iCub-main
Classes | Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
ServerCartesianController Class Reference

servercartesiancontroller : implements the server part of the Cartesian Interface. More...

#include <ServerCartesianController.h>

+ Inheritance diagram for ServerCartesianController:

Classes

struct  Context
 

Public Member Functions

 ServerCartesianController ()
 
 ServerCartesianController (yarp::os::Searchable &config)
 
bool open (yarp::os::Searchable &config)
 
bool close ()
 
bool pingSolver ()
 
bool connectToSolver ()
 
bool attachAll (const yarp::dev::PolyDriverList &p)
 
bool detachAll ()
 
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 ~ServerCartesianController ()
 

Protected Member Functions

yarp::os::Bottle sendCtrlCmdMultipleJointsPosition ()
 
yarp::os::Bottle sendCtrlCmdMultipleJointsVelocity ()
 
yarp::os::Bottle sendCtrlCmdSingleJointPosition ()
 
yarp::os::Bottle sendCtrlCmdSingleJointVelocity ()
 
void init ()
 
void openPorts ()
 
void closePorts ()
 
bool respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply)
 
bool alignJointsBounds ()
 
double getFeedback (yarp::sig::Vector &_fb)
 
void createController ()
 
bool getNewTarget ()
 
bool areJointsHealthyAndSet (std::vector< int > &jointsToSet)
 
void setJointsCtrlMode (const std::vector< int > &jointsToSet)
 
void stopLimb (const bool execStopPosition=true)
 
bool goTo (unsigned int _ctrlPose, const yarp::sig::Vector &xd, const double t, const bool latchToken=false)
 
bool deleteContexts (yarp::os::Bottle *contextIdList)
 
void notifyEvent (const std::string &event, const double checkPoint=-1.0)
 
void motionOngoingEventsHandling ()
 
void motionOngoingEventsFlush ()
 
bool registerMotionOngoingEvent (const double checkPoint)
 
bool unregisterMotionOngoingEvent (const double checkPoint)
 
yarp::os::Bottle listMotionOngoingEvents ()
 
bool threadInit ()
 
void afterStart (bool s)
 
void run ()
 
void threadRelease ()
 
bool stopControlHelper ()
 
bool setTrackingModeHelper (const bool f)
 
bool setTrajTimeHelper (const double t)
 
bool setInTargetTolHelper (const double tol)
 
bool isInTargetHelper ()
 
bool getTask2ndOptions (yarp::os::Value &v)
 
bool setTask2ndOptions (const yarp::os::Value &v)
 
bool getSolverConvergenceOptions (yarp::os::Bottle &options)
 
bool setSolverConvergenceOptions (const yarp::os::Bottle &options)
 

Protected Attributes

yarp::dev::PolyDriverList drivers
 
bool attached
 
bool connected
 
bool closed
 
bool trackingMode
 
bool executingTraj
 
bool taskVelModeOn
 
bool motionDone
 
bool ctrlModeAvailable
 
bool encTimedEnabled
 
bool posDirectEnabled
 
bool posDirectAvailable
 
bool multipleJointsControlEnabled
 
bool pidAvailable
 
bool useReferences
 
bool jointsHealthy
 
bool debugInfoEnabled
 
std::string ctrlName
 
std::string slvName
 
std::string kinPart
 
std::string kinType
 
int numDrv
 
iCub::iKin::iKinLimblimbState
 
iCub::iKin::iKinLimblimbPlan
 
iCub::iKin::iKinChainchainState
 
iCub::iKin::iKinChainchainPlan
 
iCub::iKin::MultiRefMinJerkCtrlctrl
 
TaskRefVelTargetGeneratortaskRefVelTargetGen
 
yarp::os::Property plantModelProperties
 
SmithPredictor smithPredictor
 
std::deque< DriverDescriptorlDsc
 
std::deque< yarp::dev::IControlMode * > lMod
 
std::deque< yarp::dev::IEncoders * > lEnc
 
std::deque< yarp::dev::IEncodersTimed * > lEnt
 
std::deque< yarp::dev::IPidControl * > lPid
 
std::deque< yarp::dev::IControlLimits * > lLim
 
std::deque< yarp::dev::IVelocityControl * > lVel
 
std::deque< yarp::dev::IPositionDirect * > lPos
 
std::deque< yarp::dev::IPositionControl * > lStp
 
std::deque< int > lJnt
 
std::deque< int * > lRmp
 
unsigned int connectCnt
 
unsigned int ctrlPose
 
int maxPartJoints
 
double targetTol
 
double trajTime
 
double pathPerc
 
int taskRefVelPeriodFactor
 
int taskRefVelPeriodCnt
 
double txToken
 
double rxToken
 
double txTokenLatchedStopControl
 
double txTokenLatchedGoToRpc
 
bool skipSlvRes
 
bool syncEventEnabled
 
std::mutex mtx
 
std::mutex mtx_syncEvent
 
std::condition_variable cv_syncEvent
 
yarp::os::Stamp txInfo
 
yarp::os::Stamp poseInfo
 
yarp::os::Stamp eventInfo
 
yarp::os::Stamp debugInfo
 
yarp::sig::Vector xdes
 
yarp::sig::Vector qdes
 
yarp::sig::Vector xdot_set
 
yarp::sig::Vector velCmd
 
yarp::sig::Vector fb
 
yarp::sig::Vector q0
 
yarp::os::BufferedPort< yarp::os::Bottle > portSlvIn
 
yarp::os::BufferedPort< yarp::os::Bottle > portSlvOut
 
yarp::os::RpcClient portSlvRpc
 
yarp::os::BufferedPort< yarp::sig::Vector > portState
 
yarp::os::BufferedPort< yarp::os::Bottle > portEvent
 
yarp::os::BufferedPort< yarp::os::Bottle > portDebugInfo
 
yarp::os::RpcServer portRpc
 
CartesianCtrlCommandPortportCmd
 
CartesianCtrlRpcProcessorrpcProcessor
 
int contextIdCnt
 
std::map< int, ContextcontextMap
 
std::map< std::string, yarp::dev::CartesianEvent * > eventsMap
 
std::multiset< double > motionOngoingEvents
 
std::multiset< double > motionOngoingEventsCurrent
 
yarp::os::Bottle(ServerCartesianController::* sendCtrlCmd )()
 

Friends

class CartesianCtrlRpcProcessor
 
class CartesianCtrlCommandPort
 

Additional Inherited Members

- Static Protected Member Functions inherited from iCub::iKin::CartesianHelper
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...
 

Detailed Description

servercartesiancontroller : implements the server part of the Cartesian Interface.

Note
Please read carefully the Cartesian Interface documentation.
YARP device name
servercartesiancontroller

Definition at line 104 of file ServerCartesianController.h.

Constructor & Destructor Documentation

◆ ServerCartesianController() [1/2]

ServerCartesianController::ServerCartesianController ( )

Definition at line 172 of file ServerCartesianController.cpp.

◆ ServerCartesianController() [2/2]

ServerCartesianController::ServerCartesianController ( yarp::os::Searchable &  config)

◆ ~ServerCartesianController()

ServerCartesianController::~ServerCartesianController ( )
virtual

Definition at line 3864 of file ServerCartesianController.cpp.

Member Function Documentation

◆ afterStart()

void ServerCartesianController::afterStart ( bool  s)
protected

Definition at line 1600 of file ServerCartesianController.cpp.

◆ alignJointsBounds()

bool ServerCartesianController::alignJointsBounds ( )
protected

Definition at line 1065 of file ServerCartesianController.cpp.

◆ areJointsHealthyAndSet()

bool ServerCartesianController::areJointsHealthyAndSet ( std::vector< int > &  jointsToSet)
protected

Definition at line 1284 of file ServerCartesianController.cpp.

◆ askForPose() [1/2]

bool ServerCartesianController::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 
)

◆ askForPose() [2/2]

bool ServerCartesianController::askForPose ( const yarp::sig::Vector &  xd,
const yarp::sig::Vector &  od,
yarp::sig::Vector &  xdhat,
yarp::sig::Vector &  odhat,
yarp::sig::Vector &  qdhat 
)

◆ askForPosition() [1/2]

bool ServerCartesianController::askForPosition ( const yarp::sig::Vector &  q0,
const yarp::sig::Vector &  xd,
yarp::sig::Vector &  xdhat,
yarp::sig::Vector &  odhat,
yarp::sig::Vector &  qdhat 
)

◆ askForPosition() [2/2]

bool ServerCartesianController::askForPosition ( const yarp::sig::Vector &  xd,
yarp::sig::Vector &  xdhat,
yarp::sig::Vector &  odhat,
yarp::sig::Vector &  qdhat 
)

◆ attachAll()

bool ServerCartesianController::attachAll ( const yarp::dev::PolyDriverList &  p)

Definition at line 2032 of file ServerCartesianController.cpp.

◆ attachTipFrame()

bool ServerCartesianController::attachTipFrame ( const yarp::sig::Vector &  x,
const yarp::sig::Vector &  o 
)

Definition at line 3203 of file ServerCartesianController.cpp.

◆ checkMotionDone()

bool ServerCartesianController::checkMotionDone ( bool *  f)

Definition at line 3271 of file ServerCartesianController.cpp.

◆ close()

bool ServerCartesianController::close ( )

Definition at line 2010 of file ServerCartesianController.cpp.

◆ closePorts()

void ServerCartesianController::closePorts ( )
protected

Definition at line 251 of file ServerCartesianController.cpp.

◆ connectToSolver()

bool ServerCartesianController::connectToSolver ( )

Definition at line 2262 of file ServerCartesianController.cpp.

◆ createController()

void ServerCartesianController::createController ( )
protected

Definition at line 1147 of file ServerCartesianController.cpp.

◆ deleteContext()

bool ServerCartesianController::deleteContext ( const int  id)

Definition at line 3446 of file ServerCartesianController.cpp.

◆ deleteContexts()

bool ServerCartesianController::deleteContexts ( yarp::os::Bottle *  contextIdList)
protected

Definition at line 3460 of file ServerCartesianController.cpp.

◆ detachAll()

bool ServerCartesianController::detachAll ( )

Definition at line 2213 of file ServerCartesianController.cpp.

◆ getDesired()

bool ServerCartesianController::getDesired ( yarp::sig::Vector &  xdhat,
yarp::sig::Vector &  odhat,
yarp::sig::Vector &  qdhat 
)

Definition at line 2606 of file ServerCartesianController.cpp.

◆ getDOF()

bool ServerCartesianController::getDOF ( yarp::sig::Vector &  curDof)

Definition at line 2760 of file ServerCartesianController.cpp.

◆ getFeedback()

double ServerCartesianController::getFeedback ( yarp::sig::Vector &  _fb)
protected

Definition at line 1096 of file ServerCartesianController.cpp.

◆ getInfo()

bool ServerCartesianController::getInfo ( yarp::os::Bottle &  info)

Definition at line 3482 of file ServerCartesianController.cpp.

◆ getInTargetTol()

bool ServerCartesianController::getInTargetTol ( double *  tol)

Definition at line 3053 of file ServerCartesianController.cpp.

◆ getJointsVelocities()

bool ServerCartesianController::getJointsVelocities ( yarp::sig::Vector &  qdot)

Definition at line 3114 of file ServerCartesianController.cpp.

◆ getLimits()

bool ServerCartesianController::getLimits ( const int  axis,
double *  min,
double *  max 
)

Definition at line 2961 of file ServerCartesianController.cpp.

◆ getNewTarget()

bool ServerCartesianController::getNewTarget ( )
protected

Definition at line 1192 of file ServerCartesianController.cpp.

◆ getPose() [1/2]

bool ServerCartesianController::getPose ( const int  axis,
yarp::sig::Vector &  x,
yarp::sig::Vector &  o,
yarp::os::Stamp *  stamp = NULL 
)

◆ getPose() [2/2]

bool ServerCartesianController::getPose ( yarp::sig::Vector &  x,
yarp::sig::Vector &  o,
yarp::os::Stamp *  stamp = NULL 
)

◆ getPosePriority()

bool ServerCartesianController::getPosePriority ( std::string p)

Definition at line 2468 of file ServerCartesianController.cpp.

◆ getReferenceMode()

bool ServerCartesianController::getReferenceMode ( bool *  f)

Definition at line 2431 of file ServerCartesianController.cpp.

◆ getRestPos()

bool ServerCartesianController::getRestPos ( yarp::sig::Vector &  curRestPos)

Definition at line 2829 of file ServerCartesianController.cpp.

◆ getRestWeights()

bool ServerCartesianController::getRestWeights ( yarp::sig::Vector &  curRestWeights)

Definition at line 2895 of file ServerCartesianController.cpp.

◆ getSolverConvergenceOptions()

bool ServerCartesianController::getSolverConvergenceOptions ( yarp::os::Bottle &  options)
protected

Definition at line 3756 of file ServerCartesianController.cpp.

◆ getTask2ndOptions()

bool ServerCartesianController::getTask2ndOptions ( yarp::os::Value &  v)
protected

Definition at line 3708 of file ServerCartesianController.cpp.

◆ getTaskVelocities()

bool ServerCartesianController::getTaskVelocities ( yarp::sig::Vector &  xdot,
yarp::sig::Vector &  odot 
)

Definition at line 3128 of file ServerCartesianController.cpp.

◆ getTipFrame()

bool ServerCartesianController::getTipFrame ( yarp::sig::Vector &  x,
yarp::sig::Vector &  o 
)

Definition at line 3245 of file ServerCartesianController.cpp.

◆ getTrackingMode()

bool ServerCartesianController::getTrackingMode ( bool *  f)

Definition at line 2405 of file ServerCartesianController.cpp.

◆ getTrajTime()

bool ServerCartesianController::getTrajTime ( double *  t)

Definition at line 3019 of file ServerCartesianController.cpp.

◆ goTo()

bool ServerCartesianController::goTo ( unsigned int  _ctrlPose,
const yarp::sig::Vector &  xd,
const double  t,
const bool  latchToken = false 
)
protected

Definition at line 2327 of file ServerCartesianController.cpp.

◆ goToPose()

bool ServerCartesianController::goToPose ( const yarp::sig::Vector &  xd,
const yarp::sig::Vector &  od,
const double  t = 0.0 
)

Definition at line 2553 of file ServerCartesianController.cpp.

◆ goToPoseSync()

bool ServerCartesianController::goToPoseSync ( const yarp::sig::Vector &  xd,
const yarp::sig::Vector &  od,
const double  t = 0.0 
)

Definition at line 2591 of file ServerCartesianController.cpp.

◆ goToPosition()

bool ServerCartesianController::goToPosition ( const yarp::sig::Vector &  xd,
const double  t = 0.0 
)

Definition at line 2576 of file ServerCartesianController.cpp.

◆ goToPositionSync()

bool ServerCartesianController::goToPositionSync ( const yarp::sig::Vector &  xd,
const double  t = 0.0 
)

Definition at line 2599 of file ServerCartesianController.cpp.

◆ init()

void ServerCartesianController::init ( )
protected

Definition at line 189 of file ServerCartesianController.cpp.

◆ isInTargetHelper()

bool ServerCartesianController::isInTargetHelper ( )
protected

Definition at line 3080 of file ServerCartesianController.cpp.

◆ listMotionOngoingEvents()

Bottle ServerCartesianController::listMotionOngoingEvents ( )
protected

Definition at line 3695 of file ServerCartesianController.cpp.

◆ motionOngoingEventsFlush()

void ServerCartesianController::motionOngoingEventsFlush ( )
protected

Definition at line 3650 of file ServerCartesianController.cpp.

◆ motionOngoingEventsHandling()

void ServerCartesianController::motionOngoingEventsHandling ( )
protected

Definition at line 3635 of file ServerCartesianController.cpp.

◆ notifyEvent()

void ServerCartesianController::notifyEvent ( const std::string event,
const double  checkPoint = -1.0 
)
protected

Definition at line 3525 of file ServerCartesianController.cpp.

◆ open()

bool ServerCartesianController::open ( yarp::os::Searchable &  config)

Definition at line 1767 of file ServerCartesianController.cpp.

◆ openPorts()

void ServerCartesianController::openPorts ( )
protected

Definition at line 228 of file ServerCartesianController.cpp.

◆ pingSolver()

bool ServerCartesianController::pingSolver ( )

Definition at line 2248 of file ServerCartesianController.cpp.

◆ registerEvent()

bool ServerCartesianController::registerEvent ( yarp::dev::CartesianEvent &  event)

Definition at line 3591 of file ServerCartesianController.cpp.

◆ registerMotionOngoingEvent()

bool ServerCartesianController::registerMotionOngoingEvent ( const double  checkPoint)
protected

Definition at line 3662 of file ServerCartesianController.cpp.

◆ removeTipFrame()

bool ServerCartesianController::removeTipFrame ( )

Definition at line 3264 of file ServerCartesianController.cpp.

◆ respond()

bool ServerCartesianController::respond ( const yarp::os::Bottle &  command,
yarp::os::Bottle &  reply 
)
protected

Definition at line 289 of file ServerCartesianController.cpp.

◆ restoreContext()

bool ServerCartesianController::restoreContext ( const int  id)

Definition at line 3402 of file ServerCartesianController.cpp.

◆ run()

void ServerCartesianController::run ( )
protected

Definition at line 1610 of file ServerCartesianController.cpp.

◆ sendCtrlCmdMultipleJointsPosition()

Bottle ServerCartesianController::sendCtrlCmdMultipleJointsPosition ( )
protected

Definition at line 1350 of file ServerCartesianController.cpp.

◆ sendCtrlCmdMultipleJointsVelocity()

Bottle ServerCartesianController::sendCtrlCmdMultipleJointsVelocity ( )
protected

Definition at line 1399 of file ServerCartesianController.cpp.

◆ sendCtrlCmdSingleJointPosition()

Bottle ServerCartesianController::sendCtrlCmdSingleJointPosition ( )
protected

Definition at line 1453 of file ServerCartesianController.cpp.

◆ sendCtrlCmdSingleJointVelocity()

Bottle ServerCartesianController::sendCtrlCmdSingleJointVelocity ( )
protected

Definition at line 1493 of file ServerCartesianController.cpp.

◆ setDOF()

bool ServerCartesianController::setDOF ( const yarp::sig::Vector &  newDof,
yarp::sig::Vector &  curDof 
)

Definition at line 2778 of file ServerCartesianController.cpp.

◆ setInTargetTol()

bool ServerCartesianController::setInTargetTol ( const double  tol)

Definition at line 3106 of file ServerCartesianController.cpp.

◆ setInTargetTolHelper()

bool ServerCartesianController::setInTargetTolHelper ( const double  tol)
protected

Definition at line 3066 of file ServerCartesianController.cpp.

◆ setJointsCtrlMode()

void ServerCartesianController::setJointsCtrlMode ( const std::vector< int > &  jointsToSet)
protected

Definition at line 1318 of file ServerCartesianController.cpp.

◆ setLimits()

bool ServerCartesianController::setLimits ( const int  axis,
const double  min,
const double  max 
)

Definition at line 2992 of file ServerCartesianController.cpp.

◆ setPosePriority()

bool ServerCartesianController::setPosePriority ( const std::string p)

Definition at line 2444 of file ServerCartesianController.cpp.

◆ setReferenceMode()

bool ServerCartesianController::setReferenceMode ( const bool  f)

Definition at line 2418 of file ServerCartesianController.cpp.

◆ setRestPos()

bool ServerCartesianController::setRestPos ( const yarp::sig::Vector &  newRestPos,
yarp::sig::Vector &  curRestPos 
)

Definition at line 2861 of file ServerCartesianController.cpp.

◆ setRestWeights()

bool ServerCartesianController::setRestWeights ( const yarp::sig::Vector &  newRestWeights,
yarp::sig::Vector &  curRestWeights 
)

Definition at line 2927 of file ServerCartesianController.cpp.

◆ setSolverConvergenceOptions()

bool ServerCartesianController::setSolverConvergenceOptions ( const yarp::os::Bottle &  options)
protected

Definition at line 3780 of file ServerCartesianController.cpp.

◆ setTask2ndOptions()

bool ServerCartesianController::setTask2ndOptions ( const yarp::os::Value &  v)
protected

Definition at line 3732 of file ServerCartesianController.cpp.

◆ setTaskVelocities()

bool ServerCartesianController::setTaskVelocities ( const yarp::sig::Vector &  xdot,
const yarp::sig::Vector &  odot 
)

Definition at line 3169 of file ServerCartesianController.cpp.

◆ setTrackingMode()

bool ServerCartesianController::setTrackingMode ( const bool  f)

Definition at line 2397 of file ServerCartesianController.cpp.

◆ setTrackingModeHelper()

bool ServerCartesianController::setTrackingModeHelper ( const bool  f)
protected

Definition at line 2370 of file ServerCartesianController.cpp.

◆ setTrajTime()

bool ServerCartesianController::setTrajTime ( const double  t)

Definition at line 3045 of file ServerCartesianController.cpp.

◆ setTrajTimeHelper()

bool ServerCartesianController::setTrajTimeHelper ( const double  t)
protected

Definition at line 3032 of file ServerCartesianController.cpp.

◆ stopControl()

bool ServerCartesianController::stopControl ( )

Definition at line 3334 of file ServerCartesianController.cpp.

◆ stopControlHelper()

bool ServerCartesianController::stopControlHelper ( )
protected

Definition at line 3303 of file ServerCartesianController.cpp.

◆ stopLimb()

void ServerCartesianController::stopLimb ( const bool  execStopPosition = true)
protected

Definition at line 1539 of file ServerCartesianController.cpp.

◆ storeContext()

bool ServerCartesianController::storeContext ( int *  id)

Definition at line 3342 of file ServerCartesianController.cpp.

◆ threadInit()

bool ServerCartesianController::threadInit ( )
protected

Definition at line 1592 of file ServerCartesianController.cpp.

◆ threadRelease()

void ServerCartesianController::threadRelease ( )
protected

Definition at line 1755 of file ServerCartesianController.cpp.

◆ tweakGet()

bool ServerCartesianController::tweakGet ( yarp::os::Bottle &  options)

Definition at line 3826 of file ServerCartesianController.cpp.

◆ tweakSet()

bool ServerCartesianController::tweakSet ( const yarp::os::Bottle &  options)

Definition at line 3804 of file ServerCartesianController.cpp.

◆ unregisterEvent()

bool ServerCartesianController::unregisterEvent ( yarp::dev::CartesianEvent &  event)

Definition at line 3613 of file ServerCartesianController.cpp.

◆ unregisterMotionOngoingEvent()

bool ServerCartesianController::unregisterMotionOngoingEvent ( const double  checkPoint)
protected

Definition at line 3676 of file ServerCartesianController.cpp.

◆ waitMotionDone()

bool ServerCartesianController::waitMotionDone ( const double  period = 0.1,
const double  timeout = 0.0 
)

Definition at line 3284 of file ServerCartesianController.cpp.

Friends And Related Function Documentation

◆ CartesianCtrlCommandPort

friend class CartesianCtrlCommandPort
friend

Definition at line 256 of file ServerCartesianController.h.

◆ CartesianCtrlRpcProcessor

friend class CartesianCtrlRpcProcessor
friend

Definition at line 255 of file ServerCartesianController.h.

Member Data Documentation

◆ attached

bool ServerCartesianController::attached
protected

Definition at line 113 of file ServerCartesianController.h.

◆ chainPlan

iCub::iKin::iKinChain * ServerCartesianController::chainPlan
protected

Definition at line 137 of file ServerCartesianController.h.

◆ chainState

iCub::iKin::iKinChain* ServerCartesianController::chainState
protected

Definition at line 137 of file ServerCartesianController.h.

◆ closed

bool ServerCartesianController::closed
protected

Definition at line 115 of file ServerCartesianController.h.

◆ connectCnt

unsigned int ServerCartesianController::connectCnt
protected

Definition at line 156 of file ServerCartesianController.h.

◆ connected

bool ServerCartesianController::connected
protected

Definition at line 114 of file ServerCartesianController.h.

◆ contextIdCnt

int ServerCartesianController::contextIdCnt
protected

Definition at line 217 of file ServerCartesianController.h.

◆ contextMap

std::map<int,Context> ServerCartesianController::contextMap
protected

Definition at line 218 of file ServerCartesianController.h.

◆ ctrl

iCub::iKin::MultiRefMinJerkCtrl* ServerCartesianController::ctrl
protected

Definition at line 138 of file ServerCartesianController.h.

◆ ctrlModeAvailable

bool ServerCartesianController::ctrlModeAvailable
protected

Definition at line 120 of file ServerCartesianController.h.

◆ ctrlName

std::string ServerCartesianController::ctrlName
protected

Definition at line 130 of file ServerCartesianController.h.

◆ ctrlPose

unsigned int ServerCartesianController::ctrlPose
protected

Definition at line 157 of file ServerCartesianController.h.

◆ cv_syncEvent

std::condition_variable ServerCartesianController::cv_syncEvent
protected

Definition at line 174 of file ServerCartesianController.h.

◆ debugInfo

yarp::os::Stamp ServerCartesianController::debugInfo
protected

Definition at line 178 of file ServerCartesianController.h.

◆ debugInfoEnabled

bool ServerCartesianController::debugInfoEnabled
protected

Definition at line 128 of file ServerCartesianController.h.

◆ drivers

yarp::dev::PolyDriverList ServerCartesianController::drivers
protected

Definition at line 111 of file ServerCartesianController.h.

◆ encTimedEnabled

bool ServerCartesianController::encTimedEnabled
protected

Definition at line 121 of file ServerCartesianController.h.

◆ eventInfo

yarp::os::Stamp ServerCartesianController::eventInfo
protected

Definition at line 177 of file ServerCartesianController.h.

◆ eventsMap

std::map<std::string,yarp::dev::CartesianEvent*> ServerCartesianController::eventsMap
protected

Definition at line 219 of file ServerCartesianController.h.

◆ executingTraj

bool ServerCartesianController::executingTraj
protected

Definition at line 117 of file ServerCartesianController.h.

◆ fb

yarp::sig::Vector ServerCartesianController::fb
protected

Definition at line 184 of file ServerCartesianController.h.

◆ jointsHealthy

bool ServerCartesianController::jointsHealthy
protected

Definition at line 127 of file ServerCartesianController.h.

◆ kinPart

std::string ServerCartesianController::kinPart
protected

Definition at line 132 of file ServerCartesianController.h.

◆ kinType

std::string ServerCartesianController::kinType
protected

Definition at line 133 of file ServerCartesianController.h.

◆ lDsc

std::deque<DriverDescriptor> ServerCartesianController::lDsc
protected

Definition at line 144 of file ServerCartesianController.h.

◆ lEnc

std::deque<yarp::dev::IEncoders*> ServerCartesianController::lEnc
protected

Definition at line 146 of file ServerCartesianController.h.

◆ lEnt

std::deque<yarp::dev::IEncodersTimed*> ServerCartesianController::lEnt
protected

Definition at line 147 of file ServerCartesianController.h.

◆ limbPlan

iCub::iKin::iKinLimb * ServerCartesianController::limbPlan
protected

Definition at line 136 of file ServerCartesianController.h.

◆ limbState

iCub::iKin::iKinLimb* ServerCartesianController::limbState
protected

Definition at line 136 of file ServerCartesianController.h.

◆ lJnt

std::deque<int> ServerCartesianController::lJnt
protected

Definition at line 153 of file ServerCartesianController.h.

◆ lLim

std::deque<yarp::dev::IControlLimits*> ServerCartesianController::lLim
protected

Definition at line 149 of file ServerCartesianController.h.

◆ lMod

std::deque<yarp::dev::IControlMode*> ServerCartesianController::lMod
protected

Definition at line 145 of file ServerCartesianController.h.

◆ lPid

std::deque<yarp::dev::IPidControl*> ServerCartesianController::lPid
protected

Definition at line 148 of file ServerCartesianController.h.

◆ lPos

std::deque<yarp::dev::IPositionDirect*> ServerCartesianController::lPos
protected

Definition at line 151 of file ServerCartesianController.h.

◆ lRmp

std::deque<int*> ServerCartesianController::lRmp
protected

Definition at line 154 of file ServerCartesianController.h.

◆ lStp

std::deque<yarp::dev::IPositionControl*> ServerCartesianController::lStp
protected

Definition at line 152 of file ServerCartesianController.h.

◆ lVel

std::deque<yarp::dev::IVelocityControl*> ServerCartesianController::lVel
protected

Definition at line 150 of file ServerCartesianController.h.

◆ maxPartJoints

int ServerCartesianController::maxPartJoints
protected

Definition at line 158 of file ServerCartesianController.h.

◆ motionDone

bool ServerCartesianController::motionDone
protected

Definition at line 119 of file ServerCartesianController.h.

◆ motionOngoingEvents

std::multiset<double> ServerCartesianController::motionOngoingEvents
protected

Definition at line 221 of file ServerCartesianController.h.

◆ motionOngoingEventsCurrent

std::multiset<double> ServerCartesianController::motionOngoingEventsCurrent
protected

Definition at line 222 of file ServerCartesianController.h.

◆ mtx

std::mutex ServerCartesianController::mtx
protected

Definition at line 172 of file ServerCartesianController.h.

◆ mtx_syncEvent

std::mutex ServerCartesianController::mtx_syncEvent
protected

Definition at line 173 of file ServerCartesianController.h.

◆ multipleJointsControlEnabled

bool ServerCartesianController::multipleJointsControlEnabled
protected

Definition at line 124 of file ServerCartesianController.h.

◆ numDrv

int ServerCartesianController::numDrv
protected

Definition at line 134 of file ServerCartesianController.h.

◆ pathPerc

double ServerCartesianController::pathPerc
protected

Definition at line 161 of file ServerCartesianController.h.

◆ pidAvailable

bool ServerCartesianController::pidAvailable
protected

Definition at line 125 of file ServerCartesianController.h.

◆ plantModelProperties

yarp::os::Property ServerCartesianController::plantModelProperties
protected

Definition at line 141 of file ServerCartesianController.h.

◆ portCmd

CartesianCtrlCommandPort* ServerCartesianController::portCmd
protected

Definition at line 196 of file ServerCartesianController.h.

◆ portDebugInfo

yarp::os::BufferedPort<yarp::os::Bottle> ServerCartesianController::portDebugInfo
protected

Definition at line 193 of file ServerCartesianController.h.

◆ portEvent

yarp::os::BufferedPort<yarp::os::Bottle> ServerCartesianController::portEvent
protected

Definition at line 192 of file ServerCartesianController.h.

◆ portRpc

yarp::os::RpcServer ServerCartesianController::portRpc
protected

Definition at line 194 of file ServerCartesianController.h.

◆ portSlvIn

yarp::os::BufferedPort<yarp::os::Bottle> ServerCartesianController::portSlvIn
protected

Definition at line 187 of file ServerCartesianController.h.

◆ portSlvOut

yarp::os::BufferedPort<yarp::os::Bottle> ServerCartesianController::portSlvOut
protected

Definition at line 188 of file ServerCartesianController.h.

◆ portSlvRpc

yarp::os::RpcClient ServerCartesianController::portSlvRpc
protected

Definition at line 189 of file ServerCartesianController.h.

◆ portState

yarp::os::BufferedPort<yarp::sig::Vector> ServerCartesianController::portState
protected

Definition at line 191 of file ServerCartesianController.h.

◆ posDirectAvailable

bool ServerCartesianController::posDirectAvailable
protected

Definition at line 123 of file ServerCartesianController.h.

◆ posDirectEnabled

bool ServerCartesianController::posDirectEnabled
protected

Definition at line 122 of file ServerCartesianController.h.

◆ poseInfo

yarp::os::Stamp ServerCartesianController::poseInfo
protected

Definition at line 176 of file ServerCartesianController.h.

◆ q0

yarp::sig::Vector ServerCartesianController::q0
protected

Definition at line 185 of file ServerCartesianController.h.

◆ qdes

yarp::sig::Vector ServerCartesianController::qdes
protected

Definition at line 181 of file ServerCartesianController.h.

◆ rpcProcessor

CartesianCtrlRpcProcessor* ServerCartesianController::rpcProcessor
protected

Definition at line 197 of file ServerCartesianController.h.

◆ rxToken

double ServerCartesianController::rxToken
protected

Definition at line 166 of file ServerCartesianController.h.

◆ sendCtrlCmd

yarp::os::Bottle(ServerCartesianController::* ServerCartesianController::sendCtrlCmd) ()
protected

Definition at line 228 of file ServerCartesianController.h.

◆ skipSlvRes

bool ServerCartesianController::skipSlvRes
protected

Definition at line 169 of file ServerCartesianController.h.

◆ slvName

std::string ServerCartesianController::slvName
protected

Definition at line 131 of file ServerCartesianController.h.

◆ smithPredictor

SmithPredictor ServerCartesianController::smithPredictor
protected

Definition at line 142 of file ServerCartesianController.h.

◆ syncEventEnabled

bool ServerCartesianController::syncEventEnabled
protected

Definition at line 170 of file ServerCartesianController.h.

◆ targetTol

double ServerCartesianController::targetTol
protected

Definition at line 159 of file ServerCartesianController.h.

◆ taskRefVelPeriodCnt

int ServerCartesianController::taskRefVelPeriodCnt
protected

Definition at line 163 of file ServerCartesianController.h.

◆ taskRefVelPeriodFactor

int ServerCartesianController::taskRefVelPeriodFactor
protected

Definition at line 162 of file ServerCartesianController.h.

◆ taskRefVelTargetGen

TaskRefVelTargetGenerator* ServerCartesianController::taskRefVelTargetGen
protected

Definition at line 139 of file ServerCartesianController.h.

◆ taskVelModeOn

bool ServerCartesianController::taskVelModeOn
protected

Definition at line 118 of file ServerCartesianController.h.

◆ trackingMode

bool ServerCartesianController::trackingMode
protected

Definition at line 116 of file ServerCartesianController.h.

◆ trajTime

double ServerCartesianController::trajTime
protected

Definition at line 160 of file ServerCartesianController.h.

◆ txInfo

yarp::os::Stamp ServerCartesianController::txInfo
protected

Definition at line 175 of file ServerCartesianController.h.

◆ txToken

double ServerCartesianController::txToken
protected

Definition at line 165 of file ServerCartesianController.h.

◆ txTokenLatchedGoToRpc

double ServerCartesianController::txTokenLatchedGoToRpc
protected

Definition at line 168 of file ServerCartesianController.h.

◆ txTokenLatchedStopControl

double ServerCartesianController::txTokenLatchedStopControl
protected

Definition at line 167 of file ServerCartesianController.h.

◆ useReferences

bool ServerCartesianController::useReferences
protected

Definition at line 126 of file ServerCartesianController.h.

◆ velCmd

yarp::sig::Vector ServerCartesianController::velCmd
protected

Definition at line 183 of file ServerCartesianController.h.

◆ xdes

yarp::sig::Vector ServerCartesianController::xdes
protected

Definition at line 180 of file ServerCartesianController.h.

◆ xdot_set

yarp::sig::Vector ServerCartesianController::xdot_set
protected

Definition at line 182 of file ServerCartesianController.h.


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