Store the configuration for whole-body blocks. More...

#include <Configuration.h>

Detailed Description

Store the configuration for whole-body blocks.

This class stores the content of the WBToolbox.Configuration Matlab class and its related configuration block. This in principle is Simulink specific, but nothing prevents using it from C++ for instantiating a wbt::RobotInterface object.

Its usage is specific for using yarp::dev::RemoteControlBoardRemapper and iDynTree::KinDynComputations objects contained in the wbt::RobotInterface class.

See also: wbt::RobotInterface, wbt::WBBlock, wbt::WholeBodySingleton, WBToolbox.Configuration Matlab Class

Classes
class	impl

Public Member Functions
	Configuration (const std::string &confKey={})

	Configuration (const Configuration &conf)

	~Configuration ()

void	setParameters (const std::string &robotName, const std::string &urdfFile, const std::vector< std::string > &controlledJoints, const std::vector< std::string > &controlBoardsNames, const std::string &localName, const std::array< double, 3 > &gravityVector)
	Initialize the object. More...

void	setRobotName (const std::string &robotName)
	Set the name of the robot. More...

void	setUrdfFile (const std::string &urdfFile)
	Set the name of the file containing the urdf model. More...

void	setControlledJoints (const std::vector< std::string > &controlledJoints)
	Set the subset of controlled joints. More...

void	setControlBoardsNames (const std::vector< std::string > &controlBoardsNames)
	Set the names of the used ControlBoard names. More...

void	setLocalName (const std::string &localName)
	Set the prefix appended to the opened ports. More...

void	setGravityVector (const std::array< double, 3 > &gravityVector)
	Set the gravity vector. More...

const std::string &	getRobotName () const
	Get the name of the robot. More...

const std::string &	getUrdfFile () const
	Get the name of the file containing the urdf model. More...

const std::vector< std::string > &	getControlledJoints () const
	Get the subset of controlled joints. More...

const std::vector< std::string > &	getControlBoardsNames () const
	Get the names of the used ControlBoard names. More...

const std::string &	getLocalName () const
	Get the prefix appended to the opened ports. A leading "/" is always present. More...

const std::string	getUniqueId () const
	Generate a unique identifier. More...

const std::array< double, 3 > &	getGravityVector () const
	Get the gravity vector. More...

const size_t &	getNumberOfDoFs () const

const std::string	getConfKey () const
	Get the unique identifier of this configuration object. More...

bool	isValid () const
	Check if the congiguration is valid. More...

bool	operator== (const Configuration &config) const

Private Attributes
std::unique_ptr< impl >	pImpl

Constructor & Destructor Documentation

◆ Configuration() [1/2]

Configuration::Configuration ( const std::string & confKey = {} )

◆ Configuration() [2/2]

Configuration::Configuration ( const Configuration & conf )

◆ ~Configuration()

Configuration::~Configuration ( )

default

Member Function Documentation

◆ getConfKey()

const std::string Configuration::getConfKey ( ) const

Get the unique identifier of this configuration object.

Returns: The unique identifier.

◆ getControlBoardsNames()

const std::vector< std::string > & Configuration::getControlBoardsNames ( ) const

Get the names of the used ControlBoard names.

Returns: Names of the used ControlBoard names.

◆ getControlledJoints()

const std::vector< std::string > & Configuration::getControlledJoints ( ) const

Get the subset of controlled joints.

Returns: Subset of controlled joints.

◆ getGravityVector()

const std::array< double, 3 > & Configuration::getGravityVector ( ) const

Get the gravity vector.

Returns: The gravity vector.

◆ getLocalName()

const std::string & Configuration::getLocalName ( ) const

Get the prefix appended to the opened ports. A leading "/" is always present.

Returns: Prefix appended to the opened ports.

◆ getNumberOfDoFs()

const size_t & Configuration::getNumberOfDoFs ( ) const

Get the configured number of DoFs

Returns: The configured number of DoFs.

◆ getRobotName()

const std::string & Configuration::getRobotName ( ) const

Get the name of the robot.

Returns: Name of the robot.

◆ getUniqueId()

const std::string Configuration::getUniqueId ( ) const

Generate a unique identifier.

Get a string with a unique identifier generated from the name of the config block from Simulink. It might be useful when yarp ports must have a unique prefix (e.g. two RemoteControlBoardRemappers which share a ControlBoard)

Returns: The unique identifier.

See also: setLocalName

◆ getUrdfFile()

const std::string & Configuration::getUrdfFile ( ) const

Get the name of the file containing the urdf model.

Returns: Name of the file containing the urdf model.

◆ isValid()

bool Configuration::isValid ( ) const

Check if the congiguration is valid.

I.e. all the required fields have been stored successfully.

Returns: True if the configuration is valid.

◆ operator==()

bool Configuration::operator== ( const Configuration & config ) const

◆ setControlBoardsNames()

void Configuration::setControlBoardsNames ( const std::vector< std::string > & controlBoardsNames )

Set the names of the used ControlBoard names.

Parameters

controlBoardsNames Names of the used ControlBoard names.

◆ setControlledJoints()

void Configuration::setControlledJoints ( const std::vector< std::string > & controlledJoints )

Set the subset of controlled joints.

Parameters

controlledJoints Subset of controlled joints.

◆ setGravityVector()

void Configuration::setGravityVector ( const std::array< double, 3 > & gravityVector )

Set the gravity vector.

Parameters

gravityVector The gravity vector.

◆ setLocalName()

void Configuration::setLocalName ( const std::string & localName )

Set the prefix appended to the opened ports.

Parameters

localName Prefix appended to the opened ports.

◆ setParameters()

void Configuration::setParameters	(	const std::string &	robotName,
		const std::string &	urdfFile,
		const std::vector< std::string > &	controlledJoints,
		const std::vector< std::string > &	controlBoardsNames,
		const std::string &	localName,
		const std::array< double, 3 > &	gravityVector
	)

Initialize the object.

Parameters

robotName	Name of the robot.
urdfFile	Name of the file containing the urdf model.
controlledJoints	Subset of controlled joints.
controlBoardsNames	Names of the used ControlBoard names.
localName	Prefix appended to the opened ports.
gravityVector	The gravity vector.

◆ setRobotName()

void Configuration::setRobotName ( const std::string & robotName )

Set the name of the robot.

Parameters

robotName Name of the robot.

◆ setUrdfFile()

void Configuration::setUrdfFile ( const std::string & urdfFile )

Set the name of the file containing the urdf model.

Parameters

urdfFile Name of the file containing the urdf model.

Member Data Documentation

◆ pImpl

std::unique_ptr<impl> wbt::base::Configuration::pImpl

private

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

/home/runner/work/wb-toolbox/wb-toolbox/toolbox/base/include/WBToolbox/Base/Configuration.h
/home/runner/work/wb-toolbox/wb-toolbox/toolbox/base/src/Configuration.cpp

Detailed Description

Classes

Public Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ Configuration() [1/2]

◆ Configuration() [2/2]

◆ ~Configuration()

Member Function Documentation

◆ getConfKey()

◆ getControlBoardsNames()

◆ getControlledJoints()

◆ getGravityVector()

◆ getLocalName()

◆ getNumberOfDoFs()

◆ getRobotName()

◆ getUniqueId()

◆ getUrdfFile()

◆ isValid()

◆ operator==()

◆ setControlBoardsNames()

◆ setControlledJoints()

◆ setGravityVector()

◆ setLocalName()

◆ setParameters()

◆ setRobotName()

◆ setUrdfFile()

Member Data Documentation

◆ pImpl