#include <fakeLocalizerDevice/fakeLocalizerDev.h>

Inheritance diagram for fakeLocalizerThread:

Public Member Functions
	fakeLocalizerThread (double _period, yarp::os::Searchable &_cfg)

virtual bool	threadInit () override
	Initialization method. More...

virtual void	threadRelease () override
	Release method. More...

virtual void	run () override
	Loop function. More...

bool	initializeLocalization (const yarp::dev::Nav2D::Map2DLocation &loc)

bool	getCurrentLoc (yarp::dev::Nav2D::Map2DLocation &loc)

bool	getCurrentLoc (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor. More...

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Protected Attributes
double	m_last_statistics_printed

double	m_last_locdata_received

yarp::dev::Nav2D::Map2DLocation	m_initial_loc

yarp::dev::Nav2D::Map2DLocation	m_initial_odom

yarp::dev::Nav2D::Map2DLocation	m_current_loc

yarp::dev::Nav2D::Map2DLocation	m_current_odom

std::mutex	m_mutex

yarp::os::Searchable &	m_cfg

std::string	m_local_name

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	run ()=0
	Loop function. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

Definition at line 23 of file fakeLocalizerDev.h.

Constructor & Destructor Documentation

◆ fakeLocalizerThread()

fakeLocalizerThread::fakeLocalizerThread	(	double	_period,
		yarp::os::Searchable &	_cfg
	)

Definition at line 110 of file fakeLocalizerDev.cpp.

Member Function Documentation

◆ getCurrentLoc() [1/2]

bool fakeLocalizerThread::getCurrentLoc ( yarp::dev::Nav2D::Map2DLocation & loc )

Definition at line 188 of file fakeLocalizerDev.cpp.

◆ getCurrentLoc() [2/2]

bool fakeLocalizerThread::getCurrentLoc	(	yarp::dev::Nav2D::Map2DLocation &	loc,
		yarp::sig::Matrix &	cov
	)

Definition at line 195 of file fakeLocalizerDev.cpp.

◆ initializeLocalization()

bool fakeLocalizerThread::initializeLocalization ( const yarp::dev::Nav2D::Map2DLocation & loc )

Definition at line 164 of file fakeLocalizerDev.cpp.

◆ run()

void fakeLocalizerThread::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 121 of file fakeLocalizerDev.cpp.

◆ threadInit()

bool fakeLocalizerThread::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 204 of file fakeLocalizerDev.cpp.

◆ threadRelease()

void fakeLocalizerThread::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 215 of file fakeLocalizerDev.cpp.

Member Data Documentation

◆ m_cfg

yarp::os::Searchable& fakeLocalizerThread::m_cfg

protected

Definition at line 35 of file fakeLocalizerDev.h.

◆ m_current_loc

yarp::dev::Nav2D::Map2DLocation fakeLocalizerThread::m_current_loc

protected

Definition at line 32 of file fakeLocalizerDev.h.

◆ m_current_odom

yarp::dev::Nav2D::Map2DLocation fakeLocalizerThread::m_current_odom

protected

Definition at line 33 of file fakeLocalizerDev.h.

◆ m_initial_loc

yarp::dev::Nav2D::Map2DLocation fakeLocalizerThread::m_initial_loc

protected

Definition at line 30 of file fakeLocalizerDev.h.

◆ m_initial_odom

yarp::dev::Nav2D::Map2DLocation fakeLocalizerThread::m_initial_odom

protected

Definition at line 31 of file fakeLocalizerDev.h.

◆ m_last_locdata_received

double fakeLocalizerThread::m_last_locdata_received

protected

Definition at line 29 of file fakeLocalizerDev.h.

◆ m_last_statistics_printed

double fakeLocalizerThread::m_last_statistics_printed

protected

Definition at line 28 of file fakeLocalizerDev.h.

◆ m_local_name

std::string fakeLocalizerThread::m_local_name

protected

Definition at line 36 of file fakeLocalizerDev.h.

◆ m_mutex

std::mutex fakeLocalizerThread::m_mutex

protected

Definition at line 34 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

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ fakeLocalizerThread()

Member Function Documentation

◆ getCurrentLoc() [1/2]

◆ getCurrentLoc() [2/2]

◆ initializeLocalization()

◆ run()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_cfg

◆ m_current_loc

◆ m_current_odom

◆ m_initial_loc

◆ m_initial_odom

◆ m_last_locdata_received

◆ m_last_statistics_printed

◆ m_local_name

◆ m_mutex