auto constructRemoteControlBoardRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> PolyDriverDescriptor: Helper function that can be used to build a RemoteControlBoardRemapper device.
auto constructGenericSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> PolyDriverDescriptor: Helper function that can be used to build a GenericSensorClient device.
auto constructMultipleAnalogSensorsClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> PolyDriverDescriptor: Helper function that can be used to build a MultipleAnalogSensorsClient device.
auto constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> PolyDriverDescriptor: Helper function that can be used to build a MultipleAnalogSensorsRemapper device.
auto constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const std::vector<PolyDriverDescriptor>& polydriverList) -> PolyDriverDescriptor: Helper function that can be used to build a MultipleAnalogSensorsRemapper device.
auto constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const yarp::dev::PolyDriverList& polydriverList) -> PolyDriverDescriptor: Helper function that can be used to build a MultipleAnalogSensorsRemapper device.
auto constructRDGBSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler) -> PolyDriverDescriptor: Helper function that can be used to build a RGBDSensorClient device.

Function documentation

PolyDriverDescriptor constructRemoteControlBoardRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

Helper function that can be used to build a RemoteControlBoardRemapper device.

Parameters
handler	pointer to a parameter handler interface.
Returns	A PolyDriverDescriptor. If one of the parameters is missing an invalid PolyDriverDescriptor is returned.

Note

the following parameters are required by the function

Parameter Name	Type	Description	Mandatory
`joints_list`	`vector<string>`	List of the controlled joints	Yes
`remote_control_boards`	`vector<string>`	List of the remote control boards associated to the joints	Yes
`robot_name`	`string`	Name of the robot	Yes
`local_prefix`	`string`	Prefix of the local port (e.g. the application name)	Yes

PolyDriverDescriptor constructGenericSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

Helper function that can be used to build a GenericSensorClient device.

Parameters
handler	pointer to a parameter handler interface.
Returns	A PolyDriverDescriptor. If one of the parameters is missing an invalid PolyDriverDescriptor is returned.

Note

the following parameters are required by the function

Parameter Name	Type	Description	Mandatory
`description`	`string`	Description of the genericSensorClient. It is the device name	Yes
`remote_port_name`	`string`	Name of the port associate to the remote	Yes
`local_prefix`	`string`	Prefix of the local port (e.g. the application name)	Yes
`local_port_name_postfix`	`string`	Postfix of the local port. The local port name is `/<local_prefix><local_port_name_postfix>`	Yes

The genericSensorClient device is implement in whole-body-estimators.

PolyDriverDescriptor constructMultipleAnalogSensorsClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

Helper function that can be used to build a MultipleAnalogSensorsClient device.

Parameters
handler	pointer to a parameter handler interface.
Returns	A `PolyDriverDescriptor`. In case of error an invalid `PolyDriverDescriptor` is returned.

Note

The following parameters are taken into consideration

Parameter Name	Type	Description	Mandatory
`description`	`string`	Description of the multiple analog sensor client. It is the device name	Yes
`remote_port_name`	`string`	Name of the port associate to the remote	Yes
`local_prefix`	`string`	Prefix of the local port (e.g. the application name)	Yes
`local_port_name_postfix`	`string`	Postfix of the local port. The local port name is `/<local_prefix><local_port_name_postfix>`	Yes
`timeout`	`double`	Timeout in seconds after which the device reports an error if no measurement was received. (Default value 0.01)	No
`external_connection`	`bool`	If set to true, the connection to the rpc port of the MAS server is skipped and it is possible to connect to the data source externally after being opened. (Default value `false`)	No
`carrier`	`string`	The carrier used for the connection with the server. (Default value `tcp`)	No

The MultipleAnalogSensorsClient device is implement in yarp.

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

Helper function that can be used to build a MultipleAnalogSensorsRemapper device.

Parameters
handler	pointer to a parameter handler interface.
Returns	A PolyDriverDescriptor. In case of error an invalid `PolyDriverDescriptor` is returned.

Note

The following parameters are taken into consideration

Parameter Name	Type	Description	Mandatory
`three_axis_gyroscopes_names`	`vector<string>`	Vector containing the names of the gyroscopes (Default empty vector)	No
`three_axis_linear_accelerometers_names`	`vector<string>`	Vector containing the names of the accelerometers (Default empty vector)	No
`three_axis_magnetometers_names`	`vector<string>`	Vector containing the names of the magnetometers (Default empty vector)	No
`orientation_sensors_names`	`vector<string>`	Vector containing the names of the orientation sensors (Default empty vector)	No
`six_axis_force_torque_sensors_names`	`vector<string>`	Vector containing the names of the FT sensors (Default empty vector)	No
`temperature_sensors_names`	`vector<string>`	Vector containing the names of the temperature sensors (Default empty vector)	No

The MultipleAnalogSensorsRemapper device is implement in yarp.

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const std::vector<PolyDriverDescriptor>& polydriverList)

Helper function that can be used to build a MultipleAnalogSensorsRemapper device.

Parameters
handler	pointer to a parameter handler interface.
polydriverList	a list of the polydriver that will be attached to the multiple analog sensor remapper
Returns	A PolyDriverDescriptor. In case of error an invalid `PolyDriverDescriptor` is returned.

Note

The following parameters are taken into consideration

Parameter Name	Type	Description	Mandatory
`three_axis_gyroscopes_names`	`vector<string>`	Vector containing the names of the gyroscopes (Default empty vector)	No
`three_axis_linear_accelerometers_names`	`vector<string>`	Vector containing the names of the accelerometers (Default empty vector)	No
`three_axis_magnetometers_names`	`vector<string>`	Vector containing the names of the magnetometers (Default empty vector)	No
`orientation_sensors_names`	`vector<string>`	Vector containing the names of the orientation sensors (Default empty vector)	No
`six_axis_force_torque_sensors_names`	`vector<string>`	Vector containing the names of the FT sensors (Default empty vector)	No
`temperature_sensors_names`	`vector<string>`	Vector containing the names of the temperature sensors (Default empty vector)	No

The MultipleAnalogSensorsRemapper device is implement in yarp.

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const yarp::dev::PolyDriverList& polydriverList)

Helper function that can be used to build a MultipleAnalogSensorsRemapper device.

Parameters
handler	pointer to a parameter handler interface.
polydriverList	a list of the polydriver that will be attached to the multiple analog sensor remapper.
Returns	A PolyDriverDescriptor. In case of error an invalid `PolyDriverDescriptor` is returned.

Note

The following parameters are taken into consideration

Parameter Name	Type	Description	Mandatory
`three_axis_gyroscopes_names`	`vector<string>`	Vector containing the names of the gyroscopes (Default empty vector)	No
`three_axis_linear_accelerometers_names`	`vector<string>`	Vector containing the names of the accelerometers (Default empty vector)	No
`three_axis_magnetometers_names`	`vector<string>`	Vector containing the names of the magnetometers (Default empty vector)	No
`orientation_sensors_names`	`vector<string>`	Vector containing the names of the orientation sensors (Default empty vector)	No
`six_axis_force_torque_sensors_names`	`vector<string>`	Vector containing the names of the FT sensors (Default empty vector)	No
`temperature_sensors_names`	`vector<string>`	Vector containing the names of the temperature sensors (Default empty vector)	No

The MultipleAnalogSensorsRemapper device is implement in yarp.

PolyDriverDescriptor constructRDGBSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

Helper function that can be used to build a RGBDSensorClient device.

Parameters
handler	pointer to a parameter handler interface.
Returns	A PolyDriverDescriptor. In case of error an invalid `PolyDriverDescriptor` is returned.

Note

The following parameters are taken into consideration

Parameter Name	Type	Description	Mandatory
`name`	`string`	Name of the camera client	Yes
`local_prefix`	`string`	Prefix of the local port (e.g. the application name)	Yes
`local_image_port_postfix`	`string`	Postfix of the local image port. The local port name is `/<local_prefix><local_image_port_postfix>`	Yes
`local_depth_port_postfix`	`string`	Postfix of the local depth port. The local port name is `/<local_prefix><local_depth_port_postfix>`	Yes
`local_rpc_port_postfix`	`string`	Postfix of the local rpc port. The local port name is `/<local_prefix><local_rpc_port_postfix>`	Yes
`remote_image_port`	`string`	Name of the port associate to the RGB image.	Yes
`remote_depth_port`	`string`	Name of the port associate to the depth image.	Yes
`remote_rpc_port`	`string`	Name of the port associate to the rpc port.	Yes
`image_carrier`	`string`	Carrier for the RGB image.	Yes
`depth_carrier`	`string`	Carrier for the depth image.	Yes

The RGBDSensorClient device is implement in yarp.

BipedalLocomotion/RobotInterface/YarpHelper.h file

Namespaces

Classes

Functions

Function documentation

PolyDriverDescriptor constructRemoteControlBoardRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

PolyDriverDescriptor constructGenericSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

PolyDriverDescriptor constructMultipleAnalogSensorsClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const std::vector<PolyDriverDescriptor>& polydriverList)

PolyDriverDescriptor constructMultipleAnalogSensorsRemapper(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler, const yarp::dev::PolyDriverList& polydriverList)

PolyDriverDescriptor constructRDGBSensorClient(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> handler)