fakeLocalizer Documentation to be added More...

#include <fakeLocalizerDevice/fakeLocalizerDev.h>

Inheritance diagram for fakeLocalizer:

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

	fakeLocalizer ()

virtual	~fakeLocalizer ()

virtual bool	close () override
	Close the DeviceDriver. 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	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the current position of the robot w.r.t world 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...

virtual 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...

virtual 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...

virtual 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...

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

virtual bool	stopLocalizationService () override
	Stops the localization service. 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::ILocalization2D
virtual	~ILocalization2D ()
	Destructor. More...

virtual bool	startLocalizationService ()=0
	Starts the localization service. More...

virtual bool	stopLocalizationService ()=0
	Stops the localization service. More...

virtual bool	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task. More...

virtual bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...

virtual bool	getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

Public Attributes
fakeLocalizerThread *	locThread

Detailed Description

fakeLocalizer Documentation to be added

Definition at line 55 of file fakeLocalizerDev.h.

Constructor & Destructor Documentation

◆ fakeLocalizer()

fakeLocalizer::fakeLocalizer ( )

Definition at line 236 of file fakeLocalizerDev.cpp.

◆ ~fakeLocalizer()

fakeLocalizer::~fakeLocalizer ( )

virtual

Definition at line 241 of file fakeLocalizerDev.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 260 of file fakeLocalizerDev.cpp.

◆ getCurrentPosition() [1/2]

bool 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: true/false

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

Definition at line 74 of file fakeLocalizerDev.cpp.

◆ getCurrentPosition() [2/2]

bool 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: true/false

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

Definition at line 86 of file fakeLocalizerDev.cpp.

◆ getEstimatedOdometry()

bool 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: true/false

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

Definition at line 98 of file fakeLocalizerDev.cpp.

◆ getEstimatedPoses()

bool fakeLocalizer::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 46 of file fakeLocalizerDev.cpp.

◆ getLocalizationStatus()

bool fakeLocalizer::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 40 of file fakeLocalizerDev.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 221 of file fakeLocalizerDev.cpp.

◆ setInitialPose() [1/2]

bool 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: true/false

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

Definition at line 80 of file fakeLocalizerDev.cpp.

◆ setInitialPose() [2/2]

bool 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: true/false

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

Definition at line 92 of file fakeLocalizerDev.cpp.

◆ startLocalizationService()

bool fakeLocalizer::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: true/false

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

Definition at line 250 of file fakeLocalizerDev.cpp.

◆ stopLocalizationService()

bool fakeLocalizer::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: true/false

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

Definition at line 255 of file fakeLocalizerDev.cpp.

Member Data Documentation

◆ locThread

fakeLocalizerThread* fakeLocalizer::locThread

Definition at line 60 of file fakeLocalizerDev.h.

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

src/devices/fakeLocalizerDevice/fakeLocalizerDev.h
src/devices/fakeLocalizerDevice/fakeLocalizerDev.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