YARP
Yet Another Robot Platform
 
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fakeLocalizer Documentation to be added More...

#include <fake/fakeLocalizerDevice/FakeLocalizer.h>

+ Inheritance diagram for FakeLocalizer:

Public Member Functions

virtual bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver.
 
 FakeLocalizer ()
 
virtual ~FakeLocalizer ()
 
virtual bool close () override
 Close the DeviceDriver.
 
bool getLocalizationStatus (yarp::dev::Nav2D::LocalizationStatusEnum &status) override
 Gets the current status of the localization task.
 
bool getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses) override
 Gets a set of pose estimates computed by the localization algorithm.
 
bool getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
 Gets the current position of the robot w.r.t world reference frame.
 
bool setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc) override
 Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.
 
virtual bool setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov) override
 Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.
 
virtual bool getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov) override
 Gets the current position of the robot w.r.t world reference frame, plus the covariance.
 
virtual bool getEstimatedOdometry (yarp::dev::OdometryData &odom) override
 Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.
 
virtual bool startLocalizationService () override
 Starts the localization service.
 
virtual bool stopLocalizationService () override
 Stops the localization service.
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 
- Public Member Functions inherited from yarp::dev::Nav2D::ILocalization2D
virtual ~ILocalization2D ()
 Destructor.
 
- Public Member Functions inherited from FakeLocalizer_ParamsParser
 FakeLocalizer_ParamsParser ()
 
 ~FakeLocalizer_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 ()
 

Public Attributes

fakeLocalizerThreadlocThread = nullptr
 
std::mutex m_mutex
 
- Public Attributes inherited from FakeLocalizer_ParamsParser
const std::string m_device_classname = {"FakeLocalizer"}
 
const std::string m_device_name = {"fakeLocalizer"}
 
bool m_parser_is_strict = false
 
const parser_version_type m_parser_version = {}
 
const std::string m_period_defaultValue = {"0.010"}
 
double m_period = {0.010}
 

Detailed Description

fakeLocalizer Documentation to be added

Parameters required by this device are shown in class: FakeLocalizer_ParamsParser

Definition at line 58 of file FakeLocalizer.h.

Constructor & Destructor Documentation

◆ FakeLocalizer()

FakeLocalizer::FakeLocalizer ( )

Definition at line 146 of file FakeLocalizer.cpp.

◆ ~FakeLocalizer()

FakeLocalizer::~FakeLocalizer ( )
virtual

Definition at line 150 of file FakeLocalizer.cpp.

Member Function Documentation

◆ close()

bool FakeLocalizer::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 170 of file FakeLocalizer.cpp.

◆ getCurrentPosition() [1/2]

bool FakeLocalizer::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation loc)
overridevirtual

Gets the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 80 of file FakeLocalizer.cpp.

◆ getCurrentPosition() [2/2]

bool FakeLocalizer::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation loc,
yarp::sig::Matrix cov 
)
overridevirtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters
locthe location of the robot
covthe 3x3 covariance matrix
Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 98 of file FakeLocalizer.cpp.

◆ getEstimatedOdometry()

bool FakeLocalizer::getEstimatedOdometry ( yarp::dev::OdometryData odom)
overridevirtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters
locthe estimated odometry.
Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 116 of file FakeLocalizer.cpp.

◆ getEstimatedPoses()

bool FakeLocalizer::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > &  poses)
overridevirtual

Gets a set of pose estimates computed by the localization algorithm.

Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 49 of file FakeLocalizer.cpp.

◆ getLocalizationStatus()

bool FakeLocalizer::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum status)
overridevirtual

Gets the current status of the localization task.

Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 40 of file FakeLocalizer.cpp.

◆ open()

bool FakeLocalizer::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis 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 129 of file FakeLocalizer.cpp.

◆ setInitialPose() [1/2]

bool FakeLocalizer::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation loc)
overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 89 of file FakeLocalizer.cpp.

◆ setInitialPose() [2/2]

bool FakeLocalizer::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation loc,
const yarp::sig::Matrix cov 
)
overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters
locthe location of the robot
covthe 3x3 covariance matrix
Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 107 of file FakeLocalizer.cpp.

◆ startLocalizationService()

bool FakeLocalizer::startLocalizationService ( )
overridevirtual

Starts the localization service.

Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 154 of file FakeLocalizer.cpp.

◆ stopLocalizationService()

bool FakeLocalizer::stopLocalizationService ( )
overridevirtual

Stops the localization service.

Returns
true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 162 of file FakeLocalizer.cpp.

Member Data Documentation

◆ locThread

fakeLocalizerThread* FakeLocalizer::locThread = nullptr

Definition at line 64 of file FakeLocalizer.h.

◆ m_mutex

std::mutex FakeLocalizer::m_mutex

Definition at line 65 of file FakeLocalizer.h.


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