#include <realsense2/realsense2Tracking.h>

Inheritance diagram for realsense2Tracking:

Detailed Description

Definition at line 29 of file realsense2Tracking.h.

Public Member Functions
	realsense2Tracking ()

	~realsense2Tracking () override=default

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

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

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor. More...

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope. More...

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device. More...

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device. More...

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw. More...

size_t	getNrOfPositionSensors () const override
	Get the number of position sensors exposed by this device. More...

yarp::dev::MAS_status	getPositionSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getPositionSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getPositionSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getPositionSensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
	Get the last reading of the position sensor as x y z. 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::IThreeAxisGyroscopes
virtual	~IThreeAxisGyroscopes ()

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

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

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

Protected Types
enum	timestamp_enumtype { yarp_timestamp =0 , rs_timestamp }

Protected Attributes
rs2_vector	m_last_gyro

rs2_vector	m_last_accel

rs2_pose	m_last_pose

std::string	m_inertial_sensor_name_prefix

const std::string	m_accel_sensor_tag = "accelerations_sensor"

const std::string	m_gyro_sensor_tag = "gyro_sensor"

const std::string	m_orientation_sensor_tag = "orientation_sensor"

const std::string	m_position_sensor_tag = "position_sensor"

const std::string	m_pose_sensor_tag = "pose_sensor"

std::string	m_gyroFrameName

std::string	m_accelFrameName

std::string	m_orientationFrameName

std::string	m_positionFrameName

std::string	m_poseFrameName

rs2::config	m_cfg

std::mutex	m_mutex

rs2::pipeline	m_pipeline

rs2::pipeline_profile	m_profile

std::string	m_lastError

timestamp_enumtype	m_timestamp_type

Member Enumeration Documentation

◆ timestamp_enumtype

enum realsense2Tracking::timestamp_enumtype

protected

Enumerator
yarp_timestamp
rs_timestamp

Definition at line 119 of file realsense2Tracking.h.

Constructor & Destructor Documentation

◆ realsense2Tracking()

realsense2Tracking::realsense2Tracking ( )

Definition at line 150 of file realsense2Tracking.cpp.

◆ ~realsense2Tracking()

realsense2Tracking::~realsense2Tracking ( )

overridedefault

Member Function Documentation

◆ close()

bool realsense2Tracking::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 223 of file realsense2Tracking.cpp.

◆ getNrOfOrientationSensors()

size_t realsense2Tracking::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 327 of file realsense2Tracking.cpp.

◆ getNrOfPositionSensors()

size_t realsense2Tracking::getNrOfPositionSensors ( ) const

overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 378 of file realsense2Tracking.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t realsense2Tracking::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 231 of file realsense2Tracking.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t realsense2Tracking::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 280 of file realsense2Tracking.cpp.

◆ getOrientationSensorFrameName()

bool realsense2Tracking::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 345 of file realsense2Tracking.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool realsense2Tracking::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

${}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right)$

with

$RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}$

,

$RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix}$

and

$RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix}$

where ${}^f R_s \in \mathbb{R}^{3 \times 3}$ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 353 of file realsense2Tracking.cpp.

◆ getOrientationSensorName()

bool realsense2Tracking::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 338 of file realsense2Tracking.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status realsense2Tracking::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 332 of file realsense2Tracking.cpp.

◆ getPositionSensorFrameName()

bool realsense2Tracking::getPositionSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 396 of file realsense2Tracking.cpp.

◆ getPositionSensorMeasure()

bool realsense2Tracking::getPositionSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	xyz,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the position sensor as x y z.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfPositionSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 404 of file realsense2Tracking.cpp.

◆ getPositionSensorName()

bool realsense2Tracking::getPositionSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 389 of file realsense2Tracking.cpp.

◆ getPositionSensorStatus()

yarp::dev::MAS_status realsense2Tracking::getPositionSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 383 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool realsense2Tracking::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 249 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool realsense2Tracking::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 256 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeName()

bool realsense2Tracking::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 242 of file realsense2Tracking.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status realsense2Tracking::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 236 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool realsense2Tracking::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 298 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool realsense2Tracking::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 305 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool realsense2Tracking::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 291 of file realsense2Tracking.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status realsense2Tracking::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 285 of file realsense2Tracking.cpp.

◆ open()

bool realsense2Tracking::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 189 of file realsense2Tracking.cpp.

Member Data Documentation

◆ m_accel_sensor_tag

const std::string realsense2Tracking::m_accel_sensor_tag = "accelerations_sensor"

protected

Definition at line 103 of file realsense2Tracking.h.

◆ m_accelFrameName

std::string realsense2Tracking::m_accelFrameName

protected

Definition at line 109 of file realsense2Tracking.h.

◆ m_cfg

rs2::config realsense2Tracking::m_cfg

protected

Definition at line 114 of file realsense2Tracking.h.

◆ m_gyro_sensor_tag

const std::string realsense2Tracking::m_gyro_sensor_tag = "gyro_sensor"

protected

Definition at line 104 of file realsense2Tracking.h.

◆ m_gyroFrameName

std::string realsense2Tracking::m_gyroFrameName

protected

Definition at line 108 of file realsense2Tracking.h.

◆ m_inertial_sensor_name_prefix

std::string realsense2Tracking::m_inertial_sensor_name_prefix

protected

Definition at line 102 of file realsense2Tracking.h.

◆ m_last_accel

rs2_vector realsense2Tracking::m_last_accel

mutableprotected

Definition at line 98 of file realsense2Tracking.h.

◆ m_last_gyro

rs2_vector realsense2Tracking::m_last_gyro

mutableprotected

Definition at line 97 of file realsense2Tracking.h.

◆ m_last_pose

rs2_pose realsense2Tracking::m_last_pose

mutableprotected

Definition at line 99 of file realsense2Tracking.h.

◆ m_lastError

std::string realsense2Tracking::m_lastError

protected

Definition at line 118 of file realsense2Tracking.h.

◆ m_mutex

std::mutex realsense2Tracking::m_mutex

mutableprotected

Definition at line 115 of file realsense2Tracking.h.

◆ m_orientation_sensor_tag

const std::string realsense2Tracking::m_orientation_sensor_tag = "orientation_sensor"

protected

Definition at line 105 of file realsense2Tracking.h.

◆ m_orientationFrameName

std::string realsense2Tracking::m_orientationFrameName

protected

Definition at line 110 of file realsense2Tracking.h.

◆ m_pipeline

rs2::pipeline realsense2Tracking::m_pipeline

protected

Definition at line 116 of file realsense2Tracking.h.

◆ m_pose_sensor_tag

const std::string realsense2Tracking::m_pose_sensor_tag = "pose_sensor"

protected

Definition at line 107 of file realsense2Tracking.h.

◆ m_poseFrameName

std::string realsense2Tracking::m_poseFrameName

protected

Definition at line 112 of file realsense2Tracking.h.

◆ m_position_sensor_tag

const std::string realsense2Tracking::m_position_sensor_tag = "position_sensor"

protected

Definition at line 106 of file realsense2Tracking.h.

◆ m_positionFrameName

std::string realsense2Tracking::m_positionFrameName

protected

Definition at line 111 of file realsense2Tracking.h.

◆ m_profile

rs2::pipeline_profile realsense2Tracking::m_profile

protected

Definition at line 117 of file realsense2Tracking.h.

◆ m_timestamp_type

timestamp_enumtype realsense2Tracking::m_timestamp_type

protected

Definition at line 120 of file realsense2Tracking.h.

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

src/devices/realsense2/realsense2Tracking.h
src/devices/realsense2/realsense2Tracking.cpp

Detailed Description

Public Member Functions

Protected Types

Protected Attributes

Member Enumeration Documentation

◆ timestamp_enumtype

Constructor & Destructor Documentation

◆ realsense2Tracking()

◆ ~realsense2Tracking()

Member Function Documentation

◆ close()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getPositionSensorFrameName()

◆ getPositionSensorMeasure()

◆ getPositionSensorName()

◆ getPositionSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ open()

Member Data Documentation

◆ m_accel_sensor_tag

◆ m_accelFrameName

◆ m_cfg

◆ m_gyro_sensor_tag

◆ m_gyroFrameName

◆ m_inertial_sensor_name_prefix

◆ m_last_accel

◆ m_last_gyro

◆ m_last_pose

◆ m_lastError

◆ m_mutex

◆ m_orientation_sensor_tag

◆ m_orientationFrameName

◆ m_pipeline

◆ m_pose_sensor_tag

◆ m_poseFrameName

◆ m_position_sensor_tag

◆ m_positionFrameName

◆ m_profile

◆ m_timestamp_type