YARP
Yet Another Robot Platform
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>
15#include <yarp/os/Node.h>
16#include <yarp/os/Publisher.h>
19#include <yarp/dev/PolyDriver.h>
24#include <math.h>
25
27
51{
52protected:
53
54 //thrift
56
57 //yarp
58 std::string m_local_name = "/localization2D_nws_yarp";
60 std::string m_rpcPortName;
64 std::string m_odometryPortName;
67
68 //drivers and interfaces
71
73 double m_period;
74
75private:
76 void publish_2DLocation_on_yarp_port();
77 void publish_odometry_on_yarp_port();
78
79public:
81
82 bool open(yarp::os::Searchable& prop) override;
83 bool close() override;
84 bool detach() override;
85 bool attach(yarp::dev::PolyDriver* driver) override;
86 void run() override;
87
89 bool read(yarp::os::ConnectionReader& connection) override;
90};
91
92#endif // YARP_DEV_LOCALIZATION2D_NWS_YARP_H
define control board standard interfaces
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::PolyDriver pLoc
yarp::dev::Nav2D::ILocalization2D * iLoc
bool initialize_YARP(yarp::os::Searchable &config)
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 detach() override
Detach the object (you must have first called attach).
yarp::os::BufferedPort< yarp::dev::Nav2D::Map2DLocation > m_2DLocationPort
Interface implemented by all device drivers.
Definition: DeviceDriver.h:30
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.
Definition: WrapperSingle.h:31
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:56