Localization2D_nwc_yarp A device which allows a user application retrieve the current position of the robot in the world. More...

#include <networkWrappers/localization2D_nwc_yarp/Localization2D_nwc_yarp.h>

Inheritance diagram for Localization2D_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	getLocalizationStatus (yarp::dev::Nav2D::LocalizationStatusEnum &status) override
	Gets the current status of the localization task.

yarp::dev::ReturnValue	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses) override
	Gets a set of pose estimates computed by the localization algorithm.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	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.

yarp::dev::ReturnValue	startLocalizationService () override
	Starts the localization service.

yarp::dev::ReturnValue	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

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (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 DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::Nav2D::ILocalization2D
virtual	~ILocalization2D ()
	Destructor.

Public Member Functions inherited from Localization2D_nwc_yarp_ParamsParser
	Localization2D_nwc_yarp_ParamsParser ()

	~Localization2D_nwc_yarp_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.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_localization_server

ILocalization2DMsgs	m_RPC

Additional Inherited Members
Public Attributes inherited from Localization2D_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"Localization2D_nwc_yarp"}

const std::string	m_device_name = {"localization2D_nwc_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_local_defaultValue = {""}

const std::string	m_remote_defaultValue = {""}

std::string	m_local = {}

std::string	m_remote = {}

Detailed Description

Localization2D_nwc_yarp A device which allows a user application retrieve the current position of the robot in the world.

Localization2D_nwc_yarp

Parameters required by this device are shown in class: Localization2D_nwc_yarp_ParamsParser

Definition at line 36 of file Localization2D_nwc_yarp.h.

Member Function Documentation

◆ close()

bool Localization2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 170 of file Localization2D_nwc_yarp.cpp.

◆ getCurrentPosition() [1/2]

ReturnValue Localization2D_nwc_yarp::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

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

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

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

Definition at line 105 of file Localization2D_nwc_yarp.cpp.

◆ getCurrentPosition() [2/2]

ReturnValue Localization2D_nwc_yarp::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

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

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

Definition at line 118 of file Localization2D_nwc_yarp.cpp.

◆ getEstimatedOdometry()

ReturnValue Localization2D_nwc_yarp::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

loc	the estimated odometry.

Returns: a ReturnValue, convertible to true/false

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

Definition at line 92 of file Localization2D_nwc_yarp.cpp.

◆ getEstimatedPoses()

ReturnValue Localization2D_nwc_yarp::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > & poses )

overridevirtual

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

Returns: a ReturnValue, convertible to true/false

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

Definition at line 132 of file Localization2D_nwc_yarp.cpp.

◆ getLocalizationStatus()

ReturnValue Localization2D_nwc_yarp::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum & status )

overridevirtual

Gets the current status of the localization task.

Returns: a ReturnValue, convertible to true/false

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

Definition at line 145 of file Localization2D_nwc_yarp.cpp.

◆ open()

bool Localization2D_nwc_yarp::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 26 of file Localization2D_nwc_yarp.cpp.

◆ setInitialPose() [1/2]

ReturnValue Localization2D_nwc_yarp::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

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

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

Definition at line 74 of file Localization2D_nwc_yarp.cpp.

◆ setInitialPose() [2/2]

ReturnValue Localization2D_nwc_yarp::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

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

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

Definition at line 80 of file Localization2D_nwc_yarp.cpp.

◆ startLocalizationService()

ReturnValue Localization2D_nwc_yarp::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: a ReturnValue, convertible to true/false

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

Definition at line 158 of file Localization2D_nwc_yarp.cpp.

◆ stopLocalizationService()

ReturnValue Localization2D_nwc_yarp::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: a ReturnValue, convertible to true/false

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

Definition at line 164 of file Localization2D_nwc_yarp.cpp.

Member Data Documentation

◆ m_mutex

std::mutex Localization2D_nwc_yarp::m_mutex

protected

Definition at line 42 of file Localization2D_nwc_yarp.h.

◆ m_RPC

ILocalization2DMsgs Localization2D_nwc_yarp::m_RPC

protected

Definition at line 44 of file Localization2D_nwc_yarp.h.

◆ m_rpc_port_localization_server

yarp::os::Port Localization2D_nwc_yarp::m_rpc_port_localization_server

protected

Definition at line 43 of file Localization2D_nwc_yarp.h.

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

src/devices/networkWrappers/localization2D_nwc_yarp/Localization2D_nwc_yarp.h
src/devices/networkWrappers/localization2D_nwc_yarp/Localization2D_nwc_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Localization2D_nwc_yarp

Member Function Documentation

◆ close()

◆ getCurrentPosition() [1/2]

◆ getCurrentPosition() [2/2]

◆ getEstimatedOdometry()

◆ getEstimatedPoses()

◆ getLocalizationStatus()

◆ open()

◆ setInitialPose() [1/2]

◆ setInitialPose() [2/2]

◆ startLocalizationService()

◆ stopLocalizationService()

Member Data Documentation

◆ m_mutex

◆ m_RPC

◆ m_rpc_port_localization_server