remotecontrolboardremapper A device that takes a list of axes from multiple controlboards, a list of remote controlboards in which this axes are located, that is opening all the remote controlboards but is exposing them More...

#include <ControlBoardRemapper/RemoteControlBoardRemapper.h>

Inheritance diagram for RemoteControlBoardRemapper:

Public Member Functions
	RemoteControlBoardRemapper ()=default

	RemoteControlBoardRemapper (const RemoteControlBoardRemapper &)=delete

	RemoteControlBoardRemapper (RemoteControlBoardRemapper &&)=delete

RemoteControlBoardRemapper &	operator= (const RemoteControlBoardRemapper &)=delete

RemoteControlBoardRemapper &	operator= (RemoteControlBoardRemapper &&)=delete

	~RemoteControlBoardRemapper () override=default

bool	open (yarp::os::Searchable &prop) override
	Open the device driver. More...

bool	close () override
	Close the device driver by deallocating all resources and closing ports. More...

Public Member Functions inherited from ControlBoardRemapper
	ControlBoardRemapper ()=default

	ControlBoardRemapper (const ControlBoardRemapper &)=delete

	ControlBoardRemapper (ControlBoardRemapper &&)=delete

ControlBoardRemapper &	operator= (const ControlBoardRemapper &)=delete

ControlBoardRemapper &	operator= (ControlBoardRemapper &&)=delete

	~ControlBoardRemapper () override=default

bool	verbose () const
	Return the value of the verbose flag. More...

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

bool	attachAll (const yarp::dev::PolyDriverList &l) override
	Attach to a list of objects. More...

bool	setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &p) override
	ControlBoard methods. More...

bool	setPids (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *ps) override
	Set new pid value on multiple axes. More...

bool	setPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis. More...

bool	setPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes. More...

bool	setPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specifi joint. More...

bool	setPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints. More...

bool	getPidError (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint. More...

bool	getPidErrors (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints. More...

bool	getPidOutput (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g. More...

bool	getPidOutputs (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g. More...

bool	setPidOffset (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller. More...

bool	getPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *p) override
	Get current pid value for a specific joint. More...

bool	getPids (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
	Get current pid value for a specific joint. More...

bool	getPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint. More...

bool	getPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers. More...

bool	getPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
	Get the error limit for the controller on a specific joint. More...

bool	getPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
	Get the error limit for all controllers. More...

bool	resetPid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...

bool	disablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint. More...

bool	enablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint. More...

bool	isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid. More...

bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMove (const double *refs) override
	Set new reference point for all axes. More...

bool	positionMove (const int n_joints, const int joints, const double refs) override
	Set new reference point for a subset of joints. More...

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

bool	relativeMove (int j, double delta) override
	Set relative position. More...

bool	relativeMove (const double *deltas) override
	Set relative position, all joints. More...

bool	relativeMove (const int n_joints, const int joints, const double deltas) override
	Set relative position for a subset of joints. More...

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (const int n_joints, const int joints, bool flags) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const int n_joints, const int joints, const double spds) override
	Set reference speed on all joints. More...

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint. More...

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const int n_joints, const int joints, const double accs) override
	Set reference acceleration on all joints. More...

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints. More...

bool	getRefSpeeds (const int n_joints, const int joints, double spds) override
	Get reference speed of all joints. More...

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints. More...

bool	getRefAccelerations (const int n_joints, const int joints, double accs) override
	Get reference acceleration for a joint. More...

bool	stop (int j) override
	Stop motion, single joint. More...

bool	stop () override
	Stop motion, multiple joints. More...

bool	stop (const int n_joints, const int *joints) override
	Stop motion for subset of joints. More...

bool	getLastJointFault (int j, int &fault, std::string &message) override

bool	velocityMove (int j, double v) override
	Start motion at a given speed, single joint. More...

bool	velocityMove (const double *v) override
	Start motion at a given speed, multiple joints. More...

bool	resetEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetEncoders () override
	Reset encoders. More...

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint. More...

bool	setEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getEncoders (double *encs) override
	Read the position of all axes. More...

bool	getEncodersTimed (double encs, double t) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getEncoderAcceleration (int j, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes. More...

bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders. More...

bool	resetMotorEncoder (int m) override
	Reset motor encoder, single motor. More...

bool	resetMotorEncoders () override
	Reset motor encoders. More...

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m. More...

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	Gets number of counts per revolution for motor encoder m. More...

bool	setMotorEncoder (int m, const double val) override
	Set the value of the motor encoder for a given motor. More...

bool	setMotorEncoders (const double *vals) override
	Set the value of all motor encoders. More...

bool	getMotorEncoder (int m, double *v) override
	Read the value of a motor encoder. More...

bool	getMotorEncoders (double *encs) override
	Read the position of all motor encoders. More...

bool	getMotorEncodersTimed (double encs, double t) override
	Read the instantaneous position of all motor encoders. More...

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder. More...

bool	getMotorEncoderSpeed (int m, double *sp) override
	Read the istantaneous speed of a motor encoder. More...

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all motor encoders. More...

bool	getMotorEncoderAcceleration (int m, double *acc) override
	Read the instantaneous acceleration of a motor encoder. More...

bool	getMotorEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all motor encoders. More...

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint. More...

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint. More...

bool	getAmpStatus (int *st) override

bool	getAmpStatus (int j, int *v) override

bool	setMaxCurrent (int j, double v) override

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor. More...

bool	getNominalCurrent (int m, double *val) override

bool	setNominalCurrent (int m, const double val) override

bool	getPeakCurrent (int m, double *val) override

bool	setPeakCurrent (int m, const double val) override

bool	getPWM (int m, double *val) override

bool	getPWMLimit (int m, double *val) override

bool	setPWMLimit (int m, const double val) override

bool	getPowerSupplyVoltage (int m, double *val) override

bool	setLimits (int j, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getLimits (int j, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setVelLimits (int j, double min, double max) override
	Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getVelLimits (int j, double min, double max) override
	Get the software speed limits for a particular axis. More...

bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override

bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override

bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override

bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...

yarp::dev::IRemoteCalibrator *	getCalibratorDevice () override
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...

bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint More...

bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device More...

bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint More...

bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device More...

bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint More...

bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part More...

bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure More...

bool	quitPark () override
	quitPark: interrupt the park procedure More...

bool	calibrateAxisWithParams (int j, unsigned int ui, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific. More...

bool	setCalibrationParameters (int j, const yarp::dev::CalibrationParameters &params) override
	Start calibration, this method is very often platform specific. More...

bool	calibrationDone (int j) override
	Check if the calibration is terminated, on a particular joint. More...

bool	abortPark () override

bool	abortCalibration () override

bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled axes from the current physical interface. More...

bool	getTemperature (int m, double *val) override
	Get temperature of a motor. More...

bool	getTemperatures (double *vals) override
	Get temperature of all the motors. More...

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor. More...

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor. More...

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor. More...

bool	setGearboxRatio (int m, const double val) override
	Set the gearbox ratio for a specific motor. More...

bool	getAxisName (int j, std::string &name) override

bool	getJointType (int j, yarp::dev::JointTypeEnum &type) override

bool	getRefTorques (double *refs) override
	Get the reference value of the torque for all joints. More...

bool	getRefTorque (int j, double *t) override
	Get the reference value of the torque for a given joint. More...

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints. More...

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint. More...

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints. More...

bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	setImpedance (int j, double stiff, double damp) override
	Set current impedance gains (stiffness,damping) for a specific joint. More...

bool	setImpedanceOffset (int j, double offset) override
	Set current force Offset for a specific joint. More...

bool	getTorque (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint. More...

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints. More...

bool	getImpedance (int j, double stiff, double damp) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint. More...

bool	getImpedanceOffset (int j, double *offset) override
	Get current force Offset for a specific joint. More...

bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint. More...

bool	getControlMode (int j, int *mode) override
	Get the current control mode. More...

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints). More...

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes. More...

bool	setControlMode (const int j, const int mode) override
	Set the current control mode. More...

bool	setControlModes (const int n_joints, const int joints, int modes) override
	Set the current control mode for a subset of axes. More...

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints). More...

bool	setPosition (int j, double ref) override
	Set new position for a single axis. More...

bool	setPositions (const int n_joints, const int joints, const double dpos) override
	Set new reference point for all axes. More...

bool	setPositions (const double *refs) override
	Set new position for a set of axis. More...

bool	getRefPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getRefPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

bool	velocityMove (const int n_joints, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints. More...

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint. More...

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints. More...

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints. More...

bool	getInteractionMode (int j, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setInteractionMode (int j, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant. More...

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setRefDutyCycle (int m, double ref) override
	Sets the reference dutycycle to a single motor. More...

bool	setRefDutyCycles (const double *refs) override
	Sets the reference dutycycle for all the motors. More...

bool	getRefDutyCycle (int m, double *ref) override
	Gets the last reference sent using the setRefDutyCycle function. More...

bool	getRefDutyCycles (double *refs) override
	Gets the last reference sent using the setRefDutyCycles function. More...

bool	getDutyCycle (int m, double *val) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getDutyCycles (double *vals) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getCurrent (int m, double *curr) override

bool	getCurrents (double *currs) override

bool	getCurrentRange (int m, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g. More...

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g. More...

bool	setRefCurrents (const double *currs) override
	Set the reference value of the currents for all motors. More...

bool	setRefCurrent (int m, double curr) override
	Set the reference value of the current for a single motor. More...

bool	setRefCurrents (const int n_motor, const int motors, const double currs) override
	Set the reference value of the current for a group of motors. More...

bool	getRefCurrents (double *currs) override
	Get the reference value of the currents for all motors. More...

bool	getRefCurrent (int m, double *curr) override
	Get the reference value of the current for a single motor. More...

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

	~DeviceDriver () override

virtual std::string	id () const
	Return the id assigned to the PolyDriver. More...

virtual void	setId (const std::string &id)
	Set the id for this device. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

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

virtual bool	configure (Searchable &config)
	Change online parameters. More...

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

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

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

virtual	~IRemoteCalibrator ()=default

virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device. More...

virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot. More...

virtual bool	calibrateRobot ()
	Calibrate robot by using an external calibrator. More...

virtual bool	park (bool wait=true)

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

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

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

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

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

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

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

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

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

Detailed Description

remotecontrolboardremapper A device that takes a list of axes from multiple controlboards, a list of remote controlboards in which this axes are located, that is opening all the remote controlboards but is exposing them

RemoteControlBoardRemapper

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
axesNames	-	vector of strings	-	-	Yes	Ordered list of the axes that are part of the remapped device.
remoteControlBoards	-	vector of strings	-	-	Yes	List of remote prefix used by the remote controlboards.	The element of this list are then passed as "remote" parameter to the RemoteControlBoard device.
localPortPrefix	-	string	-	-	Yes	All ports opened by this device will start with this prefix
REMOTE_CONTROLBOARD_OPTIONS	-	group	-	-	No	Options that will be passed directly to the remote_controlboard devices

All the passed remote controlboards are opened, and then the axesNames and the opened device are passed to the ControlBoardRemapper device. If different axes in two attached controlboard have the same name, the behaviour of this device is undefined.

Configuration file using .ini format.

 device remotecontrolboardremapper
 axesNames (torso_pitch torso_roll torso_yaw neck_pitch neck_roll neck_yaw)
 remoteControlBoards (/icub/torso /icub/head)
 
 [REMOTE_CONTROLBOARD_OPTIONS]
 writeStrict on
 
 
...

Configuration of the device from C++ code.

Property options;
options.put("device","remotecontrolboardremapper");
Bottle axesNames;
Bottle & axesList = axesNames.addList();
axesList.addString("torso_pitch");
axesList.addString("torso_roll");
axesList.addString("torso_yaw");
axesList.addString("neck_pitch");
axesList.addString("neck_roll");
axesList.addString("neck_yaw");
options.put("axesNames",axesNames.get(0))
 
Bottle remoteControlBoards;
Bottle & remoteControlBoardsList = remoteControlBoards.addList();
remoteControlBoardsList.addString("/icub/torso");
remoteControlBoardsList.addString("/icub/head");
options.put("remoteControlBoards",remoteControlBoards.get(0));
 
options.put("localPortPrefix",/test");
 
Property & remoteControlBoardsOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
remoteControlBoardsOpts.put("writeStrict","on");
 
// Actually open the device
PolyDriver robotDevice(options);
 
// Use it as  you would use any controlboard device
// ...

Caveat

By design, the RemoteControlBoardRemapper is more limited with respect to a true RemoteControlBoard. Known limitations include:

If some axes belong to a coupled mechanics, all the axes should be added to the RemoteControlBoardRemapper. If only an axis of a coupled mechanics is added to the remapper, the semantic of the coupled mechanics in the underlyng implementation could create confusing behaviour. For example, changing the control mode of an axis in a coupled mechanism could change the control mode of the other coupled axes, even if the other coupled axes are not part of the remapped controlboard.
The debug methods provided by IRemoteVariables are not supported by the RemoteControlBoardRemapper .

Definition at line 94 of file RemoteControlBoardRemapper.h.

Constructor & Destructor Documentation

◆ RemoteControlBoardRemapper() [1/3]

RemoteControlBoardRemapper::RemoteControlBoardRemapper ( )

default

◆ RemoteControlBoardRemapper() [2/3]

RemoteControlBoardRemapper::RemoteControlBoardRemapper ( const RemoteControlBoardRemapper & )

delete

◆ RemoteControlBoardRemapper() [3/3]

RemoteControlBoardRemapper::RemoteControlBoardRemapper ( RemoteControlBoardRemapper && )

delete

◆ ~RemoteControlBoardRemapper()

RemoteControlBoardRemapper::~RemoteControlBoardRemapper ( )

overridedefault

Member Function Documentation

◆ close()

bool RemoteControlBoardRemapper::close ( )

overridevirtual

Close the device driver by deallocating all resources and closing ports.

Returns: true if successful or false otherwise.

Reimplemented from ControlBoardRemapper.

Definition at line 42 of file RemoteControlBoardRemapper.cpp.

◆ open()

bool RemoteControlBoardRemapper::open ( yarp::os::Searchable & prop )

overridevirtual

Open the device driver.

Parameters

prop	is a Searchable object which contains the parameters. Allowed parameters are described in the class documentation.

Reimplemented from ControlBoardRemapper.

Definition at line 59 of file RemoteControlBoardRemapper.cpp.

◆ operator=() [1/2]

RemoteControlBoardRemapper& RemoteControlBoardRemapper::operator= ( const RemoteControlBoardRemapper & )

delete

◆ operator=() [2/2]

RemoteControlBoardRemapper& RemoteControlBoardRemapper::operator= ( RemoteControlBoardRemapper && )

delete

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

src/devices/ControlBoardRemapper/RemoteControlBoardRemapper.h
src/devices/ControlBoardRemapper/RemoteControlBoardRemapper.cpp

Public Member Functions

Detailed Description

RemoteControlBoardRemapper

Caveat

Constructor & Destructor Documentation

◆ RemoteControlBoardRemapper() [1/3]

◆ RemoteControlBoardRemapper() [2/3]

◆ RemoteControlBoardRemapper() [3/3]

◆ ~RemoteControlBoardRemapper()

Member Function Documentation

◆ close()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]