YARP
Yet Another Robot Platform
Robot.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_ROBOTINTERFACE_ROBOT_H
7#define YARP_ROBOTINTERFACE_ROBOT_H
8
12
13namespace yarp {
14namespace robotinterface {
15namespace experimental {
16
18{
19public:
20 explicit Robot();
21 explicit Robot(const std::string& name, const DeviceList& devices = DeviceList());
22 Robot(const Robot& other);
23 Robot& operator=(const Robot& other);
24
25 virtual ~Robot();
26
27 std::string& name();
28 unsigned int& build();
29 std::string& portprefix();
30
31 void setVerbose(bool verbose);
32 void setAllowDeprecatedDevices(bool allowDeprecatedDevices);
33
36 Device& device(const std::string& name);
37
38 const std::string& name() const;
39 const unsigned int& build() const;
40 const std::string& portprefix() const;
41 const ParamList& params() const;
42
43 const DeviceList& devices() const;
44 bool hasDevice(const std::string& name) const;
45 const Device& device(const std::string& name) const;
46
47 bool hasParam(const std::string& name) const;
48 std::string findParam(const std::string& name) const;
49
50 void interrupt();
54 int currentLevel() const;
55
56private:
57 class Private;
58 Private* const mPriv;
59}; // class Robot
60
61} // namespace experimental
62} // namespace robotinterface
63} // namespace yarp
64
66
67
68#endif // YARP_ROBOTINTERFACE_ROBOT_H
float t
Device & device(const std::string &name)
const unsigned int & build() const
bool hasDevice(const std::string &name) const
bool hasParam(const std::string &name) const
void setAllowDeprecatedDevices(bool allowDeprecatedDevices)
const std::string & name() const
const std::string & portprefix() const
bool enterPhase(yarp::robotinterface::experimental::ActionPhase phase)
std::string findParam(const std::string &name) const
Robot & operator=(const Robot &other)
const DeviceList & devices() const
yarp::robotinterface::experimental::ActionPhase currentPhase() const
Robot(const std::string &name, const DeviceList &devices=DeviceList())
bool setExternalDevices(const yarp::dev::PolyDriverList &list)
const Device & device(const std::string &name) const
yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::experimental::Robot &t)
yarp::robotinterface::ParamList ParamList
Definition: Types.h:22
yarp::robotinterface::DeviceList DeviceList
Definition: Types.h:24
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_robotinterface_API
Definition: api.h:18