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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.
|
| |
| static void | addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof) |
| | Appends to a bottle all data needed to reconfigure chain's dof.
|
| |
| static void | addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos) |
| | Appends to a bottle all data needed to modify joints rest position.
|
| |
| static void | addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights) |
| | Appends to a bottle all data needed to modify joints rest weights.
|
| |
| static void | addPoseOption (yarp::os::Bottle &b, const unsigned int pose) |
| | Appends to a bottle all data needed to change the pose mode.
|
| |
| static void | addModeOption (yarp::os::Bottle &b, const bool tracking) |
| | Appends to a bottle all data needed to change the tracking mode.
|
| |
| static void | addTokenOption (yarp::os::Bottle &b, const double token) |
| | Appends to a bottle a token to be exchanged with the solver.
|
| |
| static yarp::os::Bottle * | getTargetOption (const yarp::os::Bottle &b) |
| | Retrieves commanded target data from a bottle.
|
| |
| static yarp::os::Bottle * | getEndEffectorPoseOption (const yarp::os::Bottle &b) |
| | Retrieves the end-effector pose data.
|
| |
| static yarp::os::Bottle * | getJointsOption (const yarp::os::Bottle &b) |
| | Retrieves the joints configuration data.
|
| |
| static bool | getTokenOption (const yarp::os::Bottle &b, double *token) |
| | Retrieves the token from the bottle.
|
| |
| static bool | computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp) |
| | Retrieves current fixation point given the current kinematics configuration of the eyes.
|
| |
| 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.
|
| |
| PartDescriptor * | prt |
| |
| std::deque< yarp::dev::PolyDriver * > | drv |
| |
| std::deque< yarp::dev::IControlLimits * > | lim |
| |
| std::deque< yarp::dev::IEncoders * > | enc |
| |
| std::deque< int > | jnt |
| |
| std::deque< int * > | rmp |
| |
| iKinIpOptMin * | slv |
| |
| SolverCallback * | clb |
| |
| RpcProcessor * | cmdProcessor |
| |
| yarp::os::Port * | rpcPort |
| |
| InputPort * | inPort |
| |
| yarp::os::BufferedPort< yarp::os::Bottle > * | outPort |
| |
| std::mutex | mtx |
| |
| std::string | slvName |
| |
| std::string | type |
| |
| unsigned int | period |
| |
| unsigned int | ctrlPose |
| |
| bool | fullDOF |
| |
| bool | contModeOld |
| |
| bool | configured |
| |
| bool | closing |
| |
| bool | closed |
| |
| bool | interrupting |
| |
| bool | verbosity |
| |
| bool | timeout_detected |
| |
| int | maxPartJoints |
| |
| int | unctrlJointsNum |
| |
| double | ping_robot_tmo |
| |
| double | token |
| |
| double * | pToken |
| |
| yarp::sig::Matrix | hwLimits |
| |
| yarp::sig::Matrix | swLimits |
| |
| yarp::sig::Vector | unctrlJointsOld |
| |
| yarp::sig::Vector | dof |
| |
| yarp::sig::Vector | restJntPos |
| |
| yarp::sig::Vector | restWeights |
| |
| yarp::sig::Vector | xd_2ndTask |
| |
| yarp::sig::Vector | w_2ndTask |
| |
| yarp::sig::Vector | qd_3rdTask |
| |
| yarp::sig::Vector | w_3rdTask |
| |
| yarp::sig::Vector | idx_3rdTask |
| |
| std::mutex | mtx_dofEvent |
| |
| std::condition_variable | cv_dofEvent |
| |
Inheritance diagram for CustomCartesianSolver:
