ISensorBridge class
Sensor bridge interface.
Derived classes
- class YarpSensorBridge
- YarpSensorBridge Yarp implementation of the ISensorBridge interface Currently available interfaces.
Public types
- using unique_ptr = std::unique_ptr<ISensorBridge>
- using shared_ptr = std::shared_ptr<ISensorBridge>
- using weak_ptr = std::weak_ptr<ISensorBridge>
- using OptionalDoubleRef = std::optional<std::reference_wrapper<double>>
- using Vector12d = Eigen::Matrix<double, 12, 1>
- using Vector6d = Eigen::Matrix<double, 6, 1>
Constructors, destructors, conversion operators
- ~ISensorBridge() defaulted virtual
- Destructor.
Public functions
- auto getJointsList(std::vector<std::string>& jointsList) -> bool virtual
- Get joints list.
- auto getIMUsList(std::vector<std::string>& IMUsList) -> bool virtual
- Get imu sensors.
- auto getLinearAccelerometersList(std::vector<std::string>& linearAccelerometersList) -> bool virtual
- Get linear accelerometers.
- auto getGyroscopesList(std::vector<std::string>& gyroscopesList) -> bool virtual
- Get gyroscopes.
- auto getOrientationSensorsList(std::vector<std::string>& orientationSensorsList) -> bool virtual
- Get orientation sensors.
- auto getMagnetometersList(std::vector<std::string>& magnetometersList) -> bool virtual
- Get magnetometers sensors.
- auto getSixAxisForceTorqueSensorsList(std::vector<std::string>& sixAxisForceTorqueSensorsList) -> bool virtual
- Get 6 axis FT sensors.
- auto getThreeAxisForceTorqueSensorsList(std::vector<std::string>& threeAxisForceTorqueSensorsList) -> bool virtual
- Get 6 axis FT sensors.
- auto getCartesianWrenchesList(std::vector<std::string>& cartesianWrenchesList) -> bool virtual
- Get cartesian wrenches.
- auto getTemperatureSensorsList(std::vector<std::string>& temperatureSensorsList) -> bool virtual
- Get temperature sensors.
- auto getJointPosition(const std::string& jointName, double& jointPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get joint position in radians.
- auto getJointPositions(Eigen::Ref<Eigen::VectorXd> jointPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all joints' positions in radians.
- auto getJointVelocity(const std::string& jointName, double& jointVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get joint velocity in rad/s.
- auto getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all joints' velocities in rad/s.
- auto getJointAcceleration(const std::string& jointName, double& jointAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get joint acceleration in rad/s^2.
- auto getJointAccelerations(Eigen::Ref<Eigen::VectorXd> jointAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all joints' accelerations in rad/s^2.
- auto getIMUMeasurement(const std::string& imuName, Eigen::Ref<Vector12d> imuMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- 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 virtual
- Get linear accelerometer measurement in m/s^2.
- auto getGyroscopeMeasure(const std::string& gyroName, Eigen::Ref<Eigen::Vector3d> gyroMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get gyroscope measurement in rad/s.
- auto getOrientationSensorMeasurement(const std::string& rpyName, Eigen::Ref<Eigen::Vector3d> rpyMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- 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 virtual
- Get magentometer measurement in tesla.
- auto getSixAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Vector6d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get six axis force torque measurement.
- auto getThreeAxisForceTorqueMeasurement(const std::string& ftName, Eigen::Ref<Eigen::Vector3d> ftMeasurement, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- 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 virtual
- 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 virtual
- Get temperature measurement.
- auto getMotorCurrent(const std::string& jointName, double& motorCurrent, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get motor currents in ampere.
- auto getMotorCurrents(Eigen::Ref<Eigen::VectorXd> motorCurrents, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all motors' current in ampere.
- auto getMotorPWM(const std::string& jointName, double& motorPWM, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get motor PWM.
- auto getMotorPWMs(Eigen::Ref<Eigen::VectorXd> motorPWMs, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all motors' PWM.
- auto getJointTorque(const std::string& jointName, double& jointTorque, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get joint torques in Nm.
- auto getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all joints' torque in Nm.
- auto getPidPosition(const std::string& jointName, double& pidPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get pid position in rad.
- auto getPidPositions(Eigen::Ref<Eigen::VectorXd> pidPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all pid positions in rad.
- auto getPidPositionError(const std::string& jointName, double& pidPositionError, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get pid position error in rad.
- auto getPidPositionErrors(Eigen::Ref<Eigen::VectorXd> pidPositionErrors, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all pid position errors in rad.
- auto getMotorPosition(const std::string& jointName, double& motorPosition, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get motor position in rad.
- auto getMotorPositions(Eigen::Ref<Eigen::VectorXd> motorPositions, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all motors' positions in rad.
- auto getMotorVelocity(const std::string& jointName, double& motorVelocity, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get motor velocity in rad/s.
- auto getMotorVelocities(Eigen::Ref<Eigen::VectorXd> motorVelocties, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all motors' velocities in rad/s.
- auto getMotorAcceleration(const std::string& jointName, double& motorAcceleration, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get motor acceleration in rad/s^2.
- auto getMotorAccelerations(Eigen::Ref<Eigen::VectorXd> motorAccelerations, OptionalDoubleRef receiveTimeInSeconds = {}) -> bool virtual
- Get all motors' accelerations in rad/s^2.
Protected functions
-
auto populateSensorBridgeOptionsFromConfig(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler, SensorBridgeOptions& sensorBridgeOptions) -> bool virtual - Helper method to maintain SensorBridgeOptions struct by populating it from the configuration parameters.
-
auto populateSensorListsFromConfig(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler, const SensorBridgeOptions& sensorBridgeOptions, SensorLists& sensorLists) -> bool virtual - Helper method to maintain SensorLists struct by populating it from the configuration parameters.
-
auto populateSensorBridgeMetaDataFromConfig(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler, SensorBridgeMetaData& sensorBridgeMetaData) -> bool virtual - Helper method to maintain SensorBridgeMetaData struct by populating it from the configuration parameters.
Function documentation
bool BipedalLocomotion::
Get joints list.
| Parameters | |
|---|---|
| jointsList out | list of joints attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get imu sensors.
| Parameters | |
|---|---|
| IMUsList out | list of IMUs attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get linear accelerometers.
| Parameters | |
|---|---|
| linearAccelerometersList out | list of linear accelerometers attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get gyroscopes.
| Parameters | |
|---|---|
| gyroscopesList out | list of gyroscopes attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get orientation sensors.
| Parameters | |
|---|---|
| orientationSensorsList out | list of orientation sensors attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get magnetometers sensors.
| Parameters | |
|---|---|
| magnetometersList out | list of magnetometers attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
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::
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::
Get cartesian wrenches.
| Parameters | |
|---|---|
| cartesianWrenchesList out | list of cartesian wrenches attached to the bridge |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get temperature sensors.
| Returns | true/false in case of success/failure |
|---|
bool BipedalLocomotion::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
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::
Get motor currents 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::
Get all motors' current 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::
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::
Get all motors' PWM.
| Parameters | |
|---|---|
| motorPWMs out | all motors' PWM |
| receiveTimeInSeconds out | time at which the measurement was received |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
Get joint torques 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::
Get all joints' torque in Nm.
| Parameters | |
|---|---|
| jointTorques out | all motors' torque in Nm |
| receiveTimeInSeconds out | time at which the measurement was received |
| Returns | true/false in case of success/failure |
bool BipedalLocomotion::
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::
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::
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::
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::
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::
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::
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::
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::
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::
Get all motors' accelerations in rad/s^2.
| 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 |
bool BipedalLocomotion::
Helper method to maintain SensorBridgeOptions struct by populating it from the configuration parameters.
| Parameters | |
|---|---|
| handler in | Parameters handler |
| sensorBridgeOptions in | SensorBridgeOptions to hold the bridge options for streaming sensor measurements |
bool BipedalLocomotion::
Helper method to maintain SensorLists struct by populating it from the configuration parameters.
| Parameters | |
|---|---|
| handler in | Parameters handler |
| sensorBridgeOptions in | configured object of SensorBridgeOptions |
| sensorLists in | SensorLists object holding list of connected sensor devices |
bool BipedalLocomotion::
Helper method to maintain SensorBridgeMetaData struct by populating it from the configuration parameters.
| Parameters | |
|---|---|
| handler in | Parameters handler |
| sensorBridgeMetaData in | configured object of SensorBridgeMetadata |