wbt::base::WholeBodySingleton Class Reference

#include <WholeBodySingleton.h>

Detailed Description

This class handles and contains configuration and devices used by all the blocks allocated by a running model. It is possible obtaining a singleton of this class by calling WholeBodySingleton::sharedInstance.

See also

wbt::RobotInterface

wbt::Configuration

wbt::yarpDevices

Public Member Functions
	WholeBodySingleton ()
	~WholeBodySingleton ()
	WholeBodySingleton (const WholeBodySingleton &)=delete
WholeBodySingleton &	operator= (const WholeBodySingleton &)=delete
bool	isKeyValid (const std::string &confKey) const
int	numberOfDoFs (const std::string &confKey) const
const Configuration &	getConfiguration (const std::string &confKey) const
const std::shared_ptr< RobotInterface >	getRobotInterface (const std::string &confKey) const
const std::shared_ptr< iDynTree::KinDynComputations >	getKinDynComputations (const std::string &confKey) const
std::shared_ptr< RobotInterface >	createRobotInterface (const Configuration &config)
std::shared_ptr< RobotInterface >	storeConfiguration (const blockfactory::core::Parameters &parameters)
void	eraseConfiguration (const std::string &confKey)

Static Public Member Functions
static wbt::base::WholeBodySingleton &	sharedInstance ()

Private Attributes
std::unordered_map< std::string, std::weak_ptr< wbt::base::RobotInterface > >	m_interfaces

Constructor & Destructor Documentation

WholeBodySingleton() [1/2]

WholeBodySingleton::WholeBodySingleton ( )

default

~WholeBodySingleton()

WholeBodySingleton::~WholeBodySingleton ( )

default

WholeBodySingleton() [2/2]

wbt::base::WholeBodySingleton::WholeBodySingleton ( const WholeBodySingleton &  )

delete

Member Function Documentation

createRobotInterface()

std::shared_ptr< RobotInterface > WholeBodySingleton::createRobotInterface

(

const Configuration &

config

)

Stores in the singleton the new configuration into a RobotInterface object

If the config is valid and hasn't been already stored, it creates a new entry in WholeBodySingleton::m_interfaces. If a configuration with matching confKey is found, if the Configuration object is the same it does nothing, otherwise it overrides it.

Note

Since confKey is the name of the block, the overriding can happen only after subsequent compilation in Simulink, when the block's parameters have been changed.

Parameters

config

The wbt::Configuration object parsed from Simulink's parameters

Returns

Returns a shared pointer to the RobotInterface object created from the Configuration object.

See also

WholeBodySingleton::isKeyValid

eraseConfiguration()

void WholeBodySingleton::eraseConfiguration

(

const std::string &

confKey

)

Delete the wbt::RobotInterface referred by confKey. No-op if it doesn't exist.

Parameters

confKey

The key describing the configuration (name of the Simulink block)

getConfiguration()

const Configuration & WholeBodySingleton::getConfiguration

(

const std::string &

confKey

)

const

Returns the Configuration object labelled by confKey. This object is contained into the wbt::RobotInterface object.

See also

WholeBodySingleton::getRobotInterface

Parameters

confKey

The key describing the configuration (name of the Simulink block)

Returns

A constant reference to the Configuration object

getKinDynComputations()

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

(

const std::string &

confKey

)

const

Returns a shared_ptr to the KinDynComputations object used to perform calculation on the provided model

Parameters

confKey

The key describing the configuration (name of the Simulink block)

Returns

A shared_ptr to the iDynTree::KinDynComputations of the requested configuration

getRobotInterface()

const std::shared_ptr< RobotInterface > WholeBodySingleton::getRobotInterface

(

const std::string &

confKey

)

const

Returns a shared_ptr to the RobotInterface object containing the configuration labelled by confKey and all the objects used to gather and set robot data

Parameters

confKey

The key describing the configuration (name of the Simulink block)

Returns

A shared_ptr to the RobotInterface of the requested configuration

isKeyValid()

bool WholeBodySingleton::isKeyValid

(

const std::string &

confKey

)

const

Check if a Configuration labelled by confKey exists and is a valid object.

Parameters

confKey

The key describing the configuration (name of the Simulink block)

Returns

True if the configuration is valid

numberOfDoFs()

int WholeBodySingleton::numberOfDoFs

(

const std::string &

confKey

)

const

Returns the DoFs associated with the configuration labelled by confKey

Parameters

confKey

The key describing the configuration (name of the Simulink block)

Returns

The number of degrees of freedom. It returns -1 when failing.

operator=()

WholeBodySingleton& wbt::base::WholeBodySingleton::operator= ( const WholeBodySingleton &  )

delete

sharedInstance()

WholeBodySingleton & WholeBodySingleton::sharedInstance ( )

static

Returns the singleton instance to this object.

Note

The singleton stays in memory until the entire matlab is closed. The WBToolbox is designed in such a way that assures to reach a clean state when all blocks have been terminated.

Returns

the singleton instance

storeConfiguration()

std::shared_ptr< RobotInterface > WholeBodySingleton::storeConfiguration

(

const blockfactory::core::Parameters &

parameters

)

Stores a new whole-body configuration and return a RobotInterface object

Parameters

parameters

A wbt::Parameters object containing all the parameters to fill a wbt::Configuration object

Returns

Returns a shared pointer to the RobotInterface object created from the Configuration object.

See also

WholeBodySingleton::storeConfiguration, wbt::Configuration, Parameters::containConfigurationData

Member Data Documentation

m_interfaces

std::unordered_map<std::string, std::weak_ptr<wbt::base::RobotInterface> > wbt::base::WholeBodySingleton::m_interfaces

private

Object that stores all the configurations labelled by the name of the Simulink Block's name.

See also

wbt::RobotInterface

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

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