iCub-main
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clientcartesiancontroller
: implements the client part of the Cartesian Interface.
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#include <ClientCartesianController.h>
Public Member Functions | |
ClientCartesianController () | |
ClientCartesianController (yarp::os::Searchable &config) | |
bool | open (yarp::os::Searchable &config) |
bool | close () |
bool | setTrackingMode (const bool f) |
bool | getTrackingMode (bool *f) |
bool | setReferenceMode (const bool f) |
bool | getReferenceMode (bool *f) |
bool | setPosePriority (const std::string &p) |
bool | getPosePriority (std::string &p) |
bool | getPose (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL) |
bool | getPose (const int axis, yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL) |
bool | goToPose (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, const double t=0.0) |
bool | goToPosition (const yarp::sig::Vector &xd, const double t=0.0) |
bool | goToPoseSync (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, const double t=0.0) |
bool | goToPositionSync (const yarp::sig::Vector &xd, const double t=0.0) |
bool | getDesired (yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
bool | askForPose (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
bool | askForPose (const yarp::sig::Vector &q0, const yarp::sig::Vector &xd, const yarp::sig::Vector &od, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
bool | askForPosition (const yarp::sig::Vector &xd, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
bool | askForPosition (const yarp::sig::Vector &q0, const yarp::sig::Vector &xd, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
bool | getDOF (yarp::sig::Vector &curDof) |
bool | setDOF (const yarp::sig::Vector &newDof, yarp::sig::Vector &curDof) |
bool | getRestPos (yarp::sig::Vector &curRestPos) |
bool | setRestPos (const yarp::sig::Vector &newRestPos, yarp::sig::Vector &curRestPos) |
bool | getRestWeights (yarp::sig::Vector &curRestWeights) |
bool | setRestWeights (const yarp::sig::Vector &newRestWeights, yarp::sig::Vector &curRestWeights) |
bool | getLimits (const int axis, double *min, double *max) |
bool | setLimits (const int axis, const double min, const double max) |
bool | getTrajTime (double *t) |
bool | setTrajTime (const double t) |
bool | getInTargetTol (double *tol) |
bool | setInTargetTol (const double tol) |
bool | getJointsVelocities (yarp::sig::Vector &qdot) |
bool | getTaskVelocities (yarp::sig::Vector &xdot, yarp::sig::Vector &odot) |
bool | setTaskVelocities (const yarp::sig::Vector &xdot, const yarp::sig::Vector &odot) |
bool | attachTipFrame (const yarp::sig::Vector &x, const yarp::sig::Vector &o) |
bool | getTipFrame (yarp::sig::Vector &x, yarp::sig::Vector &o) |
bool | removeTipFrame () |
bool | checkMotionDone (bool *f) |
bool | waitMotionDone (const double period=0.1, const double timeout=0.0) |
bool | stopControl () |
bool | storeContext (int *id) |
bool | restoreContext (const int id) |
bool | deleteContext (const int id) |
bool | getInfo (yarp::os::Bottle &info) |
bool | registerEvent (yarp::dev::CartesianEvent &event) |
bool | unregisterEvent (yarp::dev::CartesianEvent &event) |
bool | tweakSet (const yarp::os::Bottle &options) |
bool | tweakGet (yarp::os::Bottle &options) |
virtual | ~ClientCartesianController () |
Protected Member Functions | |
void | init () |
bool | deleteContexts () |
void | eventHandling (yarp::os::Bottle &event) |
bool | getInfoHelper (yarp::os::Bottle &info) |
Protected Attributes | |
bool | connected |
bool | closed |
double | timeout |
double | lastPoseMsgArrivalTime |
yarp::sig::Vector | pose |
yarp::os::Stamp | poseStamp |
yarp::os::BufferedPort< yarp::sig::Vector > | portState |
yarp::os::BufferedPort< yarp::os::Bottle > | portCmd |
yarp::os::RpcClient | portRpc |
std::set< int > | contextIdList |
std::map< std::string, yarp::dev::CartesianEvent * > | eventsMap |
CartesianEventHandler | portEvents |
Friends | |
class | CartesianEventHandler |
Additional Inherited Members | |
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static void | addVectorOption (yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v) |
static bool | getDesiredOption (const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
static void | addTargetOption (yarp::os::Bottle &b, const yarp::sig::Vector &xd) |
Appends to a bottle all data needed to command a target. More... | |
static void | addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof) |
Appends to a bottle all data needed to reconfigure chain's dof. More... | |
static void | addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos) |
Appends to a bottle all data needed to modify joints rest position. More... | |
static void | addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights) |
Appends to a bottle all data needed to modify joints rest weights. More... | |
static void | addPoseOption (yarp::os::Bottle &b, const unsigned int pose) |
Appends to a bottle all data needed to change the pose mode. More... | |
static void | addModeOption (yarp::os::Bottle &b, const bool tracking) |
Appends to a bottle all data needed to change the tracking mode. More... | |
static void | addTokenOption (yarp::os::Bottle &b, const double token) |
Appends to a bottle a token to be exchanged with the solver. More... | |
static yarp::os::Bottle * | getTargetOption (const yarp::os::Bottle &b) |
Retrieves commanded target data from a bottle. More... | |
static yarp::os::Bottle * | getEndEffectorPoseOption (const yarp::os::Bottle &b) |
Retrieves the end-effector pose data. More... | |
static yarp::os::Bottle * | getJointsOption (const yarp::os::Bottle &b) |
Retrieves the joints configuration data. More... | |
static bool | getTokenOption (const yarp::os::Bottle &b, double *token) |
Retrieves the token from the bottle. More... | |
static bool | computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp) |
Retrieves current fixation point given the current kinematics configuration of the eyes. More... | |
static bool | computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp, yarp::sig::Matrix &J) |
Retrieves current fixation point and its Jacobian wrt eyes tilt-pan-vergence dofs given the current kinematics configuration of the eyes. More... | |
clientcartesiancontroller
: implements the client part of the Cartesian Interface.
YARP device name |
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clientcartesiancontroller |
Definition at line 63 of file ClientCartesianController.h.
ClientCartesianController::ClientCartesianController | ( | ) |
Definition at line 60 of file ClientCartesianController.cpp.
ClientCartesianController::ClientCartesianController | ( | yarp::os::Searchable & | config | ) |
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Definition at line 1601 of file ClientCartesianController.cpp.
bool ClientCartesianController::askForPose | ( | const yarp::sig::Vector & | q0, |
const yarp::sig::Vector & | xd, | ||
const yarp::sig::Vector & | od, | ||
yarp::sig::Vector & | xdhat, | ||
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
bool ClientCartesianController::askForPose | ( | const yarp::sig::Vector & | xd, |
const yarp::sig::Vector & | od, | ||
yarp::sig::Vector & | xdhat, | ||
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
bool ClientCartesianController::askForPosition | ( | const yarp::sig::Vector & | q0, |
const yarp::sig::Vector & | xd, | ||
yarp::sig::Vector & | xdhat, | ||
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
bool ClientCartesianController::askForPosition | ( | const yarp::sig::Vector & | xd, |
yarp::sig::Vector & | xdhat, | ||
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
bool ClientCartesianController::attachTipFrame | ( | const yarp::sig::Vector & | x, |
const yarp::sig::Vector & | o | ||
) |
Definition at line 1132 of file ClientCartesianController.cpp.
bool ClientCartesianController::checkMotionDone | ( | bool * | f | ) |
Definition at line 1216 of file ClientCartesianController.cpp.
bool ClientCartesianController::close | ( | void | ) |
Definition at line 180 of file ClientCartesianController.cpp.
bool ClientCartesianController::deleteContext | ( | const int | id | ) |
Definition at line 1337 of file ClientCartesianController.cpp.
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Definition at line 1363 of file ClientCartesianController.cpp.
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Definition at line 1425 of file ClientCartesianController.cpp.
bool ClientCartesianController::getDesired | ( | yarp::sig::Vector & | xdhat, |
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
Definition at line 551 of file ClientCartesianController.cpp.
bool ClientCartesianController::getDOF | ( | yarp::sig::Vector & | curDof | ) |
Definition at line 679 of file ClientCartesianController.cpp.
bool ClientCartesianController::getInfo | ( | yarp::os::Bottle & | info | ) |
Definition at line 1415 of file ClientCartesianController.cpp.
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Definition at line 1387 of file ClientCartesianController.cpp.
bool ClientCartesianController::getInTargetTol | ( | double * | tol | ) |
Definition at line 987 of file ClientCartesianController.cpp.
bool ClientCartesianController::getJointsVelocities | ( | yarp::sig::Vector & | qdot | ) |
Definition at line 1037 of file ClientCartesianController.cpp.
bool ClientCartesianController::getLimits | ( | const int | axis, |
double * | min, | ||
double * | max | ||
) |
Definition at line 881 of file ClientCartesianController.cpp.
bool ClientCartesianController::getPose | ( | const int | axis, |
yarp::sig::Vector & | x, | ||
yarp::sig::Vector & | o, | ||
yarp::os::Stamp * | stamp = NULL |
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) |
bool ClientCartesianController::getPose | ( | yarp::sig::Vector & | x, |
yarp::sig::Vector & | o, | ||
yarp::os::Stamp * | stamp = NULL |
||
) |
bool ClientCartesianController::getPosePriority | ( | std::string & | p | ) |
Definition at line 339 of file ClientCartesianController.cpp.
bool ClientCartesianController::getReferenceMode | ( | bool * | f | ) |
Definition at line 284 of file ClientCartesianController.cpp.
bool ClientCartesianController::getRestPos | ( | yarp::sig::Vector & | curRestPos | ) |
Definition at line 749 of file ClientCartesianController.cpp.
bool ClientCartesianController::getRestWeights | ( | yarp::sig::Vector & | curRestWeights | ) |
Definition at line 815 of file ClientCartesianController.cpp.
bool ClientCartesianController::getTaskVelocities | ( | yarp::sig::Vector & | xdot, |
yarp::sig::Vector & | odot | ||
) |
Definition at line 1070 of file ClientCartesianController.cpp.
bool ClientCartesianController::getTipFrame | ( | yarp::sig::Vector & | x, |
yarp::sig::Vector & | o | ||
) |
Definition at line 1172 of file ClientCartesianController.cpp.
bool ClientCartesianController::getTrackingMode | ( | bool * | f | ) |
Definition at line 228 of file ClientCartesianController.cpp.
bool ClientCartesianController::getTrajTime | ( | double * | t | ) |
Definition at line 937 of file ClientCartesianController.cpp.
bool ClientCartesianController::goToPose | ( | const yarp::sig::Vector & | xd, |
const yarp::sig::Vector & | od, | ||
const double | t = 0.0 |
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) |
Definition at line 447 of file ClientCartesianController.cpp.
bool ClientCartesianController::goToPoseSync | ( | const yarp::sig::Vector & | xd, |
const yarp::sig::Vector & | od, | ||
const double | t = 0.0 |
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) |
Definition at line 497 of file ClientCartesianController.cpp.
bool ClientCartesianController::goToPosition | ( | const yarp::sig::Vector & | xd, |
const double | t = 0.0 |
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) |
Definition at line 474 of file ClientCartesianController.cpp.
bool ClientCartesianController::goToPositionSync | ( | const yarp::sig::Vector & | xd, |
const double | t = 0.0 |
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Definition at line 526 of file ClientCartesianController.cpp.
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Definition at line 75 of file ClientCartesianController.cpp.
bool ClientCartesianController::open | ( | yarp::os::Searchable & | config | ) |
Definition at line 90 of file ClientCartesianController.cpp.
bool ClientCartesianController::registerEvent | ( | yarp::dev::CartesianEvent & | event | ) |
Definition at line 1477 of file ClientCartesianController.cpp.
bool ClientCartesianController::removeTipFrame | ( | ) |
Definition at line 1209 of file ClientCartesianController.cpp.
bool ClientCartesianController::restoreContext | ( | const int | id | ) |
Definition at line 1317 of file ClientCartesianController.cpp.
bool ClientCartesianController::setDOF | ( | const yarp::sig::Vector & | newDof, |
yarp::sig::Vector & | curDof | ||
) |
Definition at line 712 of file ClientCartesianController.cpp.
bool ClientCartesianController::setInTargetTol | ( | const double | tol | ) |
Definition at line 1016 of file ClientCartesianController.cpp.
bool ClientCartesianController::setLimits | ( | const int | axis, |
const double | min, | ||
const double | max | ||
) |
Definition at line 913 of file ClientCartesianController.cpp.
bool ClientCartesianController::setPosePriority | ( | const std::string & | p | ) |
Definition at line 318 of file ClientCartesianController.cpp.
bool ClientCartesianController::setReferenceMode | ( | const bool | f | ) |
Definition at line 262 of file ClientCartesianController.cpp.
bool ClientCartesianController::setRestPos | ( | const yarp::sig::Vector & | newRestPos, |
yarp::sig::Vector & | curRestPos | ||
) |
Definition at line 782 of file ClientCartesianController.cpp.
bool ClientCartesianController::setRestWeights | ( | const yarp::sig::Vector & | newRestWeights, |
yarp::sig::Vector & | curRestWeights | ||
) |
Definition at line 848 of file ClientCartesianController.cpp.
bool ClientCartesianController::setTaskVelocities | ( | const yarp::sig::Vector & | xdot, |
const yarp::sig::Vector & | odot | ||
) |
Definition at line 1107 of file ClientCartesianController.cpp.
bool ClientCartesianController::setTrackingMode | ( | const bool | f | ) |
Definition at line 206 of file ClientCartesianController.cpp.
bool ClientCartesianController::setTrajTime | ( | const double | t | ) |
Definition at line 966 of file ClientCartesianController.cpp.
bool ClientCartesianController::stopControl | ( | ) |
Definition at line 1270 of file ClientCartesianController.cpp.
bool ClientCartesianController::storeContext | ( | int * | id | ) |
Definition at line 1289 of file ClientCartesianController.cpp.
bool ClientCartesianController::tweakGet | ( | yarp::os::Bottle & | options | ) |
Definition at line 1570 of file ClientCartesianController.cpp.
bool ClientCartesianController::tweakSet | ( | const yarp::os::Bottle & | options | ) |
Definition at line 1549 of file ClientCartesianController.cpp.
bool ClientCartesianController::unregisterEvent | ( | yarp::dev::CartesianEvent & | event | ) |
Definition at line 1513 of file ClientCartesianController.cpp.
bool ClientCartesianController::waitMotionDone | ( | const double | period = 0.1 , |
const double | timeout = 0.0 |
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) |
Definition at line 1251 of file ClientCartesianController.cpp.
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Definition at line 84 of file ClientCartesianController.h.
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Definition at line 69 of file ClientCartesianController.h.
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Definition at line 68 of file ClientCartesianController.h.
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Definition at line 81 of file ClientCartesianController.h.
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Definition at line 82 of file ClientCartesianController.h.
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Definition at line 72 of file ClientCartesianController.h.
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Definition at line 78 of file ClientCartesianController.h.
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Definition at line 83 of file ClientCartesianController.h.
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Definition at line 79 of file ClientCartesianController.h.
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Definition at line 77 of file ClientCartesianController.h.
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Definition at line 74 of file ClientCartesianController.h.
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Definition at line 75 of file ClientCartesianController.h.
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Definition at line 71 of file ClientCartesianController.h.