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
	Ask the robot to reach a position defined in the world reference frame. More...

bool	gotoTargetByRelativeLocation (double x, double y, double theta) override
	Ask the robot to reach a position defined in the robot reference frame. More...

bool	gotoTargetByRelativeLocation (double x, double y) override
	Ask the robot to reach a position defined in the robot reference frame. More...

bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &target) override
	Gets the last navigation target in the world reference frame. More...

bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta) override
	Gets the last navigation target in the robot reference frame. More...

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

bool	stopNavigation () override
	Terminates the current navigation task. More...

bool	suspendNavigation (double time) override
	Ask to the robot to suspend the current navigation task for a defined amount of time. More...

bool	resumeNavigation () override
	Resume a previously suspended 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...

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::INavigation2DTargetActions
virtual	~INavigation2DTargetActions ()
	Destructor. More...

virtual bool	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc)=0
	Ask the robot to reach a position defined in the world reference frame. More...

virtual bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the last navigation target in the world reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y, double theta)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta)=0
	Gets the last navigation target in the robot reference frame. More...

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

virtual bool	getNavigationStatus (NavigationStatusEnum &status)=0
	Gets the current status of the navigation task. More...

virtual bool	stopNavigation ()=0
	Terminates the current navigation task. More...

virtual bool	suspendNavigation (const double time_s=std::numeric_limits< double >::infinity())=0
	Ask to the robot to suspend the current navigation task for a defined amount of time. More...

virtual bool	resumeNavigation ()=0
	Resume a previously suspended navigation task. More...

virtual bool	recomputeCurrentNavigationPath ()=0
	Forces the navigation system to recompute the path from the current robot position to the current goal. More...

virtual bool	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints)=0
	Returns the list of waypoints generated by the navigation algorithm. More...

virtual bool	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0
	Returns the current waypoint pursued by the navigation algorithm. More...

virtual bool	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map)=0
	Returns the current navigation map processed by the navigation algorithm. 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...

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::INavigation2DVelocityActions.

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 & loc )

overridevirtual

Gets the last navigation target in the world reference frame.

Parameters

loc	the location of the robot

Returns: true/false

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

Definition at line 165 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

trajectory_type	specifies if we are requesting the waypoints of the global trajectory or the waypoints of the local trajectory
waypoints	the list of waypoints generated by the navigation algorithm

Returns: true/false

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

Definition at line 141 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 153 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 147 of file fakeNavigationDev.cpp.

◆ getLastVelocityCommand()

bool fakeNavigation::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 110 of file fakeNavigationDev.cpp.

◆ getNavigationStatus()

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

overridevirtual

Gets the current status of the navigation task.

Returns: true/false

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

Definition at line 159 of file fakeNavigationDev.cpp.

◆ getRelativeLocationOfCurrentTarget()

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

overridevirtual

Gets the last navigation target in the robot reference frame.

Parameters

x
y
theta

Returns: true/false

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

Definition at line 180 of file fakeNavigationDev.cpp.

◆ gotoTargetByAbsoluteLocation()

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

overridevirtual

Ask the robot to reach a position defined in the world reference frame.

Parameters

loc	the location to be reached

Returns: true/false

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

Definition at line 82 of file fakeNavigationDev.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

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

overridevirtual

Ask the robot to reach a position defined in the robot reference frame.

The final orientation of the goal is unspecified.

Parameters

x
y

Returns: true/false

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

Ask the robot to reach a position defined in the robot reference frame.

Parameters

x
y
theta

Returns: true/false

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 171 of file fakeNavigationDev.cpp.

◆ resumeNavigation()

bool fakeNavigation::resumeNavigation ( )

overridevirtual

Resume a previously suspended navigation task.

Returns: true/false

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

Definition at line 132 of file fakeNavigationDev.cpp.

◆ stopNavigation()

bool fakeNavigation::stopNavigation ( )

overridevirtual

Terminates the current navigation task.

Cannot be resumed.

Returns: true/false

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

Definition at line 116 of file fakeNavigationDev.cpp.

◆ suspendNavigation()

bool fakeNavigation::suspendNavigation ( double time_s )

overridevirtual

Ask to the robot to suspend the current navigation task for a defined amount of time.

Can be resumed by resume().

Parameters

time_s

Returns: true/false

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

Definition at line 123 of file fakeNavigationDev.cpp.

Member Data Documentation

◆ navThread

fakeNavigationThread* fakeNavigation::navThread =nullptr

Definition at line 42 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()

◆ getLastVelocityCommand()

◆ getNavigationStatus()

◆ getRelativeLocationOfCurrentTarget()

◆ gotoTargetByAbsoluteLocation()

◆ gotoTargetByRelativeLocation() [1/2]

◆ gotoTargetByRelativeLocation() [2/2]

◆ open()

◆ recomputeCurrentNavigationPath()

◆ resumeNavigation()

◆ stopNavigation()

◆ suspendNavigation()

Member Data Documentation

◆ navThread