fakeNavigation: Documentation to be added More...

#include <fakeNavigationDevice/fakeNavigationDev.h>

Inheritance diagram for fakeNavigation:

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

	fakeNavigation ()

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

bool	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc) override
	Sets a new navigation target, expressed in the absolute (map) coordinate frame. More...

bool	gotoTargetByRelativeLocation (double x, double y, double theta) override
	//Sets a new relative target, expressed in local (robot) coordinate frame. More...

bool	gotoTargetByRelativeLocation (double x, double y) override
	//Sets a new relative target, expressed in local (robot) coordinate frame. More...

bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &target) override
	//Gets the last target set through a setNewAbsTarget() command. More...

bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta) override
	//Gets the last target set through a setNewRelTarget command, expressed in absolute coordinates. More...

bool	getNavigationStatus (yarp::dev::Nav2D::NavigationStatusEnum &status) override
	//Gets the status of the current navigation task. More...

bool	stopNavigation () override
	//Stops the current navigation task. More...

bool	suspendNavigation (double time) override
	//Pauses the current navigation task. More...

bool	resumeNavigation () override
	//Resumes a previously paused navigation task. More...

bool	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints) override
	Returns the list of waypoints generated by the navigation algorithm. More...

bool	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint) override
	Returns the current waypoint pursued by the navigation algorithm. More...

bool	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map) override
	Returns the current navigation map processed by the navigation algorithm. More...

bool	recomputeCurrentNavigationPath () override
	Forces the navigation system to recompute the path from the current robot position to the current goal. More...

virtual bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
	Apply a velocity command. 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::INavigation2DTargetActions
virtual	~INavigation2DTargetActions ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions
virtual	~INavigation2DControlActions ()
	Destructor. More...

Public Attributes
fakeNavigationThread *	navThread =nullptr

Detailed Description

fakeNavigation: Documentation to be added

Definition at line 31 of file fakeNavigationDev.h.

Constructor & Destructor Documentation

◆ fakeNavigation()

fakeNavigation::fakeNavigation ( )

Definition at line 67 of file fakeNavigationDev.cpp.

Member Function Documentation

◆ applyVelocityCommand()

bool fakeNavigation::applyVelocityCommand	(	double	x_vel,
		double	y_vel,
		double	theta_vel,
		double	timeout = `0.1`
	)

overridevirtual

Apply a velocity command.

velocities are expressed in the robot reference frame

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 104 of file fakeNavigationDev.cpp.

◆ close()

bool fakeNavigation::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 73 of file fakeNavigationDev.cpp.

◆ getAbsoluteLocationOfCurrentTarget()

bool fakeNavigation::getAbsoluteLocationOfCurrentTarget ( yarp::dev::Nav2D::Map2DLocation & target )

overridevirtual

//Gets the last target set through a setNewAbsTarget() command.

Returns: a Map2DLocation containing data of the current target.; true if a target is currently available, false otherwise (in this case returned target is invalid)

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 159 of file fakeNavigationDev.cpp.

◆ getAllNavigationWaypoints()

bool fakeNavigation::getAllNavigationWaypoints	(	yarp::dev::Nav2D::TrajectoryTypeEnum	trajectory_type,
		yarp::dev::Nav2D::Map2DPath &	waypoints
	)

overridevirtual

Returns the list of waypoints generated by the navigation algorithm.

Parameters

waypoints the list of waypoints generated by the navigation algorithm

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 135 of file fakeNavigationDev.cpp.

◆ getCurrentNavigationMap()

bool fakeNavigation::getCurrentNavigationMap	(	yarp::dev::Nav2D::NavigationMapTypeEnum	map_type,
		yarp::dev::Nav2D::MapGrid2D &	map
	)

overridevirtual

Returns the current navigation map processed by the navigation algorithm.

Parameters

map_type	the map to be requested (e.g. global, local, etc.)
map	the map, currently used by the navigation algorithm

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 147 of file fakeNavigationDev.cpp.

◆ getCurrentNavigationWaypoint()

bool fakeNavigation::getCurrentNavigationWaypoint ( yarp::dev::Nav2D::Map2DLocation & curr_waypoint )

overridevirtual

Returns the current waypoint pursued by the navigation algorithm.

Parameters

curr_waypoint the current waypoint pursued by the navigation algorithm

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 141 of file fakeNavigationDev.cpp.

◆ getNavigationStatus()

bool fakeNavigation::getNavigationStatus ( yarp::dev::Nav2D::NavigationStatusEnum & status )

overridevirtual

//Gets the status of the current navigation task.

Typically stored into navigation_status variable.

Returns: the current navigation status expressed as NavigationStatusEnum.

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 153 of file fakeNavigationDev.cpp.

◆ getRelativeLocationOfCurrentTarget()

bool fakeNavigation::getRelativeLocationOfCurrentTarget	(	double &	x,
		double &	y,
		double &	theta
	)

overridevirtual

//Gets the last target set through a setNewRelTarget command, expressed in absolute coordinates.

Parameters

a	Map2DLocation containing data of the current target.

Returns: true if a target is currently available, false otherwise (in this case returned target is invalid)

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 174 of file fakeNavigationDev.cpp.

◆ gotoTargetByAbsoluteLocation()

bool fakeNavigation::gotoTargetByAbsoluteLocation ( yarp::dev::Nav2D::Map2DLocation loc )

overridevirtual

Sets a new navigation target, expressed in the absolute (map) coordinate frame.

Parameters

loc	the location to be reached

Returns: true/false if the command is accepted

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 82 of file fakeNavigationDev.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

bool fakeNavigation::gotoTargetByRelativeLocation	(	double	x,
		double	y
	)

overridevirtual

//Sets a new relative target, expressed in local (robot) coordinate frame.

Parameters

v	a three-element vector (x,y,theta) representing the location to be reached

Returns: true/false if the command is accepted

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 98 of file fakeNavigationDev.cpp.

◆ gotoTargetByRelativeLocation() [2/2]

bool fakeNavigation::gotoTargetByRelativeLocation	(	double	x,
		double	y,
		double	theta
	)

overridevirtual

//Sets a new relative target, expressed in local (robot) coordinate frame.

Parameters

v	a three-element vector (x,y,theta) representing the location to be reached

Returns: true/false if the command is accepted

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 92 of file fakeNavigationDev.cpp.

◆ open()

bool fakeNavigation::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 25 of file fakeNavigationDev.cpp.

◆ recomputeCurrentNavigationPath()

bool fakeNavigation::recomputeCurrentNavigationPath ( )

overridevirtual

Forces the navigation system to recompute the path from the current robot position to the current goal.

If no goal has been set, the command has no effect.

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 165 of file fakeNavigationDev.cpp.

◆ resumeNavigation()

bool fakeNavigation::resumeNavigation ( )

overridevirtual

//Resumes a previously paused navigation task.

Returns: true/false if the command is executed successfully.

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 126 of file fakeNavigationDev.cpp.

◆ stopNavigation()

bool fakeNavigation::stopNavigation ( )

overridevirtual

//Stops the current navigation task.

Returns: true/false if the command is executed successfully.

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 110 of file fakeNavigationDev.cpp.

◆ suspendNavigation()

bool fakeNavigation::suspendNavigation ( double time )

overridevirtual

//Pauses the current navigation task.

Returns: true/false if the command is executed successfully.

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 117 of file fakeNavigationDev.cpp.

Member Data Documentation

◆ navThread

fakeNavigationThread* fakeNavigation::navThread =nullptr

Definition at line 41 of file fakeNavigationDev.h.

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

src/devices/fakeNavigationDevice/fakeNavigationDev.h
src/devices/fakeNavigationDevice/fakeNavigationDev.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ fakeNavigation()

Member Function Documentation

◆ applyVelocityCommand()

◆ close()

◆ getAbsoluteLocationOfCurrentTarget()

◆ getAllNavigationWaypoints()

◆ getCurrentNavigationMap()

◆ getCurrentNavigationWaypoint()

◆ getNavigationStatus()

◆ getRelativeLocationOfCurrentTarget()

◆ gotoTargetByAbsoluteLocation()

◆ gotoTargetByRelativeLocation() [1/2]

◆ gotoTargetByRelativeLocation() [2/2]

◆ open()

◆ recomputeCurrentNavigationPath()

◆ resumeNavigation()

◆ stopNavigation()

◆ suspendNavigation()

Member Data Documentation

◆ navThread