The Definition of the D4C Interface. More...

#include <d4c.h>

Inherited by iCub::d4c::D4CClient, and iCub::d4c::D4CServer.

Public Member Functions
virtual bool	open (const yarp::os::Property &options)=0
	Configure the client or the server part of d4c framework. More...

virtual void	close ()=0
	Stop the client/server and dispose it. More...

virtual bool	addItem (const yarp::os::Property &options, int &item)=0
	Request for the creation of a new d4c entity which can be either a target or an obstacle. More...

virtual bool	eraseItem (const int item)=0
	Remove one item from the items table. More...

virtual bool	clearItems ()=0
	Purge all the items contained in the table. More...

virtual bool	getItems (yarp::os::Bottle &items)=0
	Retrieve the list of all available items. More...

virtual bool	setProperty (const int item, const yarp::os::Property &options)=0
	Allow changing the properties of an existing item. More...

virtual bool	getProperty (const int item, yarp::os::Property &options)=0
	Retrieve the properties of an existing item. More...

virtual bool	enableField ()=0
	Enable the generation of the d4c field. More...

virtual bool	disableField ()=0
	Disable the generation of the d4c field. More...

virtual bool	getFieldStatus (bool &status)=0
	Retrieve the current status of the d4c field. More...

virtual bool	enableControl ()=0
	Enable the control of the robot part. More...

virtual bool	disableControl ()=0
	Disable the control of the robot part. More...

virtual bool	getControlStatus (bool &status)=0
	Retrieve the current status of the robot part control. More...

virtual bool	enableSimulation ()=0
	Enable the simulation of the robot part. More...

virtual bool	disableSimulation ()=0
	Disable the simulation of the robot part. More...

virtual bool	getSimulationStatus (bool &status)=0
	Retrieve the current status of the robot part simulation. More...

virtual bool	setPeriod (const int period)=0
	Allow changing the thread period for d4c field generation. More...

virtual bool	getPeriod (int &period)=0
	Retrieve the current thread period for d4c field generation. More...

virtual bool	setPointStateToTool ()=0
	Allow setting the trajectory state equal to the currently attached tool state (or end-effector state if no tool is attached). More...

virtual bool	attachToolFrame (const yarp::sig::Vector &x, const yarp::sig::Vector &o)=0
	Attach a tool frame to the end-effector. More...

virtual bool	getToolFrame (yarp::sig::Vector &x, yarp::sig::Vector &o)=0
	Retrieve the frame of the tool currently attached to the end-effector. More...

virtual bool	removeToolFrame ()=0
	Remove the tool currently attached to the end-effector. More...

virtual bool	getTool (yarp::sig::Vector &x, yarp::sig::Vector &o)=0
	Retrieve the coordinates of the tool currently attached to the end-effector. More...

virtual bool	setPointState (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const yarp::sig::Vector &xdot, const yarp::sig::Vector &odot)=0
	Allow chainging the trajectory state generated by the d4c framework. More...

virtual bool	setPointOrientation (const yarp::sig::Vector &o, const yarp::sig::Vector &odot)=0
	Allow changing the orientation state of the trajectory generated by the d4c framework. More...

virtual bool	getPointState (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::sig::Vector &xdot, yarp::sig::Vector &odot)=0
	Retrieve the current trajectory state generated by the d4c framework. More...

virtual bool	getField (yarp::sig::Vector &field)=0
	Retrieve the current field as generated by the d4c framework. More...

virtual bool	getSimulation (yarp::sig::Vector &xhat, yarp::sig::Vector &ohat, yarp::sig::Vector &qhat)=0
	Sample step by step the trajectory the end-effector will follow as constrained by the d4c field. More...

virtual bool	getActiveIF (std::string &activeIF)=0
	Retrieve the interface currently active that controls the limb. More...

virtual bool	setActiveIF (const std::string &activeIF)=0
	Set the active interface for limb control. More...

virtual bool	getTrajectory (std::deque< yarp::sig::Vector > &trajPos, std::deque< yarp::sig::Vector > &trajOrien, const unsigned int maxIterations=D4C_DEFAULT_MAXITERATIONS, const double Ts=D4C_DEFAULT_TS_DISABLED)=0
	Retrieve the complete simulated trajectory as evolved from the current state point. More...

virtual bool	executeTrajectory (const std::deque< yarp::sig::Vector > &trajPos, const std::deque< yarp::sig::Vector > &trajOrien, const double trajTime)=0
	Execute the simulated trajectory provided by the user. More...

virtual	~D4C ()
	Destructor.

Detailed Description

The Definition of the D4C Interface.

Definition at line 54 of file d4c.h.

Member Function Documentation

virtual bool iCub::d4c::D4C::addItem	(	const yarp::os::Property &	options,
		int &	item
	)

pure virtual

Request for the creation of a new d4c entity which can be either a target or an obstacle.

Parameters

options	contains the set of options in form of a Property object.
item	here is returned the unique item identifier to be used for later access.

Options common to all items:

name <string>: example (name item_name), specifies the item name.

type <string>: example (type tag), specifies the item type on whose basis the configuration is properly carried out.

active <string>: example (active on), specifies whether the item should be taken into account for generating the field ("on") or not ("off").

center <(double(x) double(y) double(z))>: example (center (-0.3 0.0 0.1)), specifies the xyz position of the item wrt the robot's root reference frame.

orientation <(double(ax) double(ay) double(az) double(theta))>: example (orientation (1.0 0.0 0.0 3.14)), specifies the orientation of the item's frame in axis/angle representation given wrt the robot's root reference frame.

color <(double(r) double(g) double(b))>: example (color (255.0 0.0 0.0)), specifies the color of the ellipsoid in RGB format.

radius <(double(rx) double(ry) double(rz))>: example (radius (0.01 0.02 0.03)), specifies the dimension of the ellipsoid radii (in [m]) representing the item wrt item's reference frame.

The type "target_msd" implements a target acting as a mass-spring-damper system on the end-effector within the d4c framework.

Options specific to the "target_msd" item:

K <double>: example (K 0.1), specifies the spring stiffness.

D <double>: example (D 0.1), specifies the damping factor.

The type "obstacle_gaussian" implements an obstacle acting as a multivariate gaussian repulsive field within the d4c framework.

Options specific to the "obstacle_gaussian" item:

G <double>: example (G 0.1), specifies the gain of the gaussian field.

cut_tails <string>: example (cut_tails on), specifies whether to cut or not the tails of the gaussian field out of the space occupied by the obstacle.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::attachToolFrame	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o
	)

pure virtual

Attach a tool frame to the end-effector.

Parameters

x	a 3-d vector describing the position of the tool wrt the end-effector (meters).
o	a 4-d vector describing the orientation of the tool wrt the end-effector (axis-angle notation).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::clearItems ( )

pure virtual

Purge all the items contained in the table.

Returns: true/false if successful/failed.

virtual void iCub::d4c::D4C::close ( )

pure virtual

Stop the client/server and dispose it.

Called by destructor.

virtual bool iCub::d4c::D4C::disableControl ( )

pure virtual

Disable the control of the robot part.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::disableField ( )

pure virtual

Disable the generation of the d4c field.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::disableSimulation ( )

pure virtual

Disable the simulation of the robot part.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::enableControl ( )

pure virtual

Enable the control of the robot part.

Returns: true/false if successful/failed.

Note: if simulation is on, it gets automatically disabled.

virtual bool iCub::d4c::D4C::enableField ( )

pure virtual

Enable the generation of the d4c field.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::enableSimulation ( )

pure virtual

Enable the simulation of the robot part.

Returns: true/false if successful/failed.

Note: if control is on, it gets automatically disabled.

virtual bool iCub::d4c::D4C::eraseItem ( const int item )

pure virtual

Remove one item from the items table.

Parameters

item	the item identifier to be erased.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::executeTrajectory	(	const std::deque< yarp::sig::Vector > &	trajPos,
		const std::deque< yarp::sig::Vector > &	trajOrien,
		const double	trajTime
	)

pure virtual

Execute the simulated trajectory provided by the user.

Parameters

trajPos	a list containing the whole trajectory of points (position).
trajOrien	a list containing the whole trajectory of points (orientation).
trajTime	the trajectory duration [s].

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getActiveIF ( std::string & activeIF )

pure virtual

Retrieve the interface currently active that controls the limb.

Parameters

activeIF a string containing "right" or "left" depending on the active interface.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getControlStatus ( bool & status )

pure virtual

Retrieve the current status of the robot part control.

Parameters

status true/false on controlled/uncontrolled robot part.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getField ( yarp::sig::Vector & field )

pure virtual

Retrieve the current field as generated by the d4c framework.

Parameters

field a 7-d Vector containing the current field.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getFieldStatus ( bool & status )

pure virtual

Retrieve the current status of the d4c field.

Parameters

status true/false on enabled/disabled d4c field.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getItems ( yarp::os::Bottle & items )

pure virtual

Retrieve the list of all available items.

Parameters

items the Bottle containing the retrieved list.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getPeriod ( int & period )

pure virtual

Retrieve the current thread period for d4c field generation.

Parameters

period the current thread period in [ms].

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getPointState	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::sig::Vector &	xdot,
		yarp::sig::Vector &	odot
	)

pure virtual

Retrieve the current trajectory state generated by the d4c framework.

Parameters

x	a 3-d Vector containing the current position [m].
o	a 4-d Vector containing the current orientation (axis/angle).
xdot	a 3-d Vector containing the current translational velocity [m/s].
odot	a 4-d Vector containing the current rotational velocity (axis/angle).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getProperty	(	const int	item,
		yarp::os::Property &	options
	)

pure virtual

Retrieve the properties of an existing item.

Parameters

item	the item identifier.
options	the Property object containing the item properties.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getSimulation	(	yarp::sig::Vector &	xhat,
		yarp::sig::Vector &	ohat,
		yarp::sig::Vector &	qhat
	)

pure virtual

Sample step by step the trajectory the end-effector will follow as constrained by the d4c field.

Parameters

xhat	a 3-d Vector containing the simulated position [m].
ohat	a 4-d Vector containing the simulated orientation (axis/angle).
qhat	a Vector containing the corresponding part joints [degrees].

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getSimulationStatus ( bool & status )

pure virtual

Retrieve the current status of the robot part simulation.

Parameters

status true/false.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getTool	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o
	)

pure virtual

Retrieve the coordinates of the tool currently attached to the end-effector.

Parameters

x	a 3-d vector containing the position of the tool (meters).
o	a 4-d vector containing the orientation of the tool (axis-angle notation).

Returns: true/false if successful/failed.

Note: if no tool is attached, clearly the end-effector pose is returned.

virtual bool iCub::d4c::D4C::getToolFrame	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o
	)

pure virtual

Retrieve the frame of the tool currently attached to the end-effector.

Parameters

x	a 3-d vector containing the position of the tool wrt the end-effector (meters).
o	a 4-d vector containing the orientation of the tool wrt the end-effector (axis-angle notation).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::getTrajectory	(	std::deque< yarp::sig::Vector > &	trajPos,
		std::deque< yarp::sig::Vector > &	trajOrien,
		const unsigned int	maxIterations = `D4C_DEFAULT_MAXITERATIONS`,
		const double	Ts = `D4C_DEFAULT_TS_DISABLED`
	)

pure virtual

Retrieve the complete simulated trajectory as evolved from the current state point.

Parameters

trajPos	a list containing the whole trajectory of points (position).
trajOrien	a list containing the whole trajectory of points (orientation).
maxIterations	maximum number of iterations performed to reach the target.
Ts	integration period [s]. If Ts<=0.0 then the configuration option "period" is used.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::open ( const yarp::os::Property & options )

pure virtual

Configure the client or the server part of d4c framework.

Parameters

options contains the set of options in form of a Property object.

Available options for the client are:

remote <string>: example (remote /d4c_server), specifies the server port stem-name to connect to.

local <string>: example (local /d4c_client), specifies the the client stem-name to be used for opening ports.

carrier <string>: example (carrier udp), specifies the protocol used to connect yarp streaming ports.

verbosity <int>: example (verbosity 3), specifies the verbosity level of print-outs messages.

Available options for the server are:

device <string>: example (device cartesiancontrollerclient), specifies the name of the device that implements the cartesian interface.

name <string>: example (name d4c_server), specifies the name of the server to be launched.

robot <string>: example (robot icub), specifies the name of the robot to connect to.

part <string>: example (part right_arm), specifies the robot part to be controlled.

period <int>: example (period 20), specifies the period given in [ms] to generate the d4c field.

offline: example (offline), lets the client/server start in offline mode.

verbosity <int>: example (verbosity 3), specifies the verbosity level of print-outs messages.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::removeToolFrame ( )

pure virtual

Remove the tool currently attached to the end-effector.

Returns: true/false if successful/failed.

Note: The end-effector is the tool again.

virtual bool iCub::d4c::D4C::setActiveIF ( const std::string & activeIF )

pure virtual

Set the active interface for limb control.

Parameters

activeIF a string containing "right" or "left" depending on the interface to enable.

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::setPeriod ( const int period )

pure virtual

Allow changing the thread period for d4c field generation.

Parameters

period the new thread period in [ms].

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::setPointOrientation	(	const yarp::sig::Vector &	o,
		const yarp::sig::Vector &	odot
	)

pure virtual

Allow changing the orientation state of the trajectory generated by the d4c framework.

Parameters

o	a 4-d Vector containing the new orientation (axis/angle).
odot	a 4-d Vector containing the new rotational velocity (axis/angle).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::setPointState	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o,
		const yarp::sig::Vector &	xdot,
		const yarp::sig::Vector &	odot
	)

pure virtual

Allow chainging the trajectory state generated by the d4c framework.

Parameters

x	a 3-d Vector containing the new position [m].
o	a 4-d Vector containing the new orientation (axis/angle).
xdot	a 3-d Vector containing the new translational velocity [m/s].
odot	a 4-d Vector containing the new rotational velocity (axis/angle).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::setPointStateToTool ( )

pure virtual

Allow setting the trajectory state equal to the currently attached tool state (or end-effector state if no tool is attached).

Returns: true/false if successful/failed.

virtual bool iCub::d4c::D4C::setProperty	(	const int	item,
		const yarp::os::Property &	options
	)

pure virtual

Allow changing the properties of an existing item.

Parameters

item	the item identifier.
options	the Property object containing the new item values.

Returns: true/false if successful/failed.

The documentation for this class was generated from the following file:

C:/dev/icub-contrib-iit/d4c/lib/include/iCub/d4c/d4c.h

Public Member Functions

Detailed Description

Member Function Documentation