iCub-main
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servercartesiancontroller
: implements the server part of the Cartesian Interface.
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#include <ServerCartesianController.h>
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::iKinLimb * | limbState |
iCub::iKin::iKinLimb * | limbPlan |
iCub::iKin::iKinChain * | chainState |
iCub::iKin::iKinChain * | chainPlan |
iCub::iKin::MultiRefMinJerkCtrl * | ctrl |
TaskRefVelTargetGenerator * | taskRefVelTargetGen |
yarp::os::Property | plantModelProperties |
SmithPredictor | smithPredictor |
std::deque< DriverDescriptor > | lDsc |
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 |
CartesianCtrlCommandPort * | portCmd |
CartesianCtrlRpcProcessor * | rpcProcessor |
int | contextIdCnt |
std::map< int, Context > | contextMap |
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. | |
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. | |
servercartesiancontroller
: implements the server part of the Cartesian Interface.
YARP device name |
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servercartesiancontroller |
Definition at line 104 of file ServerCartesianController.h.
ServerCartesianController::ServerCartesianController | ( | ) |
Definition at line 172 of file ServerCartesianController.cpp.
ServerCartesianController::ServerCartesianController | ( | yarp::os::Searchable & | config | ) |
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Definition at line 3865 of file ServerCartesianController.cpp.
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Definition at line 1601 of file ServerCartesianController.cpp.
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Definition at line 1066 of file ServerCartesianController.cpp.
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Definition at line 1285 of file ServerCartesianController.cpp.
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 | ||
) |
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 | ||
) |
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 | ||
) |
bool ServerCartesianController::askForPosition | ( | const yarp::sig::Vector & | xd, |
yarp::sig::Vector & | xdhat, | ||
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
bool ServerCartesianController::attachAll | ( | const yarp::dev::PolyDriverList & | p | ) |
Definition at line 2033 of file ServerCartesianController.cpp.
bool ServerCartesianController::attachTipFrame | ( | const yarp::sig::Vector & | x, |
const yarp::sig::Vector & | o | ||
) |
Definition at line 3204 of file ServerCartesianController.cpp.
bool ServerCartesianController::checkMotionDone | ( | bool * | f | ) |
Definition at line 3272 of file ServerCartesianController.cpp.
bool ServerCartesianController::close | ( | ) |
Definition at line 2011 of file ServerCartesianController.cpp.
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Definition at line 252 of file ServerCartesianController.cpp.
bool ServerCartesianController::connectToSolver | ( | ) |
Definition at line 2263 of file ServerCartesianController.cpp.
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Definition at line 1148 of file ServerCartesianController.cpp.
bool ServerCartesianController::deleteContext | ( | const int | id | ) |
Definition at line 3447 of file ServerCartesianController.cpp.
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Definition at line 3461 of file ServerCartesianController.cpp.
bool ServerCartesianController::detachAll | ( | ) |
Definition at line 2214 of file ServerCartesianController.cpp.
bool ServerCartesianController::getDesired | ( | yarp::sig::Vector & | xdhat, |
yarp::sig::Vector & | odhat, | ||
yarp::sig::Vector & | qdhat | ||
) |
Definition at line 2607 of file ServerCartesianController.cpp.
bool ServerCartesianController::getDOF | ( | yarp::sig::Vector & | curDof | ) |
Definition at line 2761 of file ServerCartesianController.cpp.
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Definition at line 1097 of file ServerCartesianController.cpp.
bool ServerCartesianController::getInfo | ( | yarp::os::Bottle & | info | ) |
Definition at line 3483 of file ServerCartesianController.cpp.
bool ServerCartesianController::getInTargetTol | ( | double * | tol | ) |
Definition at line 3054 of file ServerCartesianController.cpp.
bool ServerCartesianController::getJointsVelocities | ( | yarp::sig::Vector & | qdot | ) |
Definition at line 3115 of file ServerCartesianController.cpp.
bool ServerCartesianController::getLimits | ( | const int | axis, |
double * | min, | ||
double * | max | ||
) |
Definition at line 2962 of file ServerCartesianController.cpp.
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Definition at line 1193 of file ServerCartesianController.cpp.
bool ServerCartesianController::getPose | ( | const int | axis, |
yarp::sig::Vector & | x, | ||
yarp::sig::Vector & | o, | ||
yarp::os::Stamp * | stamp = NULL |
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) |
bool ServerCartesianController::getPose | ( | yarp::sig::Vector & | x, |
yarp::sig::Vector & | o, | ||
yarp::os::Stamp * | stamp = NULL |
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) |
bool ServerCartesianController::getPosePriority | ( | std::string & | p | ) |
Definition at line 2469 of file ServerCartesianController.cpp.
bool ServerCartesianController::getReferenceMode | ( | bool * | f | ) |
Definition at line 2432 of file ServerCartesianController.cpp.
bool ServerCartesianController::getRestPos | ( | yarp::sig::Vector & | curRestPos | ) |
Definition at line 2830 of file ServerCartesianController.cpp.
bool ServerCartesianController::getRestWeights | ( | yarp::sig::Vector & | curRestWeights | ) |
Definition at line 2896 of file ServerCartesianController.cpp.
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Definition at line 3757 of file ServerCartesianController.cpp.
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Definition at line 3709 of file ServerCartesianController.cpp.
bool ServerCartesianController::getTaskVelocities | ( | yarp::sig::Vector & | xdot, |
yarp::sig::Vector & | odot | ||
) |
Definition at line 3129 of file ServerCartesianController.cpp.
bool ServerCartesianController::getTipFrame | ( | yarp::sig::Vector & | x, |
yarp::sig::Vector & | o | ||
) |
Definition at line 3246 of file ServerCartesianController.cpp.
bool ServerCartesianController::getTrackingMode | ( | bool * | f | ) |
Definition at line 2406 of file ServerCartesianController.cpp.
bool ServerCartesianController::getTrajTime | ( | double * | t | ) |
Definition at line 3020 of file ServerCartesianController.cpp.
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Definition at line 2328 of file ServerCartesianController.cpp.
bool ServerCartesianController::goToPose | ( | const yarp::sig::Vector & | xd, |
const yarp::sig::Vector & | od, | ||
const double | t = 0.0 |
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) |
Definition at line 2554 of file ServerCartesianController.cpp.
bool ServerCartesianController::goToPoseSync | ( | const yarp::sig::Vector & | xd, |
const yarp::sig::Vector & | od, | ||
const double | t = 0.0 |
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) |
Definition at line 2592 of file ServerCartesianController.cpp.
bool ServerCartesianController::goToPosition | ( | const yarp::sig::Vector & | xd, |
const double | t = 0.0 |
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Definition at line 2577 of file ServerCartesianController.cpp.
bool ServerCartesianController::goToPositionSync | ( | const yarp::sig::Vector & | xd, |
const double | t = 0.0 |
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Definition at line 2600 of file ServerCartesianController.cpp.
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Definition at line 189 of file ServerCartesianController.cpp.
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Definition at line 3651 of file ServerCartesianController.cpp.
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Definition at line 3636 of file ServerCartesianController.cpp.
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Definition at line 3526 of file ServerCartesianController.cpp.
bool ServerCartesianController::open | ( | yarp::os::Searchable & | config | ) |
Definition at line 1768 of file ServerCartesianController.cpp.
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Definition at line 229 of file ServerCartesianController.cpp.
bool ServerCartesianController::pingSolver | ( | ) |
Definition at line 2249 of file ServerCartesianController.cpp.
bool ServerCartesianController::registerEvent | ( | yarp::dev::CartesianEvent & | event | ) |
Definition at line 3592 of file ServerCartesianController.cpp.
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Definition at line 3663 of file ServerCartesianController.cpp.
bool ServerCartesianController::removeTipFrame | ( | ) |
Definition at line 3265 of file ServerCartesianController.cpp.
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Definition at line 290 of file ServerCartesianController.cpp.
bool ServerCartesianController::restoreContext | ( | const int | id | ) |
Definition at line 3403 of file ServerCartesianController.cpp.
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Definition at line 1611 of file ServerCartesianController.cpp.
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Definition at line 1351 of file ServerCartesianController.cpp.
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Definition at line 1454 of file ServerCartesianController.cpp.
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Definition at line 1494 of file ServerCartesianController.cpp.
bool ServerCartesianController::setDOF | ( | const yarp::sig::Vector & | newDof, |
yarp::sig::Vector & | curDof | ||
) |
Definition at line 2779 of file ServerCartesianController.cpp.
bool ServerCartesianController::setInTargetTol | ( | const double | tol | ) |
Definition at line 3107 of file ServerCartesianController.cpp.
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Definition at line 3067 of file ServerCartesianController.cpp.
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Definition at line 1319 of file ServerCartesianController.cpp.
bool ServerCartesianController::setLimits | ( | const int | axis, |
const double | min, | ||
const double | max | ||
) |
Definition at line 2993 of file ServerCartesianController.cpp.
bool ServerCartesianController::setPosePriority | ( | const std::string & | p | ) |
Definition at line 2445 of file ServerCartesianController.cpp.
bool ServerCartesianController::setReferenceMode | ( | const bool | f | ) |
Definition at line 2419 of file ServerCartesianController.cpp.
bool ServerCartesianController::setRestPos | ( | const yarp::sig::Vector & | newRestPos, |
yarp::sig::Vector & | curRestPos | ||
) |
Definition at line 2862 of file ServerCartesianController.cpp.
bool ServerCartesianController::setRestWeights | ( | const yarp::sig::Vector & | newRestWeights, |
yarp::sig::Vector & | curRestWeights | ||
) |
Definition at line 2928 of file ServerCartesianController.cpp.
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Definition at line 3781 of file ServerCartesianController.cpp.
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Definition at line 3733 of file ServerCartesianController.cpp.
bool ServerCartesianController::setTaskVelocities | ( | const yarp::sig::Vector & | xdot, |
const yarp::sig::Vector & | odot | ||
) |
Definition at line 3170 of file ServerCartesianController.cpp.
bool ServerCartesianController::setTrackingMode | ( | const bool | f | ) |
Definition at line 2398 of file ServerCartesianController.cpp.
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Definition at line 2371 of file ServerCartesianController.cpp.
bool ServerCartesianController::setTrajTime | ( | const double | t | ) |
Definition at line 3046 of file ServerCartesianController.cpp.
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Definition at line 3033 of file ServerCartesianController.cpp.
bool ServerCartesianController::stopControl | ( | ) |
Definition at line 3335 of file ServerCartesianController.cpp.
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Definition at line 3304 of file ServerCartesianController.cpp.
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Definition at line 1540 of file ServerCartesianController.cpp.
bool ServerCartesianController::storeContext | ( | int * | id | ) |
Definition at line 3343 of file ServerCartesianController.cpp.
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Definition at line 1593 of file ServerCartesianController.cpp.
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Definition at line 1756 of file ServerCartesianController.cpp.
bool ServerCartesianController::tweakGet | ( | yarp::os::Bottle & | options | ) |
Definition at line 3827 of file ServerCartesianController.cpp.
bool ServerCartesianController::tweakSet | ( | const yarp::os::Bottle & | options | ) |
Definition at line 3805 of file ServerCartesianController.cpp.
bool ServerCartesianController::unregisterEvent | ( | yarp::dev::CartesianEvent & | event | ) |
Definition at line 3614 of file ServerCartesianController.cpp.
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Definition at line 3677 of file ServerCartesianController.cpp.
bool ServerCartesianController::waitMotionDone | ( | const double | period = 0.1 , |
const double | timeout = 0.0 |
||
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Definition at line 3285 of file ServerCartesianController.cpp.
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