BipedalLocomotion::RobotInterface::YarpRobotControl class
#include <BipedalLocomotion/RobotInterface/YarpRobotControl.h>

YarpRobotControl Yarp implementation of the IRobotControl interface.

Base classes

class IRobotControl: Robot control interface.

Constructors, destructors, conversion operators

YarpRobotControl(): Constructor.
~YarpRobotControl(): Destructor.

Public functions

auto initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) -> bool final
auto setDriver(std::shared_ptr<yarp::dev::PolyDriver> robotDevice) -> bool: Set the driver required to control the robot.
auto checkMotionDone(bool& motionDone, bool& isTimeExpired, std::vector<std::pair<std::string, double>>& info) -> bool final: Check if the motion set through the position control mode ended.
auto setControlMode(const std::vector<IRobotControl::ControlMode>& controlModes) -> bool final: Set the control mode.
auto setControlMode(const IRobotControl::ControlMode& mode) -> bool final: Set the desired control mode.
auto setControlModeAsync(const std::vector<IRobotControl::ControlMode>& controlModes) -> std::future<bool> final: Set the control mode in an asynchronous thread.
auto setControlModeAsync(const IRobotControl::ControlMode& mode) -> std::future<bool> final: Set the desired control mode in an asynchronous thread.
auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const std::vector<IRobotControl::ControlMode>& controlModes, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) -> bool final: Set the desired reference.
auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& mode, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) -> bool final: Set the desired reference.
auto getJointList() const -> std::vector<std::string> final: Get the list of the controlled joints.
auto getJointLimits(Eigen::Ref<Eigen::VectorXd> lowerLimits, Eigen::Ref<Eigen::VectorXd> upperLimits) const -> bool final: Get the actuated joints limits.
auto isValid() const -> bool final: Check if the class is valid.

Function documentation

bool BipedalLocomotion::RobotInterface::YarpRobotControl::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) final

   Initialize the Interface
   @param handler pointer to a parameter handler interface
   @note the following parameters are required by the class
   |             Parameter name             |   Type   |                                          Description                                         | Mandatory |
   |:--------------------------------------:|:--------:|:--------------------------------------------------------------------------------------------:|:---------:|
   |            `reading_timeout`           |   `int`  |    Timeout used while reading from the YARP interfaces in microseconds. (Positive Number)    |     No    |
   |         `max_reading_attempts`         |   `int`  |      Max number of attempts used for reading from the YARP interfaces. (Positive Number)     |     No    |
   |         `positioning_duration`         | `double` | Duration of the trajectory generated when the joint is controlled in position mode [seconds] |    Yes    |
   |         `positioning_tolerance`        | `double` |                    Max Admissible error for position control joint [rad]                     |    Yes    |
   | `position_direct_max_admissible_error` | `double` |                 Max admissible error for position direct control joint [rad]                 |    Yes    |
   @return True/False in case of success/failure.

clang-format on

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setDriver(std::shared_ptr<yarp::dev::PolyDriver> robotDevice)

Set the driver required to control the robot.

Parameters
robotDevice	device used to control the robot.
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::checkMotionDone(bool& motionDone, bool& isTimeExpired, std::vector<std::pair<std::string, double>>& info) final

Check if the motion set through the position control mode ended.

Parameters
motionDone out	true if the motion ended.
isTimeExpired
info out	vector containing the list of the joint whose motion did not finish yet.
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setControlMode(const std::vector<IRobotControl::ControlMode>& controlModes) final

Set the control mode.

Parameters
controlModes	vector containing the control mode for each joint.
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setControlMode(const IRobotControl::ControlMode& mode) final

Set the desired control mode.

Returns	True/False in case of success/failure.

std::future<bool> BipedalLocomotion::RobotInterface::YarpRobotControl::setControlModeAsync(const std::vector<IRobotControl::ControlMode>& controlModes) final

Set the control mode in an asynchronous thread.

Parameters
controlModes	vector containing the control mode for each joint.
Returns	An std::future object to a boolean True/False in case of success/failure.

std::future<bool> BipedalLocomotion::RobotInterface::YarpRobotControl::setControlModeAsync(const IRobotControl::ControlMode& mode) final

Set the desired control mode in an asynchronous thread.

Returns	An std::future object to a boolean True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const std::vector<IRobotControl::ControlMode>& controlModes, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) final

Set the desired reference.

Parameters
desiredJointValues	desired joint values.
controlModes	vector containing the control mode for each joint.
currentJointValues
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& mode, std::optional<Eigen::Ref<const Eigen::VectorXd>> currentJointValues = {}) final