visual-tracking-control
Public Member Functions | Private Member Functions | Private Attributes | List of all members
VisualServoingClient Class Reference

#include <VisualServoingClient.h>

Inheritance diagram for VisualServoingClient:
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Public Member Functions

 VisualServoingClient ()
 
 ~VisualServoingClient ()
 
bool open (yarp::os::Searchable &config) override
 
bool close () override
 
bool initFacilities (const bool use_direct_kin) override
 
bool resetFacilities () override
 
bool stopFacilities () override
 
bool goToGoal (const yarp::sig::Vector &vec_x, const yarp::sig::Vector &vec_o) override
 
bool goToGoal (const std::vector< yarp::sig::Vector > &vec_px_l, const std::vector< yarp::sig::Vector > &vec_px_r) override
 
bool setModality (const std::string &mode) override
 
bool setVisualServoControl (const std::string &control) override
 
bool setControlPoint (const yarp::os::ConstString &point) override
 
bool getVisualServoingInfo (yarp::os::Bottle &info) override
 
bool setGoToGoalTolerance (const double tol=15.0) override
 
bool checkVisualServoingController () override
 
bool waitVisualServoingDone (const double period=0.1, const double timeout=0.0) override
 
bool stopController () override
 
bool setTranslationGain (const double K_x_1=1.0, const double K_x_2=0.25) override
 
bool setMaxTranslationVelocity (const double max_x_dot) override
 
bool setTranslationGainSwitchTolerance (const double K_x_tol=30.0) override
 
bool setOrientationGain (const double K_o_1=1.5, const double K_o_2=0.375) override
 
bool setMaxOrientationVelocity (const double max_o_dot) override
 
bool setOrientationGainSwitchTolerance (const double K_o_tol=30.0) override
 
std::vector< yarp::sig::Vector > get3DGoalPositionsFrom3DPose (const yarp::sig::Vector &x, const yarp::sig::Vector &o) override
 
std::vector< yarp::sig::Vector > getGoalPixelsFrom3DPose (const yarp::sig::Vector &x, const yarp::sig::Vector &o, const CamSel &cam) override
 
bool storedInit (const std::string &label) override
 
bool storedGoToGoal (const std::string &label) override
 
bool goToSFMGoal () override
 

Private Member Functions

void yInfoVerbose (const yarp::os::ConstString &str) const
 
void yWarningVerbose (const yarp::os::ConstString &str) const
 
void yErrorVerbose (const yarp::os::ConstString &str) const
 

Private Attributes

bool verbosity_ = false
 
yarp::os::ConstString local_ = ""
 
yarp::os::ConstString remote_ = ""
 
VisualServoingIDL visualservoing_control
 
yarp::os::Port port_rpc_command_
 

Detailed Description

Definition at line 19 of file VisualServoingClient.h.

Constructor & Destructor Documentation

◆ VisualServoingClient()

VisualServoingClient::VisualServoingClient ( )

Definition at line 21 of file VisualServoingClient.cpp.

◆ ~VisualServoingClient()

VisualServoingClient::~VisualServoingClient ( )

Definition at line 28 of file VisualServoingClient.cpp.

Member Function Documentation

◆ checkVisualServoingController()

bool VisualServoingClient::checkVisualServoingController ( )
override

Definition at line 201 of file VisualServoingClient.cpp.

◆ close()

bool VisualServoingClient::close ( )
override

Definition at line 88 of file VisualServoingClient.cpp.

◆ get3DGoalPositionsFrom3DPose()

std::vector< Vector > VisualServoingClient::get3DGoalPositionsFrom3DPose ( const yarp::sig::Vector &  x,
const yarp::sig::Vector &  o 
)
override

Definition at line 255 of file VisualServoingClient.cpp.

◆ getGoalPixelsFrom3DPose()

std::vector< Vector > VisualServoingClient::getGoalPixelsFrom3DPose ( const yarp::sig::Vector &  x,
const yarp::sig::Vector &  o,
const CamSel &  cam 
)
override

Definition at line 271 of file VisualServoingClient.cpp.

◆ getVisualServoingInfo()

bool VisualServoingClient::getVisualServoingInfo ( yarp::os::Bottle &  info)
override

Definition at line 187 of file VisualServoingClient.cpp.

◆ goToGoal() [1/2]

bool VisualServoingClient::goToGoal ( const yarp::sig::Vector &  vec_x,
const yarp::sig::Vector &  vec_o 
)
override

Referenced by stopFacilities().

◆ goToGoal() [2/2]

bool VisualServoingClient::goToGoal ( const std::vector< yarp::sig::Vector > &  vec_px_l,
const std::vector< yarp::sig::Vector > &  vec_px_r 
)
override

◆ goToSFMGoal()

bool VisualServoingClient::goToSFMGoal ( )
override

Definition at line 299 of file VisualServoingClient.cpp.

◆ initFacilities()

bool VisualServoingClient::initFacilities ( const bool  use_direct_kin)
override

Definition at line 111 of file VisualServoingClient.cpp.

◆ open()

bool VisualServoingClient::open ( yarp::os::Searchable &  config)
override

Definition at line 36 of file VisualServoingClient.cpp.

◆ resetFacilities()

bool VisualServoingClient::resetFacilities ( )
override

Definition at line 117 of file VisualServoingClient.cpp.

◆ setControlPoint()

bool VisualServoingClient::setControlPoint ( const yarp::os::ConstString &  point)
override

Definition at line 179 of file VisualServoingClient.cpp.

◆ setGoToGoalTolerance()

bool VisualServoingClient::setGoToGoalTolerance ( const double  tol = 15.0)
override

Definition at line 195 of file VisualServoingClient.cpp.

◆ setMaxOrientationVelocity()

bool VisualServoingClient::setMaxOrientationVelocity ( const double  max_o_dot)
override

Definition at line 243 of file VisualServoingClient.cpp.

◆ setMaxTranslationVelocity()

bool VisualServoingClient::setMaxTranslationVelocity ( const double  max_x_dot)
override

Definition at line 225 of file VisualServoingClient.cpp.

◆ setModality()

bool VisualServoingClient::setModality ( const std::string &  mode)
override

Definition at line 167 of file VisualServoingClient.cpp.

◆ setOrientationGain()

bool VisualServoingClient::setOrientationGain ( const double  K_o_1 = 1.5,
const double  K_o_2 = 0.375 
)
override

Definition at line 237 of file VisualServoingClient.cpp.

◆ setOrientationGainSwitchTolerance()

bool VisualServoingClient::setOrientationGainSwitchTolerance ( const double  K_o_tol = 30.0)
override

Definition at line 249 of file VisualServoingClient.cpp.

◆ setTranslationGain()

bool VisualServoingClient::setTranslationGain ( const double  K_x_1 = 1.0,
const double  K_x_2 = 0.25 
)
override

Definition at line 219 of file VisualServoingClient.cpp.

◆ setTranslationGainSwitchTolerance()

bool VisualServoingClient::setTranslationGainSwitchTolerance ( const double  K_x_tol = 30.0)
override

Definition at line 231 of file VisualServoingClient.cpp.

◆ setVisualServoControl()

bool VisualServoingClient::setVisualServoControl ( const std::string &  control)
override

Definition at line 173 of file VisualServoingClient.cpp.

◆ stopController()

bool VisualServoingClient::stopController ( )
override

Definition at line 213 of file VisualServoingClient.cpp.

◆ stopFacilities()

bool VisualServoingClient::stopFacilities ( )
override

Definition at line 123 of file VisualServoingClient.cpp.

References goToGoal().

Here is the call graph for this function:

◆ storedGoToGoal()

bool VisualServoingClient::storedGoToGoal ( const std::string &  label)
override

Definition at line 293 of file VisualServoingClient.cpp.

◆ storedInit()

bool VisualServoingClient::storedInit ( const std::string &  label)
override

Definition at line 287 of file VisualServoingClient.cpp.

◆ waitVisualServoingDone()

bool VisualServoingClient::waitVisualServoingDone ( const double  period = 0.1,
const double  timeout = 0.0 
)
override

Definition at line 207 of file VisualServoingClient.cpp.

◆ yErrorVerbose()

void VisualServoingClient::yErrorVerbose ( const yarp::os::ConstString &  str) const
inlineprivate

Definition at line 95 of file VisualServoingClient.h.

◆ yInfoVerbose()

void VisualServoingClient::yInfoVerbose ( const yarp::os::ConstString &  str) const
inlineprivate

Definition at line 93 of file VisualServoingClient.h.

◆ yWarningVerbose()

void VisualServoingClient::yWarningVerbose ( const yarp::os::ConstString &  str) const
inlineprivate

Definition at line 94 of file VisualServoingClient.h.

Member Data Documentation

◆ local_

yarp::os::ConstString VisualServoingClient::local_ = ""
private

Definition at line 87 of file VisualServoingClient.h.

◆ port_rpc_command_

yarp::os::Port VisualServoingClient::port_rpc_command_
private

Definition at line 91 of file VisualServoingClient.h.

◆ remote_

yarp::os::ConstString VisualServoingClient::remote_ = ""
private

Definition at line 88 of file VisualServoingClient.h.

◆ verbosity_

bool VisualServoingClient::verbosity_ = false
private

Definition at line 86 of file VisualServoingClient.h.

◆ visualservoing_control

VisualServoingIDL VisualServoingClient::visualservoing_control
private

Definition at line 90 of file VisualServoingClient.h.

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