wbt::base::RobotInterface Class Reference

Class for handling model and robot resources. More...

#include <RobotInterface.h>

Detailed Description

Class for handling model and robot resources.

This class is a wrapper of yarp::dev::RemoteControlBoardRemapper and iDynTree::KinDynComputations. By filling information in a wbt::Configuration object, it provides a simple initialization and combined usage of these two resources.

See also

wbt::Configuration

Classes
class	impl

Public Member Functions
	RobotInterface ()=delete
	RobotInterface (const wbt::base::Configuration &config)
	~RobotInterface ()
const wbt::base::Configuration &	getConfiguration () const
	Get the stored configuration. More...
const std::shared_ptr< iDynTree::KinDynComputations >	getKinDynComputations ()
	Get the object to operate on the configured model. More...
template<typename T >
bool	getInterface (T *&interface)
	Get a Yarp interface. More...
template<>
bool	getInterface (yarp::dev::IControlMode *&interface)
template<>
bool	getInterface (yarp::dev::IPositionControl *&interface)
template<>
bool	getInterface (yarp::dev::IPositionDirect *&interface)
template<>
bool	getInterface (yarp::dev::IVelocityControl *&interface)
template<>
bool	getInterface (yarp::dev::ITorqueControl *&interface)
template<>
bool	getInterface (yarp::dev::IPWMControl *&interface)
template<>
bool	getInterface (yarp::dev::ICurrentControl *&interface)
template<>
bool	getInterface (yarp::dev::IEncoders *&interface)
template<>
bool	getInterface (yarp::dev::IMotorEncoders *&interface)
template<>
bool	getInterface (yarp::dev::IControlLimits *&interface)
template<>
bool	getInterface (yarp::dev::IPidControl *&interface)

Private Attributes
std::unique_ptr< impl >	pImpl

Constructor & Destructor Documentation

RobotInterface() [1/2]

wbt::base::RobotInterface::RobotInterface ( )

delete

RobotInterface() [2/2]

RobotInterface::RobotInterface

(

const wbt::base::Configuration &

config

)

~RobotInterface()

RobotInterface::~RobotInterface

(

)

Member Function Documentation

getConfiguration()

const Configuration & RobotInterface::getConfiguration

(

)

const

Get the stored configuration.

Returns

A reference of the configuration this object refers to.

getInterface() [1/12]

template<typename T >

bool wbt::base::RobotInterface::getInterface

(

T *&

interface

)

Get a Yarp interface.

The interface is lazy-evaluated. The handling of the memory is not responsibility of the caller. It is handled internally.

Parameters

[out]

interface

The object that will contain the pointer to the interface.

Returns

True for success, false otherwise.

getInterface() [2/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IControlLimits *&

interface

)

getInterface() [3/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IControlMode *&

interface

)

getInterface() [4/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::ICurrentControl *&

interface

)

getInterface() [5/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IEncoders *&

interface

)

getInterface() [6/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IMotorEncoders *&

interface

)

getInterface() [7/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IPidControl *&

interface

)

getInterface() [8/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IPositionControl *&

interface

)

getInterface() [9/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IPositionDirect *&

interface

)

getInterface() [10/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IPWMControl *&

interface

)

getInterface() [11/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::ITorqueControl *&

interface

)

getInterface() [12/12]

template<>

bool RobotInterface::getInterface

(

yarp::dev::IVelocityControl *&

interface

)

getKinDynComputations()

const std::shared_ptr< iDynTree::KinDynComputations > RobotInterface::getKinDynComputations

(

)

Get the object to operate on the configured model.

Returns

A shared_ptr to the KinDynComputations object.

Member Data Documentation

pImpl

std::unique_ptr<impl> wbt::base::RobotInterface::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/RobotInterface.h
• /home/runner/work/wb-toolbox/wb-toolbox/toolbox/base/src/RobotInterface.cpp