YARP
Yet Another Robot Platform
 
Loading...
Searching...
No Matches
MobileBaseVelocityControl_nwc_yarp.h
Go to the documentation of this file.
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_MOBILEBASEVELOCITYCONTROL_NWC_YARP
7#define YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWC_YARP
8
9#include <yarp/os/Network.h>
12#include <yarp/sig/Vector.h>
13#include <yarp/os/Time.h>
14#include <yarp/dev/PolyDriver.h>
17
18#include <mutex>
19#include <string>
21
37{
38protected:
39 std::mutex m_mutex;
42
43public:
44
45 /* DeviceDriver methods */
46 bool open(yarp::os::Searchable& config) override;
47 bool close() override;
48
49 /* The following methods belong to INavigation2D interface */
50 bool applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout = 0.1) override;
51 bool getLastVelocityCommand(double& x_vel, double& y_vel, double& theta_vel) override;
52};
53
54#endif // YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWC_YARP
define control board standard interfaces
contains the definition of a Vector type
This class is the parameters parser for class MobileBaseVelocityControl_nwc_yarp.
MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to ...
bool close() override
Close the DeviceDriver.
bool applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
Apply a velocity command.
bool open(yarp::os::Searchable &config) override
Open the DeviceDriver.
bool getLastVelocityCommand(double &x_vel, double &y_vel, double &theta_vel) override
Returns the last applied velocity command.
Interface implemented by all device drivers.
A mini-server for network communication.
Definition Port.h:46
A base class for nested structures that can be searched.
Definition Searchable.h:31