localization2D_nws_yarp: A localization server which can be wrap multiple algorithms and devices to provide robot localization in a 2D World. More...

#include <networkWrappers/localization2D_nws_yarp/Localization2D_nws_yarp.h>

Inheritance diagram for Localization2D_nws_yarp:

Public Member Functions
	Localization2D_nws_yarp ()

	~Localization2D_nws_yarp ()=default

bool	open (yarp::os::Searchable &prop) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	detach () override
	Detach the object (you must have first called attach).

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

void	run () override
	Loop function.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

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::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::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

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

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

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from Localization2D_nws_yarp_ParamsParser
	Localization2D_nws_yarp_ParamsParser ()

	~Localization2D_nws_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.

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

Protected Attributes
ILocalization2DRPCd	m_RPC

std::string	m_local_name = "/localization2D_nws_yarp"

yarp::os::Port	m_rpcPort

std::string	m_rpcPortName

yarp::os::BufferedPort< yarp::dev::Nav2D::Map2DLocation >	m_2DLocationPort

std::string	m_2DLocationPortName

yarp::os::BufferedPort< yarp::dev::OdometryData >	m_odometryPort

std::string	m_odometryPortName

yarp::dev::PolyDriver	pLoc

yarp::dev::Nav2D::ILocalization2D *	iLoc = nullptr

double	m_stats_time_last

Additional Inherited Members
Public Attributes inherited from Localization2D_nws_yarp_ParamsParser
const std::string	m_device_classname = {"Localization2D_nws_yarp"}

const std::string	m_device_name = {"localization2D_nws_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_GENERAL_period_defaultValue = {"0.01"}

const std::string	m_GENERAL_retrieve_position_periodically_defaultValue = {"true"}

const std::string	m_GENERAL_name_defaultValue = {"/localization2D_nws_yarp"}

const std::string	m_GENERAL_publish_odometry_defaultValue = {"true"}

const std::string	m_GENERAL_publish_location_defaultValue = {"true"}

double	m_GENERAL_period = {0.01}

bool	m_GENERAL_retrieve_position_periodically = {true}

std::string	m_GENERAL_name = {"/localization2D_nws_yarp"}

bool	m_GENERAL_publish_odometry = {true}

bool	m_GENERAL_publish_location = {true}

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

localization2D_nws_yarp: A localization server which can be wrap multiple algorithms and devices to provide robot localization in a 2D World.

Localization2D_nws_yarp

Parameters required by this device are shown in class: Localization2D_nws_yarp_ParamsParser

Definition at line 36 of file Localization2D_nws_yarp.h.

Constructor & Destructor Documentation

◆ Localization2D_nws_yarp()

Localization2D_nws_yarp::Localization2D_nws_yarp ( )

Definition at line 44 of file Localization2D_nws_yarp.cpp.

◆ ~Localization2D_nws_yarp()

Localization2D_nws_yarp::~Localization2D_nws_yarp ( )

default

Member Function Documentation

◆ attach()

bool Localization2D_nws_yarp::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 49 of file Localization2D_nws_yarp.cpp.

◆ close()

bool Localization2D_nws_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 172 of file Localization2D_nws_yarp.cpp.

◆ detach()

bool Localization2D_nws_yarp::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 89 of file Localization2D_nws_yarp.cpp.

◆ open()

bool Localization2D_nws_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 101 of file Localization2D_nws_yarp.cpp.

◆ read()

bool Localization2D_nws_yarp::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 182 of file Localization2D_nws_yarp.cpp.

◆ run()

void Localization2D_nws_yarp::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 196 of file Localization2D_nws_yarp.cpp.

◆ threadInit()

bool Localization2D_nws_yarp::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 147 of file Localization2D_nws_yarp.cpp.

◆ threadRelease()

void Localization2D_nws_yarp::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 163 of file Localization2D_nws_yarp.cpp.

Member Data Documentation

◆ iLoc

yarp::dev::Nav2D::ILocalization2D* Localization2D_nws_yarp::iLoc = nullptr

protected

Definition at line 59 of file Localization2D_nws_yarp.h.

◆ m_2DLocationPort

yarp::os::BufferedPort<yarp::dev::Nav2D::Map2DLocation> Localization2D_nws_yarp::m_2DLocationPort

protected

Definition at line 52 of file Localization2D_nws_yarp.h.

◆ m_2DLocationPortName

std::string Localization2D_nws_yarp::m_2DLocationPortName

protected

Definition at line 53 of file Localization2D_nws_yarp.h.

◆ m_local_name

std::string Localization2D_nws_yarp::m_local_name = "/localization2D_nws_yarp"

protected

Definition at line 49 of file Localization2D_nws_yarp.h.

◆ m_odometryPort

yarp::os::BufferedPort<yarp::dev::OdometryData> Localization2D_nws_yarp::m_odometryPort

protected

Definition at line 54 of file Localization2D_nws_yarp.h.

◆ m_odometryPortName

std::string Localization2D_nws_yarp::m_odometryPortName

protected

Definition at line 55 of file Localization2D_nws_yarp.h.

◆ m_RPC

ILocalization2DRPCd Localization2D_nws_yarp::m_RPC

protected

Definition at line 46 of file Localization2D_nws_yarp.h.

◆ m_rpcPort

yarp::os::Port Localization2D_nws_yarp::m_rpcPort

protected

Definition at line 50 of file Localization2D_nws_yarp.h.

◆ m_rpcPortName

std::string Localization2D_nws_yarp::m_rpcPortName

protected

Definition at line 51 of file Localization2D_nws_yarp.h.

◆ m_stats_time_last

double Localization2D_nws_yarp::m_stats_time_last

protected

Definition at line 61 of file Localization2D_nws_yarp.h.

◆ pLoc

yarp::dev::PolyDriver Localization2D_nws_yarp::pLoc

protected

Definition at line 58 of file Localization2D_nws_yarp.h.

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

src/devices/networkWrappers/localization2D_nws_yarp/Localization2D_nws_yarp.h
src/devices/networkWrappers/localization2D_nws_yarp/Localization2D_nws_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Localization2D_nws_yarp

Constructor & Destructor Documentation

◆ Localization2D_nws_yarp()

◆ ~Localization2D_nws_yarp()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ open()

◆ read()

◆ run()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ iLoc

◆ m_2DLocationPort

◆ m_2DLocationPortName

◆ m_local_name

◆ m_odometryPort

◆ m_odometryPortName

◆ m_RPC

◆ m_rpcPort

◆ m_rpcPortName

◆ m_stats_time_last

◆ pLoc