YARP
Yet Another Robot Platform
 
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fakeOdometry2D: A device for generating a fake odometry. This device will generate the odometry and then the user can retrieve it by calling getOdometry. More...

#include <fake/fakeOdometry2D/FakeOdometry2D.h>

+ Inheritance diagram for FakeOdometry2D:

Public Member Functions

 FakeOdometry2D ()
 
virtual bool threadInit () override
 Initialization method.
 
virtual void threadRelease () override
 Release method.
 
virtual void run () override
 Loop function.
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver.
 
bool close () override
 Close the DeviceDriver.
 
bool getOdometry (yarp::dev::OdometryData &odom, double *timestamp=nullptr) override
 Gets the odometry of the robot, including its velocity expressed in the world and in the local reference frame.
 
bool resetOdometry () override
 Resets the odometry of the robot to zero.
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor.
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor.
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread.
 
void step ()
 Call this to "step" the thread rather than starting it.
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).
 
void askToStop ()
 Stop the thread.
 
bool isRunning () const
 Returns true when the thread is started, false otherwise.
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise.
 
bool setPeriod (double period)
 Set the (new) period of the thread.
 
double getPeriod () const
 Return the current period of the thread.
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed.
 
void resume ()
 Resume the thread if previously suspended.
 
void resetStat ()
 Reset thread statistics.
 
double getEstimatedPeriod () const
 Return estimated period since last reset.
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset.
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset.
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset.
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset.
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that.
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that.
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that.
 
- 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::IOdometry2D
virtual ~IOdometry2D ()
 Destructor.
 
- Public Member Functions inherited from FakeOdometry2D_ParamsParser
 FakeOdometry2D_ParamsParser ()
 
 ~FakeOdometry2D_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 ()
 

Additional Inherited Members

- Public Attributes inherited from FakeOdometry2D_ParamsParser
const std::string m_device_classname = {"FakeOdometry2D"}
 
const std::string m_device_name = {"fakeOdometry2D"}
 
bool m_parser_is_strict = false
 
const parser_version_type m_parser_version = {}
 
const std::string m_period_defaultValue = {"0.02"}
 
double m_period = {0.02}
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts.
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().
 

Detailed Description

fakeOdometry2D: A device for generating a fake odometry. This device will generate the odometry and then the user can retrieve it by calling getOdometry.

Device description

Parameters required by this device are shown in class: FakeOdometry2D_ParamsParser

Definition at line 29 of file FakeOdometry2D.h.

Constructor & Destructor Documentation

◆ FakeOdometry2D()

FakeOdometry2D::FakeOdometry2D ( )

Definition at line 18 of file FakeOdometry2D.cpp.

Member Function Documentation

◆ close()

bool FakeOdometry2D::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 64 of file FakeOdometry2D.cpp.

◆ getOdometry()

bool FakeOdometry2D::getOdometry ( yarp::dev::OdometryData odom,
double *  timestamp = nullptr 
)
overridevirtual

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

Parameters
odomthe odometry.
Returns
true/false

Implements yarp::dev::Nav2D::IOdometry2D.

Definition at line 74 of file FakeOdometry2D.cpp.

◆ open()

bool FakeOdometry2D::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 54 of file FakeOdometry2D.cpp.

◆ resetOdometry()

bool FakeOdometry2D::resetOdometry ( )
overridevirtual

Resets the odometry of the robot to zero.

Returns
true/false

Implements yarp::dev::Nav2D::IOdometry2D.

Definition at line 94 of file FakeOdometry2D.cpp.

◆ run()

void FakeOdometry2D::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 33 of file FakeOdometry2D.cpp.

◆ threadInit()

bool FakeOdometry2D::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 26 of file FakeOdometry2D.cpp.

◆ threadRelease()

void FakeOdometry2D::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 49 of file FakeOdometry2D.cpp.


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