class
ISensorBridgeSensor 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:: RobotInterface:: ISensorBridge:: getJointsList(std::vector<std::string>& jointsList) virtual
Get joints list.
Parameters | |
---|---|
jointsList out | list of joints attached to the bridge |
Returns | true/false in case of success/failure |
bool BipedalLocomotion:: RobotInterface:: ISensorBridge:: getIMUsList(std::vector<std::string>& IMUsList) virtual
Get imu sensors.
Parameters | |
---|---|
IMUsList out | list of IMUs attached to the bridge |
Returns | true/false in case of success/failure |
bool BipedalLocomotion:: RobotInterface:: ISensorBridge:: getLinearAccelerometersList(std::vector<std::string>& linearAccelerometersList) virtual
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:: ISensorBridge:: getGyroscopesList(std::vector<std::string>& gyroscopesList) virtual
Get gyroscopes.
Parameters | |
---|---|
gyroscopesList out | list of gyroscopes attached to the bridge |
Returns | true/false in case of success/failure |
bool BipedalLocomotion:: RobotInterface:: ISensorBridge:: getOrientationSensorsList(std::vector<std::string>& orientationSensorsList) virtual
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:: ISensorBridge:: getMagnetometersList(std::vector<std::string>& magnetometersList) virtual
Get magnetometers sensors.
Parameters | |
---|---|
magnetometersList out | list of magnetometers attached to the bridge |
Returns | true/false in case of success/failure |
bool BipedalLocomotion:: RobotInterface:: ISensorBridge:: getSixAxisForceTorqueSensorsList(std::vector<std::string>& sixAxisForceTorqueSensorsList) virtual
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:: ISensorBridge:: getThreeAxisForceTorqueSensorsList(std::vector<std::string>& threeAxisForceTorqueSensorsList) virtual
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:: ISensorBridge:: getCartesianWrenchesList(std::vector<std::string>& cartesianWrenchesList) virtual
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:: ISensorBridge:: getTemperatureSensorsList(std::vector<std::string>& temperatureSensorsList) virtual
Get temperature sensors.
Returns | true/false in case of success/failure |
---|
bool BipedalLocomotion:: RobotInterface:: ISensorBridge:: getJointPosition(const std::string& jointName,
double& jointPosition,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getJointPositions(Eigen::Ref<Eigen::VectorXd> jointPositions,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getJointVelocity(const std::string& jointName,
double& jointVelocity,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocties,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getJointAcceleration(const std::string& jointName,
double& jointAcceleration,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getJointAccelerations(Eigen::Ref<Eigen::VectorXd> jointAccelerations,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getIMUMeasurement(const std::string& imuName,
Eigen::Ref<Vector12d> imuMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getLinearAccelerometerMeasurement(const std::string& accName,
Eigen::Ref<Eigen::Vector3d> accMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getGyroscopeMeasure(const std::string& gyroName,
Eigen::Ref<Eigen::Vector3d> gyroMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getOrientationSensorMeasurement(const std::string& rpyName,
Eigen::Ref<Eigen::Vector3d> rpyMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMagnetometerMeasurement(const std::string& magName,
Eigen::Ref<Eigen::Vector3d> magMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getSixAxisForceTorqueMeasurement(const std::string& ftName,
Eigen::Ref<Vector6d> ftMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getThreeAxisForceTorqueMeasurement(const std::string& ftName,
Eigen::Ref<Eigen::Vector3d> ftMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getCartesianWrench(const std::string& cartesianWrenchName,
Eigen::Ref<Vector6d> cartesianWrenchMeasurement,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getTemperature(const std::string& temperatureSensorName,
double& temperature,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorCurrent(const std::string& jointName,
double& motorCurrent,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: getMotorCurrents(Eigen::Ref<Eigen::VectorXd> motorCurrents,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: getMotorPWM(const std::string& jointName,
double& motorPWM,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorPWMs(Eigen::Ref<Eigen::VectorXd> motorPWMs,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: getJointTorque(const std::string& jointName,
double& jointTorque,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: getJointTorques(Eigen::Ref<Eigen::VectorXd> jointTorques,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: getPidPosition(const std::string& jointName,
double& pidPosition,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getPidPositions(Eigen::Ref<Eigen::VectorXd> pidPositions,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getPidPositionError(const std::string& jointName,
double& pidPositionError,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getPidPositionErrors(Eigen::Ref<Eigen::VectorXd> pidPositionErrors,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorPosition(const std::string& jointName,
double& motorPosition,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorPositions(Eigen::Ref<Eigen::VectorXd> motorPositions,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorVelocity(const std::string& jointName,
double& motorVelocity,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorVelocities(Eigen::Ref<Eigen::VectorXd> motorVelocties,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorAcceleration(const std::string& jointName,
double& motorAcceleration,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: ISensorBridge:: getMotorAccelerations(Eigen::Ref<Eigen::VectorXd> motorAccelerations,
OptionalDoubleRef receiveTimeInSeconds = {}) virtual
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:: RobotInterface:: ISensorBridge:: populateSensorBridgeOptionsFromConfig(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler,
SensorBridgeOptions& sensorBridgeOptions) virtual protected
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:: RobotInterface:: ISensorBridge:: populateSensorListsFromConfig(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler,
const SensorBridgeOptions& sensorBridgeOptions,
SensorLists& sensorLists) virtual protected
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:: RobotInterface:: ISensorBridge:: populateSensorBridgeMetaDataFromConfig(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler,
SensorBridgeMetaData& sensorBridgeMetaData) virtual protected
Helper method to maintain SensorBridgeMetaData struct by populating it from the configuration parameters.
Parameters | |
---|---|
handler in | Parameters handler |
sensorBridgeMetaData in | configured object of SensorBridgeMetadata |