fakeLocalizer Documentation to be added More...

#include <fake/fakeLocalizerDevice/FakeLocalizer.h>

Inheritance diagram for FakeLocalizer:

Public Member Functions
virtual bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

	FakeLocalizer ()

virtual	~FakeLocalizer ()

virtual bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	getLocalizationStatus (yarp::dev::Nav2D::LocalizationStatusEnum &status) override
	Gets the current status of the localization task.

yarp::dev::ReturnValue	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses) override
	Gets a set of pose estimates computed by the localization algorithm.

yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov) override
	Gets the current position of the robot w.r.t world reference frame, plus the covariance.

yarp::dev::ReturnValue	getEstimatedOdometry (yarp::dev::OdometryData &odom) override
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

yarp::dev::ReturnValue	startLocalizationService () override
	Starts the localization service.

yarp::dev::ReturnValue	stopLocalizationService () override
	Stops the localization service.

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::ILocalization2D
virtual	~ILocalization2D ()
	Destructor.

Public Member Functions inherited from FakeLocalizer_ParamsParser
	FakeLocalizer_ParamsParser ()

	~FakeLocalizer_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 ()

Public Attributes
fakeLocalizerThread *	locThread = nullptr

std::mutex	m_mutex

Public Attributes inherited from FakeLocalizer_ParamsParser
const std::string	m_device_classname = {"FakeLocalizer"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_period_defaultValue = {"0.010"}

double	m_period = {0.010}

Detailed Description

fakeLocalizer Documentation to be added

Parameters required by this device are shown in class: FakeLocalizer_ParamsParser

Definition at line 58 of file FakeLocalizer.h.

Constructor & Destructor Documentation

◆ FakeLocalizer()

FakeLocalizer::FakeLocalizer ( )

Definition at line 146 of file FakeLocalizer.cpp.

◆ ~FakeLocalizer()

FakeLocalizer::~FakeLocalizer ( )

virtual

Definition at line 150 of file FakeLocalizer.cpp.

Member Function Documentation

◆ close()

bool FakeLocalizer::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 170 of file FakeLocalizer.cpp.

◆ getCurrentPosition() [1/2]

yarp::dev::ReturnValue FakeLocalizer::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Gets the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 80 of file FakeLocalizer.cpp.

◆ getCurrentPosition() [2/2]

yarp::dev::ReturnValue FakeLocalizer::getCurrentPosition	(	yarp::dev::Nav2D::Map2DLocation &	loc,
		yarp::sig::Matrix &	cov
	)

overridevirtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 98 of file FakeLocalizer.cpp.

◆ getEstimatedOdometry()

yarp::dev::ReturnValue FakeLocalizer::getEstimatedOdometry ( yarp::dev::OdometryData & odom )

overridevirtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters

loc	the estimated odometry.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 116 of file FakeLocalizer.cpp.

◆ getEstimatedPoses()

yarp::dev::ReturnValue FakeLocalizer::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > & poses )

overridevirtual

Gets a set of pose estimates computed by the localization algorithm.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 49 of file FakeLocalizer.cpp.

◆ getLocalizationStatus()

yarp::dev::ReturnValue FakeLocalizer::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum & status )

overridevirtual

Gets the current status of the localization task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 40 of file FakeLocalizer.cpp.

◆ open()

bool FakeLocalizer::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 129 of file FakeLocalizer.cpp.

◆ setInitialPose() [1/2]

yarp::dev::ReturnValue FakeLocalizer::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 89 of file FakeLocalizer.cpp.

◆ setInitialPose() [2/2]

yarp::dev::ReturnValue FakeLocalizer::setInitialPose	(	const yarp::dev::Nav2D::Map2DLocation &	loc,
		const yarp::sig::Matrix &	cov
	)

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 107 of file FakeLocalizer.cpp.

◆ startLocalizationService()

yarp::dev::ReturnValue FakeLocalizer::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 154 of file FakeLocalizer.cpp.

◆ stopLocalizationService()

yarp::dev::ReturnValue FakeLocalizer::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 162 of file FakeLocalizer.cpp.

Member Data Documentation

◆ locThread

fakeLocalizerThread* FakeLocalizer::locThread = nullptr

Definition at line 64 of file FakeLocalizer.h.

◆ m_mutex

std::mutex FakeLocalizer::m_mutex

Definition at line 65 of file FakeLocalizer.h.

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

src/devices/fake/fakeLocalizerDevice/FakeLocalizer.h
src/devices/fake/fakeLocalizerDevice/FakeLocalizer.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FakeLocalizer()

◆ ~FakeLocalizer()

Member Function Documentation

◆ close()

◆ getCurrentPosition() [1/2]

◆ getCurrentPosition() [2/2]

◆ getEstimatedOdometry()

◆ getEstimatedPoses()

◆ getLocalizationStatus()

◆ open()

◆ setInitialPose() [1/2]

◆ setInitialPose() [2/2]

◆ startLocalizationService()

◆ stopLocalizationService()

Member Data Documentation

◆ locThread

◆ m_mutex