YARP
Yet Another Robot Platform
 
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Localization2D_nws_yarp.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: LGPL-2.1-or-later
4 */
5
6#ifndef YARP_DEV_LOCALIZATION2D_NWS_YARP_H
7#define YARP_DEV_LOCALIZATION2D_NWS_YARP_H
8
9
10#include <yarp/os/Network.h>
11#include <yarp/os/RFModule.h>
12#include <yarp/os/Time.h>
13#include <yarp/os/Port.h>
14#include <yarp/os/Stamp.h>
17#include <yarp/dev/PolyDriver.h>
22#include <math.h>
23
26
42{
43protected:
44
45 //thrift
47
48 //yarp
49 std::string m_local_name = "/localization2D_nws_yarp";
51 std::string m_rpcPortName;
55 std::string m_odometryPortName;
56
57 //drivers and interfaces
60
62
63private:
64 void publish_2DLocation_on_yarp_port();
65 void publish_odometry_on_yarp_port();
66
67public:
70
71 bool open(yarp::os::Searchable& prop) override;
72 bool close() override;
73 bool detach() override;
74 bool attach(yarp::dev::PolyDriver* driver) override;
75 void run() override;
76
77 bool threadInit() override;
78 void threadRelease() override;
79
80 bool read(yarp::os::ConnectionReader& connection) override;
81};
82
83#endif // YARP_DEV_LOCALIZATION2D_NWS_YARP_H
define control board standard interfaces
This class is the parameters parser for class Localization2D_nws_yarp.
localization2D_nws_yarp: A localization server which can be wrap multiple algorithms and devices to p...
void run() override
Loop function.
yarp::os::BufferedPort< yarp::dev::OdometryData > m_odometryPort
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
yarp::dev::Nav2D::ILocalization2D * iLoc
bool open(yarp::os::Searchable &prop) override
Open the DeviceDriver.
bool attach(yarp::dev::PolyDriver *driver) override
Attach to another object.
bool close() override
Close the DeviceDriver.
bool threadInit() override
Initialization method.
void threadRelease() override
Release method.
bool detach() override
Detach the object (you must have first called attach).
yarp::os::BufferedPort< yarp::dev::Nav2D::Map2DLocation > m_2DLocationPort
~Localization2D_nws_yarp()=default
Interface implemented by all device drivers.
ILocalization2D interface.
A container for a device driver.
Definition PolyDriver.h:23
Helper interface for an object that can wrap/or "attach" to a single other device.
A mini-server for performing network communication in the background.
An interface for reading from a network connection.
An abstraction for a periodic thread.
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
Definition PortReader.h:24
A mini-server for network communication.
Definition Port.h:46
A base class for nested structures that can be searched.
Definition Searchable.h:31