Odometry2D_nwc_yarp Class Reference

Odometry2D_nwc_yarp: The client side of any IOdometry2D capable device. More...

#include <networkWrappers/odometry2D_nwc_yarp/Odometry2D_nwc_yarp.h>

Inheritance diagram for Odometry2D_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.
bool	close () override
	Close the DeviceDriver.
virtual yarp::dev::ReturnValue	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.
virtual yarp::dev::ReturnValue	resetOdometry () override
	Resets the odometry of the robot to zero.
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::IOdometry2D
virtual	~IOdometry2D ()
	Destructor.
Public Member Functions inherited from Odometry2D_nwc_yarp_ParamsParser
	Odometry2D_nwc_yarp_ParamsParser ()
	~Odometry2D_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
OdometryData2DInputPortProcessor	m_inputPort
IOdometry2DMsgs	m_RPC
std::mutex	m_mutex
yarp::os::Port	m_rpcPort
yarp::os::Stamp	m_lastTs

Additional Inherited Members
Public Attributes inherited from Odometry2D_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"Odometry2D_nwc_yarp"}
const std::string	m_device_name = {"odometry2D_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 = {""}
const std::string	m_carrier_defaultValue = {"tcp"}
std::string	m_local = {}
std::string	m_remote = {}
std::string	m_carrier = {"tcp"}

Detailed Description

Odometry2D_nwc_yarp: The client side of any IOdometry2D capable device.

Parameters required by this device are shown in class: Odometry2D_nwc_yarp_ParamsParser

Definition at line 61 of file Odometry2D_nwc_yarp.h.

Member Function Documentation

close()

bool Odometry2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns

true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 185 of file Odometry2D_nwc_yarp.cpp.

getOdometry()

ReturnValue Odometry2D_nwc_yarp::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

odom	the odometry.

Returns

a ReturnValue, convertible to true/false

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

Definition at line 193 of file Odometry2D_nwc_yarp.cpp.

open()

bool Odometry2D_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 133 of file Odometry2D_nwc_yarp.cpp.

resetOdometry()

ReturnValue Odometry2D_nwc_yarp::resetOdometry ( )

overridevirtual

Resets the odometry of the robot to zero.

Returns

a ReturnValue, convertible to true/false

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

Definition at line 208 of file Odometry2D_nwc_yarp.cpp.

Member Data Documentation

m_inputPort

OdometryData2DInputPortProcessor Odometry2D_nwc_yarp::m_inputPort

protected

Definition at line 67 of file Odometry2D_nwc_yarp.h.

m_lastTs

yarp::os::Stamp Odometry2D_nwc_yarp::m_lastTs

protected

Definition at line 71 of file Odometry2D_nwc_yarp.h.

m_mutex

std::mutex Odometry2D_nwc_yarp::m_mutex

protected

Definition at line 69 of file Odometry2D_nwc_yarp.h.

m_RPC

IOdometry2DMsgs Odometry2D_nwc_yarp::m_RPC

protected

Definition at line 68 of file Odometry2D_nwc_yarp.h.

m_rpcPort

yarp::os::Port Odometry2D_nwc_yarp::m_rpcPort

protected

Definition at line 70 of file Odometry2D_nwc_yarp.h.

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

• src/devices/networkWrappers/odometry2D_nwc_yarp/Odometry2D_nwc_yarp.h
• src/devices/networkWrappers/odometry2D_nwc_yarp/Odometry2D_nwc_yarp.cpp