MobileBaseVelocityControl_nwc_yarp Class Reference

MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base. More...

#include <networkWrappers/mobileBaseVelocityControl_nwc_yarp/MobileBaseVelocityControl_nwc_yarp.h>

Inheritance diagram for MobileBaseVelocityControl_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.
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	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
	Returns the last applied velocity command.
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::INavigation2DVelocityActions
virtual	~INavigation2DVelocityActions ()
	Destructor.
Public Member Functions inherited from MobileBaseVelocityControl_nwc_yarp_ParamsParser
	MobileBaseVelocityControl_nwc_yarp_ParamsParser ()
	~MobileBaseVelocityControl_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.
Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
std::mutex	m_mutex
yarp::os::Port	m_rpc_port
MobileBaseVelocityControlRPC	m_RPC

Additional Inherited Members
Public Attributes inherited from MobileBaseVelocityControl_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"MobileBaseVelocityControl_nwc_yarp"}
const std::string	m_device_name = {"mobileBaseVelocityControl_nwc_yarp"}
bool	m_parser_is_strict = false
const parser_version_type	m_parser_version = {}
const std::string	m_local_defaultValue = {""}
const std::string	m_server_defaultValue = {""}
const std::string	m_carrier_defaultValue = {"tcp"}
std::string	m_local = {}
std::string	m_server = {}
std::string	m_carrier = {"tcp"}

Detailed Description

MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base.

MobileBaseVelocityControl_nwc_yarp

Parameters required by this device are shown in class: MobileBaseVelocityControl_nwc_yarp_ParamsParser

Definition at line 33 of file MobileBaseVelocityControl_nwc_yarp.h.

Member Function Documentation

applyVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::applyVelocityCommand ( double  x_vel, double  y_vel, double  theta_vel, double  timeout = 0.1  )

overridevirtual

Apply a velocity command.

Velocities are expressed in the robot reference frame.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns

true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 79 of file MobileBaseVelocityControl_nwc_yarp.cpp.

close()

bool MobileBaseVelocityControl_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns

true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 58 of file MobileBaseVelocityControl_nwc_yarp.cpp.

getLastVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::getLastVelocityCommand ( double &  x_vel, double &  y_vel, double &  theta_vel  )

overridevirtual

Returns the last applied velocity command.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]

Returns

true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 64 of file MobileBaseVelocityControl_nwc_yarp.cpp.

open()

bool MobileBaseVelocityControl_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 27 of file MobileBaseVelocityControl_nwc_yarp.cpp.

Member Data Documentation

m_mutex

std::mutex MobileBaseVelocityControl_nwc_yarp::m_mutex

protected

Definition at line 39 of file MobileBaseVelocityControl_nwc_yarp.h.

m_RPC

MobileBaseVelocityControlRPC MobileBaseVelocityControl_nwc_yarp::m_RPC

protected

Definition at line 41 of file MobileBaseVelocityControl_nwc_yarp.h.

m_rpc_port

yarp::os::Port MobileBaseVelocityControl_nwc_yarp::m_rpc_port

protected

Definition at line 40 of file MobileBaseVelocityControl_nwc_yarp.h.

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

• src/devices/networkWrappers/mobileBaseVelocityControl_nwc_yarp/MobileBaseVelocityControl_nwc_yarp.h
• src/devices/networkWrappers/mobileBaseVelocityControl_nwc_yarp/MobileBaseVelocityControl_nwc_yarp.cpp