#include <localization2DClient/Localization2DClient.h>

Inheritance diagram for Localization2DClient:

Detailed Description

Localization2DClient

A device which allows a user application retrieve the current position of the robot in the world.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
local	-	string	-	-	Yes	Full port name opened by the Localization2DClient device.
remote	-	string	-	-	Yes	Full port name of the port opened on the server side, to which the Localization2DClient connects to.	E.g.(https://github.com/robotology/navigation/src/localizationServer)

Definition at line 52 of file Localization2DClient.h.

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

bool	close () override
	Close the DeviceDriver. More...

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

bool	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. More...

bool	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. More...

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

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

bool	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. More...

bool	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. More...

bool	startLocalizationService () override
	Starts the localization service. More...

bool	stopLocalizationService () override
	Stops the localization service. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. 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::Nav2D::ILocalization2D
virtual	~ILocalization2D ()
	Destructor. More...

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_localization_server

std::string	m_local_name

std::string	m_remote_name

Member Function Documentation

◆ close()

bool Localization2DClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 404 of file Localization2DClient.cpp.

◆ getCurrentPosition() [1/2]

bool Localization2DClient::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: true/false

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

Definition at line 200 of file Localization2DClient.cpp.

◆ getCurrentPosition() [2/2]

bool Localization2DClient::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: true/false

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

Definition at line 233 of file Localization2DClient.cpp.

◆ getEstimatedOdometry()

bool Localization2DClient::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: true/false

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

Definition at line 162 of file Localization2DClient.cpp.

◆ getEstimatedPoses()

bool Localization2DClient::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > & poses )

overridevirtual

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

Returns: true/false

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

Definition at line 274 of file Localization2DClient.cpp.

◆ getLocalizationStatus()

bool Localization2DClient::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum & status )

overridevirtual

Gets the current status of the localization task.

Returns: true/false

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

Definition at line 324 of file Localization2DClient.cpp.

◆ open()

bool Localization2DClient::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 39 of file Localization2DClient.cpp.

◆ setInitialPose() [1/2]

bool Localization2DClient::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: true/false

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

Definition at line 97 of file Localization2DClient.cpp.

◆ setInitialPose() [2/2]

bool Localization2DClient::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: true/false

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

Definition at line 126 of file Localization2DClient.cpp.

◆ startLocalizationService()

bool Localization2DClient::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: true/false

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

Definition at line 354 of file Localization2DClient.cpp.

◆ stopLocalizationService()

bool Localization2DClient::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: true/false

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

Definition at line 379 of file Localization2DClient.cpp.

Member Data Documentation

◆ m_local_name

std::string Localization2DClient::m_local_name

protected

Definition at line 59 of file Localization2DClient.h.

◆ m_mutex

std::mutex Localization2DClient::m_mutex

protected

Definition at line 57 of file Localization2DClient.h.

◆ m_remote_name

std::string Localization2DClient::m_remote_name

protected

Definition at line 60 of file Localization2DClient.h.

◆ m_rpc_port_localization_server

yarp::os::Port Localization2DClient::m_rpc_port_localization_server

protected

Definition at line 58 of file Localization2DClient.h.

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

src/devices/localization2DClient/Localization2DClient.h
src/devices/localization2DClient/Localization2DClient.cpp

Detailed Description

Localization2DClient

Public Member Functions

Protected Attributes

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

◆ m_local_name

◆ m_mutex

◆ m_remote_name

◆ m_rpc_port_localization_server