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

YarpSensorBridge Yarp implementation of the ISensorBridge interface Currently available interfaces.

Remapped Remote Control Board for joint states
Inertial Measurement Units through generic sensor interface and remapped multiple analog sensor interface
Whole Body Dynamics Estimated end effector wrenches through a generic sensor interface
Force Torque Sensors through analog sensor interface and remapped multiple analog sensor interface
Depth Cameras through RGBD sensor interface
Camera images through OpenCV Grabber interface

The YarpSensorBridge expects a list of device drivers through the yarp::dev::PolyDriverList object. Each PolyDriver object in the list is compared with the configured sensor names and the assumptions listed below to infer the sensor types and relevant interfaces in order to to read the relevant data.

MAJOR ASSUMPTIONS

Every sensor unit(device driver) attached to this Bridge is identified by a unique name
A single instance of a remote control board remapper and a multiple analog sensor remapper is expected if the suer wants to use the control board interfaces and multiple analog sensor interfaces
Any generic sensor interface with channel dimensions of 6 is considered to be a cartesian wrench interface
Any generic sensor interface with channel dimensions of 12 is considered as a IMU interface (server inertial)
Any analog sensor interface with channel dimensions of 6 is considered as a force torque sensor interface
The current internal design (read all sensors in a serial fashion) may not be suitable for a heavy measurement set

The parameters for writing the configuration file for this class is given as,

Group	Parameter	Type	Description
	check_for_nan	boolean	flag to activate checking for NANs in the incoming measurement buffers, not applicable for images
	stream_joint_states	boolean	Flag to activate the attachment to remapped control boards for joint states reading
	stream_inertials	boolean	Flag to activate the attachment to IMU sensor devices
	stream_cartesian_wrenches	boolean	Flag to activate the attachment to Cartesian wrench related devices
	stream_forcetorque_sensors	boolean	Flag to activate the attachment to six axis FT sensor devices
	stream_cameras	boolean	Flag to activate the attachment to Cameras devices
	stream_pids	boolean	Flag to activate the attachment to remapped control boards for pids reading
	stream_motor_states	boolean	Flag to activate the attachment to remapped control boards for motor states reading
	stream_motor_PWM	boolean	Flag to activate the attachment to remapped control boards for PWM reading
	stream_temperatures	boolean	Flag to activate the attachment to MAS temperature sensors
RemoteControlBoardRemapper			Expects only one remapped remotecontrolboard device attached to it, if there multiple remote control boards, then use a remapper to create a single remotecontrolboard
	joints_list	vector of strings	This parameter is optional. The joints list used to open the remote control board remapper. If the list is not passed, the order of the joint stored in the PolyDriver is used
InertialSensors			Expects IMU to be opened as genericSensorClient devices communicating through the inertial server and other inertials as a part multiple analog sensors remapper ("multipleanalogsensorsremapper")
	imu_list	vector of strings	list of the names of devices opened as genericSensorClient device and having a channel dimension of 12
	gyroscopes_list	vector of strings	list of the names of devices opened with ThreeAxisGyroscope interface remapped through the "multipleanalogsensorsremapper" interfaces and having a channel dimension of 3
	accelerometers_list	vector of strings	list of the names of devices opened with ThreeAxisLinearAccelerometers interface remapped through the "multipleanalogsensorsremapper" interfaces and having a channel dimension of 3
	orientation_sensors_list	vector of strings	list of the names of devices opened with OrientationSensors interface remapped through the "multipleanalogsensorsremapper" interfaces and having a channel dimension of 3
	magnetometers_list	vector of strings	list of the names of devices opened with ThreeAxisMagnetometer interface remapped through the "multipleanalogsensorsremapper" interfaces and having a channel dimension of 3
CartesianWrenches			Expects the devices wrapping the cartesian wrenches ports to be opened as "genericSensorClient" device and have a channel dimension of 6
	cartesian_wrenches_list	vector of strings	list of the names of devices opened as genericSensorClient device and having a channel dimension of 6
SixAxisForceTorqueSensors			Expects the Six axis FT sensors to be opened with SixAxisForceTorqueSensors interface remapped through multiple analog sensors remapper ("multipleanalogsensorsremapper") or to be opened as analog sensor ("analogsensorclient") device having channel dimensions as 6
	sixaxis_forcetorque_sensors_list	vector of strings	list of six axis FT sensors (the difference between a MAS FT and an analog FT is done internally assuming that the names are distinct form each other)
TemperatureSensors			Expects the temperature sensors to be opened with TemperatureSensors interface remapped through multiple analog sensors remapper
	temperature_sensors_list	vector of strings	list containing the devices opened with TemperatureSensors interface

Base classes

class ISensorBridge: Sensor bridge interface.
template<class Output> class BipedalLocomotion::System::Source<SensorBridgeMetaData>: Source is a template specialization of Advanceable and represents a block that does not contains input.

Public types

struct Impl

Constructors, destructors, conversion operators

YarpSensorBridge(): Constructor.
~YarpSensorBridge(): Destructor.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool final: Initialize estimator.
auto setDriversList(const yarp::dev::PolyDriverList& deviceDriversList) -> bool: Set the list of device drivers from which the sensor measurements need to be streamed.
auto advance() -> bool final: Advance the internal state.
auto isOutputValid() const -> bool final: Determines the validity of the object retrieved with get()
auto getFailedSensorReads() const -> std::vector<std::string>: list of sensors that was failed to be read in the current advance() step
auto getOutput() const -> const SensorBridgeMetaData& final: Get the object.
auto getJointsList(std::vector<std::string>& jointsList) -> bool final: Get joints list.
auto getIMUsList(std::vector<std::string>& IMUsList) -> bool final: Get imu sensors.
auto getLinearAccelerometersList(std::vector<std::string>& linearAccelerometersList) -> bool final: Get linear accelerometers.
auto getGyroscopesList(std::vector<std::string>& gyroscopesList) -> bool final: Get gyroscopes.
auto getOrientationSensorsList(std::vector<std::string>& orientationSensorsList) -> bool final: Get orientation sensors.
auto getMagnetometersList(std::vector<std::string>& magnetometersList) -> bool final: Get magnetometers sensors.
auto getSixAxisForceTorqueSensorsList(std::vector<std::string>& sixAxisForceTorqueSensorsList) -> bool final: Get 6 axis FT sensors.
auto getThreeAxisForceTorqueSensorsList(std::vector<std::string>& threeAxisForceTorqueSensorsList) -> bool final: Get 6 axis FT sensors.
auto getCartesianWrenchesList(std::vector<std::string>& cartesianWrenchesList) -> bool final: Get cartesian wrenches.
auto getTemperatureSensorsList(std::vector<std::string>& temperatureSensorsList) -> bool final: Get temperature sensors.
auto getJointsList() const -> const std::vector<std::string>&
auto getIMUsList() const -> const std::vector<std::string>&
auto getLinearAccelerometersList() const -> const std::vector<std::string>&
auto getGyroscopesList() const -> const std::vector<std::string>&
auto getOrientationSensorsList() const -> const std::vector<std::string>&
auto getMagnetometersList() const -> const std::vector<std::string>&
auto getSixAxisForceTorqueSensorsList() const -> const std::vector<std::string>&
auto getTemperatureSensorsList() const -> const std::vector<std::string>&
auto getCartesianWrenchesList() const -> const std::vector<std::string>&
auto getJointPosition(const std::string& jointName, double& jointPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get joint position in radians.
auto getJointPositions(Eigen::Ref<Eigen::VectorXd> jointPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all joints' positions in radians.
auto getJointVelocity(const std::string& jointName, double& jointVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get joint velocity in rad/s.
auto getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all joints' velocities in rad/s.
auto getJointAcceleration(const std::string& jointName, double& jointAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get joint acceleration in rad/s^2.
auto getJointAccelerations(Eigen::Ref<Eigen::VectorXd> jointAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all joints' accelerations in rad/s^2.
auto getIMUMeasurement(const std::string& imuName, Eigen::Ref<Vector12d> imuMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get IMU measurement The serialization of measurments is as follows, (rpy acc omega mag)
auto getLinearAccelerometerMeasurement(const std::string& accName, Eigen::Ref<Eigen::Vector3d> accMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get linear accelerometer measurement in m/s^2.
auto getGyroscopeMeasure(const std::string& gyroName, Eigen::Ref<Eigen::Vector3d> gyroMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get gyroscope measurement in rad/s.
auto getOrientationSensorMeasurement(const std::string& rpyName, Eigen::Ref<Eigen::Vector3d> rpyMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get orientation sensor measurement in radians as roll pitch yaw Euler angles.
auto getMagnetometerMeasurement(const std::string& magName, Eigen::Ref<Eigen::Vector3d> magMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get magentometer measurement in tesla.
auto getSixAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Vector6d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get six axis force torque measurement.
auto getThreeAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Eigen::Vector3d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get three axis force-torque measurement containing normal force (N) and tangential moments (Nm)
auto getCartesianWrench(const std::string& cartesianWrenchName, Eigen::Ref<Vector6d> cartesianWrenchMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get 6D end effector wrenches in N and Nm for forces and torques respectively.
auto getTemperature(const std::string& temperatureSensorName, double& temperature, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get temperature measurement.
auto getMotorCurrent(const std::string& jointName, double& motorCurrent, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor current in ampere.
auto getMotorCurrents(Eigen::Ref<Eigen::VectorXd> motorCurrents, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' currents in ampere.
auto getMotorPWM(const std::string& jointName, double& motorPWM, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor PWM.
auto getMotorPWMs(Eigen::Ref<Eigen::VectorXd> motorPWMs, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' PWMs.
auto getJointTorque(const std::string& jointName, double& jointTorque, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor torque in Nm.
auto getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' torques in Nm.
auto getPidPosition(const std::string& jointName, double& pidPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get pid position in rad.
auto getPidPositions(Eigen::Ref<Eigen::VectorXd> pidPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all pid positions in rad.
auto getPidPositionError(const std::string& jointName, double& pidPositionError, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get pid position error in rad.
auto getPidPositionErrors(Eigen::Ref<Eigen::VectorXd> pidPositionErrors, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all pid position errors in rad.
auto getMotorPosition(const std::string& jointName, double& motorPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor position in rad.
auto getMotorPositions(Eigen::Ref<Eigen::VectorXd> motorPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' positions in rad.
auto getMotorVelocity(const std::string& jointName, double& motorVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor velocity in rad/s.
auto getMotorVelocities(Eigen::Ref<Eigen::VectorXd> motorVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' velocities in rad/s.
auto getMotorAcceleration(const std::string& jointName, double& motorAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get motor acceleration in rad/s^2.
auto getMotorAccelerations(Eigen::Ref<Eigen::VectorXd> motorAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool final: Get all motors' accelerations in rad/s.

Function documentation

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

Initialize estimator.

Parameters
handler in	Parameters handler

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::setDriversList(const yarp::dev::PolyDriverList& deviceDriversList)

Set the list of device drivers from which the sensor measurements need to be streamed.

Parameters
deviceDriversList	device drivers holding the pointer to sensor interfaces
Returns	True/False in case of success/failure.

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::advance() final

Advance the internal state.

Returns	True if the advance is successful.

This may change the value retrievable from get().

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::isOutputValid() const final

Determines the validity of the object retrieved with get()

Returns	True if the object is valid, false otherwise.

std::vector<std::string> BipedalLocomotion::RobotInterface::YarpSensorBridge::getFailedSensorReads() const

list of sensors that was failed to be read in the current advance() step

Returns	list of sensors as a vector of strings

const SensorBridgeMetaData& BipedalLocomotion::RobotInterface::YarpSensorBridge::getOutput() const final

Get the object.

Returns	a const reference of the requested object.

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointsList(std::vector<std::string>& jointsList) final

Get joints list.

Parameters
jointsList out	list of joints attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getIMUsList(std::vector<std::string>& IMUsList) final

Get imu sensors.

Parameters
IMUsList out	list of IMUs attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getLinearAccelerometersList(std::vector<std::string>& linearAccelerometersList) final

Get linear accelerometers.

Parameters
linearAccelerometersList out	list of linear accelerometers attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getGyroscopesList(std::vector<std::string>& gyroscopesList) final

Get gyroscopes.

Parameters
gyroscopesList out	list of gyroscopes attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getOrientationSensorsList(std::vector<std::string>& orientationSensorsList) final

Get orientation sensors.

Parameters
orientationSensorsList out	list of orientation sensors attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMagnetometersList(std::vector<std::string>& magnetometersList) final

Get magnetometers sensors.

Parameters
magnetometersList out	list of magnetometers attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getSixAxisForceTorqueSensorsList(std::vector<std::string>& sixAxisForceTorqueSensorsList) final

Get 6 axis FT sensors.

Parameters
sixAxisForceTorqueSensorsList out	list of 6 axis force torque sensors attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getThreeAxisForceTorqueSensorsList(std::vector<std::string>& threeAxisForceTorqueSensorsList) final

Get 6 axis FT sensors.

Parameters
threeAxisForceTorqueSensorsList out	list of 3 axis force torque sensors attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getCartesianWrenchesList(std::vector<std::string>& cartesianWrenchesList) final

Get cartesian wrenches.

Parameters
cartesianWrenchesList out	list of cartesian wrenches attached to the bridge
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getTemperatureSensorsList(std::vector<std::string>& temperatureSensorsList) final

Get temperature sensors.

Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointPosition(const std::string& jointName, double& jointPosition, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get joint position in radians.

Parameters
jointName in	name of the joint
jointPosition out	joint position in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointPositions(Eigen::Ref<Eigen::VectorXd> jointPositions, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all joints' positions in radians.

Parameters
jointPositions out	all joints' position in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointVelocity(const std::string& jointName, double& jointVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get joint velocity in rad/s.

Parameters
jointName in	name of the joint
jointVelocity out	joint velocity in radians per second
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all joints' velocities in rad/s.

Parameters
jointVelocties out	all joints' velocities in radians per second
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointAcceleration(const std::string& jointName, double& jointAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get joint acceleration in rad/s^2.

Parameters
jointName in	name of the joint
jointAcceleration out	joint acceleration in radians per second squared
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointAccelerations(Eigen::Ref<Eigen::VectorXd> jointAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all joints' accelerations in rad/s^2.

Parameters
jointAccelerations out	all joints' accelerations in radians per second squared
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getIMUMeasurement(const std::string& imuName, Eigen::Ref<Vector12d> imuMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get IMU measurement The serialization of measurments is as follows, (rpy acc omega mag)

Parameters
imuName in	name of the IMU
imuMeasurement out	imu measurement of size 12
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

rpy in radians Roll-Pitch-Yaw Euler angles
acc in m/s^2 linear accelerometer measurements
omega in rad/s gyroscope measurements
mag in tesla magnetometer measurements

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getLinearAccelerometerMeasurement(const std::string& accName, Eigen::Ref<Eigen::Vector3d> accMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get linear accelerometer measurement in m/s^2.

Parameters
accName in	name of the linear accelerometer
accMeasurement out	linear accelerometer measurements of size 3
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getGyroscopeMeasure(const std::string& gyroName, Eigen::Ref<Eigen::Vector3d> gyroMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get gyroscope measurement in rad/s.

Parameters
gyroName in	name of the gyroscope
gyroMeasurement out	gyroscope measurements of size 3
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getOrientationSensorMeasurement(const std::string& rpyName, Eigen::Ref<Eigen::Vector3d> rpyMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get orientation sensor measurement in radians as roll pitch yaw Euler angles.

Parameters
rpyName in	name of the orientation sensor
rpyMeasurement out	rpy measurements of size 3
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMagnetometerMeasurement(const std::string& magName, Eigen::Ref<Eigen::Vector3d> magMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get magentometer measurement in tesla.

Parameters
magName in	name of the magnetometer
magMeasurement out	magnetometer measurements of size 3
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getSixAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Vector6d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get six axis force torque measurement.

Parameters
ftName in	name of the FT sensor
ftMeasurement out	FT measurements of size 6 containing 3d forces and 3d torques
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getThreeAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Eigen::Vector3d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get three axis force-torque measurement containing normal force (N) and tangential moments (Nm)

Parameters
ftName in	name of the FT sensor
ftMeasurement out	FT measurements of size 3 containing tau_x tau_y and fz
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getCartesianWrench(const std::string& cartesianWrenchName, Eigen::Ref<Vector6d> cartesianWrenchMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get 6D end effector wrenches in N and Nm for forces and torques respectively.

Parameters
cartesianWrenchName in	name of the end effector wrench
cartesianWrenchMeasurement out	end effector wrench measurement of size 6
receiveTimeInSeconds
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getTemperature(const std::string& temperatureSensorName, double& temperature, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get temperature measurement.

Parameters
temperatureSensorName in	name of the temperature sensor
temperature out	temperature measurement
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorCurrent(const std::string& jointName, double& motorCurrent, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor current in ampere.

Parameters
jointName in	name of the joint
motorCurrent out	motor current in ampere
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorCurrents(Eigen::Ref<Eigen::VectorXd> motorCurrents, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' currents in ampere.

Parameters
motorCurrents out	all motors' current in ampere
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorPWM(const std::string& jointName, double& motorPWM, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor PWM.

Parameters
jointName in	name of the joint
motorPWM out	motor PWM
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorPWMs(Eigen::Ref<Eigen::VectorXd> motorPWMs, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' PWMs.

Parameters
motorPWMs out	all motors' PWM in ampere
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointTorque(const std::string& jointName, double& jointTorque, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor torque in Nm.

Parameters
jointName in	name of the joint
jointTorque out	motor torque in Nm
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' torques in Nm.

Parameters
jointTorques out	all motors' torque in Nm
receiveTimeInSeconds out	time at which the measurement was receivedW
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getPidPosition(const std::string& jointName, double& pidPosition, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get pid position in rad.

Parameters
jointName in	name of the joint
pidPosition out	pid position in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getPidPositions(Eigen::Ref<Eigen::VectorXd> pidPositions, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all pid positions in rad.

Parameters
pidPositions out	all pid positions in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getPidPositionError(const std::string& jointName, double& pidPositionError, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get pid position error in rad.

Parameters
jointName in	name of the joint
pidPositionError out	pid position error in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getPidPositionErrors(Eigen::Ref<Eigen::VectorXd> pidPositionErrors, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all pid position errors in rad.

Parameters
pidPositionErrors out	all pid position errors in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorPosition(const std::string& jointName, double& motorPosition, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor position in rad.

Parameters
jointName in	name of the joint
motorPosition out	motor position in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorPositions(Eigen::Ref<Eigen::VectorXd> motorPositions, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' positions in rad.

Parameters
motorPositions out	all motors' position in radians
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorVelocity(const std::string& jointName, double& motorVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor velocity in rad/s.

Parameters
jointName in	name of the joint
motorVelocity out	motor velocity in radians per second
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorVelocities(Eigen::Ref<Eigen::VectorXd> motorVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' velocities in rad/s.

Parameters
motorVelocties out	all motors' velocities in radians per second
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorAcceleration(const std::string& jointName, double& motorAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get motor acceleration in rad/s^2.

Parameters
jointName in	name of the joint
motorAcceleration out	motor acceleration in radians per second squared
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure

bool BipedalLocomotion::RobotInterface::YarpSensorBridge::getMotorAccelerations(Eigen::Ref<Eigen::VectorXd> motorAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) final

Get all motors' accelerations in rad/s.

Parameters
motorAccelerations out	all motors' accelerations in radians per second squared
receiveTimeInSeconds out	time at which the measurement was received
Returns	true/false in case of success/failure