BipedalLocomotion::RobotInterface::YarpSensorBridge::Impl struct
#include <BipedalLocomotion/RobotInterface/YarpSensorBridgeImpl.h>

Public types

struct ControlBoardRemapperInterfaces: Struct holding remapped remote control board interfaces.
struct ControlBoardRemapperMeasures: Struct holding measurements polled from remapped remote control board interfaces.
struct MASForceTorquesInterface: Struct holding remapped MAS interfaces - FT sensors related.
struct MASInertialsInterface: Struct holding remapped MAS interfaces -inertial sensors related.
struct MASSensorIndexMaps
using StampedYARPVector = std::pair<yarp::sig::Vector, double>
using SubConfigLoader = bool(YarpSensorBridge::Impl::*)(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler>, SensorBridgeMetaData&)

Public functions

auto getIndexFromVector(const std::vector<std::string>& vec, const std::string& query, int& index) -> bool: Utility function to get index from vector.
auto nanExistsInVec(Eigen::Ref<const Eigen::VectorXd> vec, std::string_view logPrefix, const std::string& sensorName) -> bool: Utility function to check for nan in vector.
auto subConfigLoader(const std::string& enableStreamString, const std::string& streamGroupString, const SubConfigLoader loader, std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData, bool& enableStreamFlag) -> bool: Checks is a stream is enabled in configuration and loads the relevant stream group from configuration.
auto configureRemoteControlBoardRemapper(std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData) -> bool: Configure remote control board remapper meta data Related to kinematics and other joint/motor relevant quantities.
auto configureInertialSensors(std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData) -> bool: Configure inertial sensors meta data.
auto configureSixAxisForceTorqueSensors(std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData) -> bool: Configure six axis force torque sensors meta data.
auto configureCartesianWrenches(std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData) -> bool: Configure cartesian wrenches meta data.
auto configureTemperatureSensors(std::weak_ptr<const ParametersHandler::IParametersHandler> handler, SensorBridgeMetaData& metaData) -> bool: Configure temperature sensors meta data.
template<typename SensorType> auto attachGenericOrAnalogSensor(const yarp::dev::PolyDriverList& devList, const std::string& sensorName, const int& nrChannelsInSensor, std::unordered_map<std::string, SensorType*>& sensorMap) -> bool: Attach device with IGenericSensor or IAnalogSensor interfaces Important assumptions here,.
template<typename SensorType> auto attachAllGenericOrAnalogSensors(const yarp::dev::PolyDriverList& devList, std::unordered_map<std::string, SensorType*>& sensorMap, const int& nrChannelsInSensor, const std::vector<std::string>& sensorList, std::string_view interfaceType) -> bool
template<typename MASSensorType> auto attachAndCheckMASSensors(const yarp::dev::PolyDriverList& devList, MASSensorType*& sensorInterface, const std::vector<std::string>& sensorList, const std::string_view interfaceName) -> bool: Attach Remapped Multiple Analog Sensor Interfaces and check available sensors.
template<typename MASSensorType> auto attachRemappedMASSensor(const yarp::dev::PolyDriverList& devList, MASSensorType*& masSensorInterface) -> bool: Attach Remapped Multiple Analog Sensor Interfaces Looks for a specific MAS Sensor interface in the attached MAS Remapper.
template<typename MASSensorType> auto checkAttachedMASSensors(const yarp::dev::PolyDriverList& devList, MASSensorType*& sensorInterface, const std::vector<std::string>& sensorList) -> bool: Check if all the desired MAS sensors are available in the attached MAS interface.
template<typename MASSensorType> auto getNumberOfMASSensors(MASSensorType*& sensorInterface) -> std::size_t: Get number of MAS Sensors.
template<typename MASSensorType> auto getMASSensorName(MASSensorType*& sensorInterface, const std::size_t& sensIdx, std::string& sensorName) -> bool: Get name of MAS Sensors.
template<typename MASSensorType> auto getAllSensorsInMASInterface(MASSensorType* sensorInterface) -> std::vector<std::string>: Get all sensor names in a MAS Inerface.
template<typename SensorType> auto checkSensor(const std::unordered_map<std::string, SensorType*>& sensorMap, const std::string& sensorName) -> bool: Check if sensor is available in the relevant sensor map.
template<typename YARPDataType> auto checkValidSensorMeasure(std::string_view logPrefix, const std::unordered_map<std::string, YARPDataType>& sensorMap, const std::string& sensorName) -> bool: Check if sensor is available in the relevant sensor measurement map.
auto checkValid(const std::string_view methodName) -> bool: Check if the bridge is successfully initialized and attached to required device drivers.
template<typename ControlBoardInterface> auto checkControlBoardSensor(const std::string logPrefix, ControlBoardInterface* interface, const bool& streamConfig, Eigen::Ref<const Eigen::VectorXd> measureBuffer) -> bool
auto attachAllInertials(const yarp::dev::PolyDriverList& devList) -> bool: Attach generic IMU sensor types and MAS inertials.
auto attachRemappedRemoteControlBoard(const yarp::dev::PolyDriverList& devList) -> bool: Attach a remapped control board and check the availability of desired interface Further, resize joint data buffers and check if the control board joints list and the desired joints list match Also, maintain a remapping index buffer for adapting to arbitrary joint list serializations.
void resetControlBoardBuffers(): resize and set control board buffers to zero
auto compareControlBoardJointsList() -> bool: check and match control board joints with the sensorbridge joints list
auto attachAllSixAxisForceTorqueSensors(const yarp::dev::PolyDriverList& devList) -> bool
auto attachAllTemperatureSensors(const yarp::dev::PolyDriverList& devList) -> bool
auto attachCartesianWrenchInterface(const yarp::dev::PolyDriverList& devList) -> bool: Attach to cartesian wrench interface.
auto deg2rad(double deg) -> double: utility function
template<typename SensorType> auto readAnalogOrGenericSensor(const std::string& sensorName, const int& nrChannelsInYARPSensor, std::unordered_map<std::string, SensorType*>& interfaceMap, std::unordered_map<std::string, StampedYARPVector>& measurementMap, bool checkForNan = false) -> bool: Read generic or analog sensor stream and update internal measurement buffer.
template<typename MASSensorType> auto readMASSensor(MASSensorType* interface, const std::string& sensorName, const std::size_t sensorIdx, std::unordered_map<std::string, StampedYARPVector>& measurementMap, bool checkForNan = false) -> bool
template<typename MASSensorType> auto readAllMASSensors(MASSensorType* interface, std::unordered_map<std::string, std::size_t> sensIdxMap, std::unordered_map<std::string, StampedYARPVector>& measurementMap, std::vector<std::string>& failedSensorReads, bool checkForNan = false) -> bool
auto readControlBoardInterface(bool checkForNan = false) -> bool: Read control board remapper interfaces.
auto readAllJointSensors(bool checkForNan = false, bool streamJointAccelerations = true) -> bool: Read joint sensors measurements.
auto readAllMotorSensors(bool checkForNan = false) -> bool: Read motor sensors measurements.
auto readAllMotorPWMs(bool checkForNan = false) -> bool: Read motor encoders measurements.
auto readAllPIDs(bool checkForNan = false) -> bool: Read pid references.
auto readAllIMUs(std::vector<std::string>& failedSensorReads) -> bool
auto readAllCartesianWrenches(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASLinearAccelerometers(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASGyroscopes(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASOrientationSensors(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASMagnetometers(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASSixAxisForceTorqueSensors(std::vector<std::string>& failedSensorReads) -> bool
auto readAllAnalogSixAxisForceTorqueSensors(std::vector<std::string>& failedSensorReads) -> bool
auto readAllMASTemperatures(std::vector<std::string>& failedSensorReads) -> bool
auto readAllSensors(std::vector<std::string>& failedReadAllSensors) -> bool

Public variables

ControlBoardRemapperInterfaces controlBoardRemapperInterfaces
MASInertialsInterface masInertialsInterface
MASForceTorquesInterface masForceTorquesInterface
MASSensorIndexMaps masSensorIndexMaps
ControlBoardRemapperMeasures controlBoardRemapperMeasures: map of IMU sensors attached through generic sensor interfaces
std::unordered_map<std::string, yarp::dev::IGenericSensor*> analogIMUInterface: map of cartesian wrench streams attached through generic sensor interfaces
std::unordered_map<std::string, yarp::dev::IGenericSensor*> cartesianWrenchInterface: map of six axis force torque sensors attached through analog sensor interfaces
std::unordered_map<std::string, yarp::dev::IAnalogSensor*> analogSixAxisFTSensorsInterface
std::unordered_map<std::string, StampedYARPVector> IMUMeasures: < map holding analog IMU sensor measurements (Used only for analog sensor interfaces)
std::unordered_map<std::string, StampedYARPVector> FTMeasures: maps holding three axis inertial sensor measures
std::unordered_map<std::string, StampedYARPVector> gyroMeasures
std::unordered_map<std::string, StampedYARPVector> accelerometerMeasures
std::unordered_map<std::string, StampedYARPVector> orientationMeasures
std::unordered_map<std::string, StampedYARPVector> magnetometerMeasures: map holding cartesian wrench measures
std::unordered_map<std::string, StampedYARPVector> cartesianWrenchMeasures: map holding temperature measures
std::unordered_map<std::string, StampedYARPVector> temperatureMeasures
const int nrChannelsInYARPGenericIMUSensor
const int nrChannelsInYARPGenericCartesianWrench
const int nrChannelsInYARPAnalogSixAxisFTSensor
std::vector<std::string> failedSensorReads
SensorBridgeMetaData metaData: struct holding meta data
bool bridgeInitialized: flag set to true if the bridge is successfully initialized
bool driversAttached: flag set to true if the bridge is successfully attached to required device drivers
bool checkForNAN: flag to enable search for NANs in the incoming measurement buffers
bool streamJointAccelerations: flag to enable reading joint accelerations from encoders

Function documentation

template<typename SensorType>
bool BipedalLocomotion::RobotInterface::YarpSensorBridge::Impl::attachGenericOrAnalogSensor(const yarp::dev::PolyDriverList& devList, const std::string& sensorName, const int& nrChannelsInSensor, std::unordered_map<std::string, SensorType*>& sensorMap)

Attach device with IGenericSensor or IAnalogSensor interfaces Important assumptions here,.

Any generic sensor with 12 channels is a IMU sensor
Any generic sensor with 6 channels is a cartesian wrench sensor
Any analog sensor with 6 channels is a six axis force torque sensor

Variable documentation

std::unordered_map<std::string, StampedYARPVector> BipedalLocomotion::RobotInterface::YarpSensorBridge::Impl::IMUMeasures

< map holding analog IMU sensor measurements (Used only for analog sensor interfaces)

map holding six axis force torque measures

BipedalLocomotion::RobotInterface::YarpSensorBridge::Impl struct #include <BipedalLocomotion/RobotInterface/YarpSensorBridgeImpl.h>