BipedalLocomotion::RobotInterface::YarpRobotControl class

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
Initialize the Interface.
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 setReferences(Eigen::Ref<const Eigen::VectorXd> jointValues, const std::vector<IRobotControl::ControlMode>& controlModes) -> bool final
Set the desired reference.
auto setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& mode) -> bool final
Set the desired reference.
auto getJointList() const -> std::vector<std::string> final
Get the list of the controlled joints.
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.

Parameters
handler pointer to a parameter handler interface
Returns True/False in case of success/failure.

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.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> jointValues, const std::vector<IRobotControl::ControlMode>& controlModes) final

Set the desired reference.

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

bool BipedalLocomotion::RobotInterface::YarpRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJointValues, const IRobotControl::ControlMode& mode) final

Set the desired reference.

Returns True/False in case of success/failure.

std::vector<std::string> BipedalLocomotion::RobotInterface::YarpRobotControl::getJointList() const final

Get the list of the controlled joints.

Returns A vector containing the name of the controlled joints.

bool BipedalLocomotion::RobotInterface::YarpRobotControl::isValid() const final

Check if the class is valid.

Returns True if it is valid, false otherwise.