVelocityCommandRPC ( )

overridevirtual

Reimplemented from MobileBaseVelocityControlRPC.

Definition at line 162 of file MobileBaseVelocityControl_nws_yarp.cpp.

◆ open()

bool MobileBaseVelocityControl_nws_yarp::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).