clientcartesiancontroller : implements the client part of the Cartesian Interface. More...

#include <ClientCartesianController.h>

Inheritance diagram for ClientCartesianController:

Public Member Functions
	ClientCartesianController ()

	ClientCartesianController (yarp::os::Searchable &config)

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

bool	close ()

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	~ClientCartesianController ()

Protected Member Functions
void	init ()

bool	deleteContexts ()

void	eventHandling (yarp::os::Bottle &event)

bool	getInfoHelper (yarp::os::Bottle &info)

Protected Attributes
bool	connected

bool	closed

double	timeout

double	lastPoseMsgArrivalTime

yarp::sig::Vector	pose

yarp::os::Stamp	poseStamp

yarp::os::BufferedPort< yarp::sig::Vector >	portState

yarp::os::BufferedPort< yarp::os::Bottle >	portCmd

yarp::os::RpcClient	portRpc

std::set< int >	contextIdList

std::map< std::string, yarp::dev::CartesianEvent * >	eventsMap

CartesianEventHandler	portEvents

Friends
class	CartesianEventHandler

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. More...

static void	addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof)
	Appends to a bottle all data needed to reconfigure chain's dof. More...

static void	addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos)
	Appends to a bottle all data needed to modify joints rest position. More...

static void	addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights)
	Appends to a bottle all data needed to modify joints rest weights. More...

static void	addPoseOption (yarp::os::Bottle &b, const unsigned int pose)
	Appends to a bottle all data needed to change the pose mode. More...

static void	addModeOption (yarp::os::Bottle &b, const bool tracking)
	Appends to a bottle all data needed to change the tracking mode. More...

static void	addTokenOption (yarp::os::Bottle &b, const double token)
	Appends to a bottle a token to be exchanged with the solver. More...

static yarp::os::Bottle *	getTargetOption (const yarp::os::Bottle &b)
	Retrieves commanded target data from a bottle. More...

static yarp::os::Bottle *	getEndEffectorPoseOption (const yarp::os::Bottle &b)
	Retrieves the end-effector pose data. More...

static yarp::os::Bottle *	getJointsOption (const yarp::os::Bottle &b)
	Retrieves the joints configuration data. More...

static bool	getTokenOption (const yarp::os::Bottle &b, double *token)
	Retrieves the token from the bottle. More...

static bool	computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp)
	Retrieves current fixation point given the current kinematics configuration of the eyes. More...

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. More...

Detailed Description

clientcartesiancontroller : implements the client part of the Cartesian Interface.

Note: Please read carefully the Cartesian Interface documentation.

YARP device name
`clientcartesiancontroller`

Definition at line 63 of file ClientCartesianController.h.

Constructor & Destructor Documentation

◆ ClientCartesianController() [1/2]

ClientCartesianController::ClientCartesianController ( )

Definition at line 60 of file ClientCartesianController.cpp.

◆ ClientCartesianController() [2/2]

ClientCartesianController::ClientCartesianController ( yarp::os::Searchable & config )

◆ ~ClientCartesianController()

ClientCartesianController::~ClientCartesianController ( )

virtual

Definition at line 1601 of file ClientCartesianController.cpp.

Member Function Documentation

◆ askForPose() [1/2]

bool ClientCartesianController::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
	)

◆ askForPose() [2/2]

bool ClientCartesianController::askForPose	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

◆ askForPosition() [1/2]

bool ClientCartesianController::askForPosition	(	const yarp::sig::Vector &	q0,
		const yarp::sig::Vector &	xd,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

◆ askForPosition() [2/2]

bool ClientCartesianController::askForPosition	(	const yarp::sig::Vector &	xd,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

◆ attachTipFrame()

bool ClientCartesianController::attachTipFrame	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o
	)

Definition at line 1132 of file ClientCartesianController.cpp.

◆ checkMotionDone()

bool ClientCartesianController::checkMotionDone ( bool * f )

Definition at line 1216 of file ClientCartesianController.cpp.

◆ close()

bool ClientCartesianController::close ( void )

Definition at line 180 of file ClientCartesianController.cpp.

◆ deleteContext()

bool ClientCartesianController::deleteContext ( const int id )

Definition at line 1337 of file ClientCartesianController.cpp.

◆ deleteContexts()

bool ClientCartesianController::deleteContexts ( )

protected

Definition at line 1363 of file ClientCartesianController.cpp.

◆ eventHandling()

void ClientCartesianController::eventHandling ( yarp::os::Bottle & event )

protected

Definition at line 1425 of file ClientCartesianController.cpp.

◆ getDesired()

bool ClientCartesianController::getDesired	(	yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

Definition at line 551 of file ClientCartesianController.cpp.

◆ getDOF()

bool ClientCartesianController::getDOF ( yarp::sig::Vector & curDof )

Definition at line 679 of file ClientCartesianController.cpp.

◆ getInfo()

bool ClientCartesianController::getInfo ( yarp::os::Bottle & info )

Definition at line 1415 of file ClientCartesianController.cpp.

◆ getInfoHelper()

bool ClientCartesianController::getInfoHelper ( yarp::os::Bottle & info )

protected

Definition at line 1387 of file ClientCartesianController.cpp.

◆ getInTargetTol()

bool ClientCartesianController::getInTargetTol ( double * tol )

Definition at line 987 of file ClientCartesianController.cpp.

◆ getJointsVelocities()

bool ClientCartesianController::getJointsVelocities ( yarp::sig::Vector & qdot )

Definition at line 1037 of file ClientCartesianController.cpp.

◆ getLimits()

bool ClientCartesianController::getLimits	(	const int	axis,
		double *	min,
		double *	max
	)

Definition at line 881 of file ClientCartesianController.cpp.

◆ getPose() [1/2]

bool ClientCartesianController::getPose	(	const int	axis,
		yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

◆ getPose() [2/2]

bool ClientCartesianController::getPose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

◆ getPosePriority()

bool ClientCartesianController::getPosePriority ( std::string & p )

Definition at line 339 of file ClientCartesianController.cpp.

◆ getReferenceMode()

bool ClientCartesianController::getReferenceMode ( bool * f )

Definition at line 284 of file ClientCartesianController.cpp.

◆ getRestPos()

bool ClientCartesianController::getRestPos ( yarp::sig::Vector & curRestPos )

Definition at line 749 of file ClientCartesianController.cpp.

◆ getRestWeights()

bool ClientCartesianController::getRestWeights ( yarp::sig::Vector & curRestWeights )

Definition at line 815 of file ClientCartesianController.cpp.

◆ getTaskVelocities()

bool ClientCartesianController::getTaskVelocities	(	yarp::sig::Vector &	xdot,
		yarp::sig::Vector &	odot
	)

Definition at line 1070 of file ClientCartesianController.cpp.

◆ getTipFrame()

bool ClientCartesianController::getTipFrame	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o
	)

Definition at line 1172 of file ClientCartesianController.cpp.

◆ getTrackingMode()

bool ClientCartesianController::getTrackingMode ( bool * f )

Definition at line 228 of file ClientCartesianController.cpp.

◆ getTrajTime()

bool ClientCartesianController::getTrajTime ( double * t )

Definition at line 937 of file ClientCartesianController.cpp.

◆ goToPose()

bool ClientCartesianController::goToPose	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		const double	t = `0.0`
	)

Definition at line 447 of file ClientCartesianController.cpp.

◆ goToPoseSync()

bool ClientCartesianController::goToPoseSync	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		const double	t = `0.0`
	)

Definition at line 497 of file ClientCartesianController.cpp.

◆ goToPosition()

bool ClientCartesianController::goToPosition	(	const yarp::sig::Vector &	xd,
		const double	t = `0.0`
	)

Definition at line 474 of file ClientCartesianController.cpp.

◆ goToPositionSync()

bool ClientCartesianController::goToPositionSync	(	const yarp::sig::Vector &	xd,
		const double	t = `0.0`
	)

Definition at line 526 of file ClientCartesianController.cpp.

◆ init()

void ClientCartesianController::init ( )

protected

Definition at line 75 of file ClientCartesianController.cpp.

◆ open()

bool ClientCartesianController::open ( yarp::os::Searchable & config )

Definition at line 90 of file ClientCartesianController.cpp.

◆ registerEvent()

bool ClientCartesianController::registerEvent ( yarp::dev::CartesianEvent & event )

Definition at line 1477 of file ClientCartesianController.cpp.

◆ removeTipFrame()

bool ClientCartesianController::removeTipFrame ( )

Definition at line 1209 of file ClientCartesianController.cpp.

◆ restoreContext()

bool ClientCartesianController::restoreContext ( const int id )

Definition at line 1317 of file ClientCartesianController.cpp.

◆ setDOF()

bool ClientCartesianController::setDOF	(	const yarp::sig::Vector &	newDof,
		yarp::sig::Vector &	curDof
	)

Definition at line 712 of file ClientCartesianController.cpp.

◆ setInTargetTol()

bool ClientCartesianController::setInTargetTol ( const double tol )

Definition at line 1016 of file ClientCartesianController.cpp.

◆ setLimits()

bool ClientCartesianController::setLimits	(	const int	axis,
		const double	min,
		const double	max
	)

Definition at line 913 of file ClientCartesianController.cpp.

◆ setPosePriority()

bool ClientCartesianController::setPosePriority ( const std::string & p )

Definition at line 318 of file ClientCartesianController.cpp.

◆ setReferenceMode()

bool ClientCartesianController::setReferenceMode ( const bool f )

Definition at line 262 of file ClientCartesianController.cpp.

◆ setRestPos()

bool ClientCartesianController::setRestPos	(	const yarp::sig::Vector &	newRestPos,
		yarp::sig::Vector &	curRestPos
	)

Definition at line 782 of file ClientCartesianController.cpp.

◆ setRestWeights()

bool ClientCartesianController::setRestWeights	(	const yarp::sig::Vector &	newRestWeights,
		yarp::sig::Vector &	curRestWeights
	)

Definition at line 848 of file ClientCartesianController.cpp.

◆ setTaskVelocities()

bool ClientCartesianController::setTaskVelocities	(	const yarp::sig::Vector &	xdot,
		const yarp::sig::Vector &	odot
	)

Definition at line 1107 of file ClientCartesianController.cpp.

◆ setTrackingMode()

bool ClientCartesianController::setTrackingMode ( const bool f )

Definition at line 206 of file ClientCartesianController.cpp.

◆ setTrajTime()

bool ClientCartesianController::setTrajTime ( const double t )

Definition at line 966 of file ClientCartesianController.cpp.

◆ stopControl()

bool ClientCartesianController::stopControl ( )

Definition at line 1270 of file ClientCartesianController.cpp.

◆ storeContext()

bool ClientCartesianController::storeContext ( int * id )

Definition at line 1289 of file ClientCartesianController.cpp.

◆ tweakGet()

bool ClientCartesianController::tweakGet ( yarp::os::Bottle & options )

Definition at line 1570 of file ClientCartesianController.cpp.

◆ tweakSet()

bool ClientCartesianController::tweakSet ( const yarp::os::Bottle & options )

Definition at line 1549 of file ClientCartesianController.cpp.

◆ unregisterEvent()

bool ClientCartesianController::unregisterEvent ( yarp::dev::CartesianEvent & event )

Definition at line 1513 of file ClientCartesianController.cpp.

◆ waitMotionDone()

bool ClientCartesianController::waitMotionDone	(	const double	period = `0.1`,
		const double	timeout = `0.0`
	)

Definition at line 1251 of file ClientCartesianController.cpp.

Friends And Related Function Documentation

◆ CartesianEventHandler

friend class CartesianEventHandler

friend

Definition at line 84 of file ClientCartesianController.h.

Member Data Documentation

◆ closed

bool ClientCartesianController::closed

protected

Definition at line 69 of file ClientCartesianController.h.

◆ connected

bool ClientCartesianController::connected

protected

Definition at line 68 of file ClientCartesianController.h.

◆ contextIdList

std::set<int> ClientCartesianController::contextIdList

protected

Definition at line 81 of file ClientCartesianController.h.

◆ eventsMap

std::map<std::string,yarp::dev::CartesianEvent*> ClientCartesianController::eventsMap

protected

Definition at line 82 of file ClientCartesianController.h.

◆ lastPoseMsgArrivalTime

double ClientCartesianController::lastPoseMsgArrivalTime

protected

Definition at line 72 of file ClientCartesianController.h.

◆ portCmd

yarp::os::BufferedPort<yarp::os::Bottle> ClientCartesianController::portCmd

protected

Definition at line 78 of file ClientCartesianController.h.

◆ portEvents

CartesianEventHandler ClientCartesianController::portEvents

protected

Definition at line 83 of file ClientCartesianController.h.

◆ portRpc

yarp::os::RpcClient ClientCartesianController::portRpc

protected

Definition at line 79 of file ClientCartesianController.h.

◆ portState

yarp::os::BufferedPort<yarp::sig::Vector> ClientCartesianController::portState

protected

Definition at line 77 of file ClientCartesianController.h.

◆ pose

yarp::sig::Vector ClientCartesianController::pose

protected

Definition at line 74 of file ClientCartesianController.h.

◆ poseStamp

yarp::os::Stamp ClientCartesianController::poseStamp

protected

Definition at line 75 of file ClientCartesianController.h.

◆ timeout

double ClientCartesianController::timeout

protected

Definition at line 71 of file ClientCartesianController.h.

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

icub-main/src/libraries/icubmod/cartesianController/ClientCartesianController.h
icub-main/src/libraries/icubmod/cartesianController/ClientCartesianController.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ClientCartesianController() [1/2]

◆ ClientCartesianController() [2/2]

◆ ~ClientCartesianController()

Member Function Documentation

◆ askForPose() [1/2]

◆ askForPose() [2/2]

◆ askForPosition() [1/2]

◆ askForPosition() [2/2]

◆ attachTipFrame()

◆ checkMotionDone()

◆ close()

◆ deleteContext()

◆ deleteContexts()

◆ eventHandling()

◆ getDesired()

◆ getDOF()

◆ getInfo()

◆ getInfoHelper()

◆ getInTargetTol()

◆ getJointsVelocities()

◆ getLimits()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPosePriority()

◆ getReferenceMode()

◆ getRestPos()

◆ getRestWeights()

◆ getTaskVelocities()

◆ getTipFrame()

◆ getTrackingMode()

◆ getTrajTime()

◆ goToPose()

◆ goToPoseSync()

◆ goToPosition()

◆ goToPositionSync()

◆ init()

◆ open()

◆ registerEvent()

◆ removeTipFrame()

◆ restoreContext()

◆ setDOF()

◆ setInTargetTol()

◆ setLimits()

◆ setPosePriority()

◆ setReferenceMode()

◆ setRestPos()

◆ setRestWeights()

◆ setTaskVelocities()

◆ setTrackingMode()

◆ setTrajTime()

◆ stopControl()

◆ storeContext()

◆ tweakGet()

◆ tweakSet()

◆ unregisterEvent()

◆ waitMotionDone()

Friends And Related Function Documentation

◆ CartesianEventHandler

Member Data Documentation

◆ closed

◆ connected

◆ contextIdList

◆ eventsMap

◆ lastPoseMsgArrivalTime

◆ portCmd

◆ portEvents

◆ portRpc

◆ portState

◆ pose

◆ poseStamp

◆ timeout