MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base. More...

#include <mobileBaseVelocityControl_nwc_yarp/MobileBaseVelocityControl_nwc_yarp.h>

Inheritance diagram for MobileBaseVelocityControl_nwc_yarp:

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

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

bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
	Apply a velocity command. More...

bool	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
	Returns the last applied velocity command. More...

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

	~DeviceDriver () override

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

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

virtual std::string	id () const
	Return the id assigned to the PolyDriver. More...

virtual void	setId (const std::string &id)
	Set the id for this device. 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	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DVelocityActions
virtual	~INavigation2DVelocityActions ()
	Destructor. More...

virtual bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
	Apply a velocity command. More...

virtual bool	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0
	Returns the last applied velocity command. More...

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port

std::string	m_local_name

std::string	m_server_name

std::string	m_carrier

MobileBaseVelocityControlRPC	m_RPC

Detailed Description

MobileBaseVelocityControl_nwc_yarp: A device which connects to MobileBaseVelocityControl_nws_yarp to control the velocity of a mobile base.

MobileBaseVelocityControl_nwc_yarp

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
local	-	string	-	-	Yes	Full port name opened by the device.
server	-	string	-	-	Yes	Full port name of the port remotely opened by the server, to which this client connects to.
carrier	-	string	-	tcp	No	The carier used for the connection with the server.

Definition at line 36 of file MobileBaseVelocityControl_nwc_yarp.h.

Member Function Documentation

◆ applyVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::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::INavigation2DVelocityActions.

Definition at line 99 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ close()

bool MobileBaseVelocityControl_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 78 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ getLastVelocityCommand()

bool MobileBaseVelocityControl_nwc_yarp::getLastVelocityCommand	(	double &	x_vel,
		double &	y_vel,
		double &	theta_vel
	)

overridevirtual

Returns the last applied velocity command.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 84 of file MobileBaseVelocityControl_nwc_yarp.cpp.

◆ open()

bool MobileBaseVelocityControl_nwc_yarp::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).