multipleanalogsensorsremapper : device that takes a list of sensor from multiple analog sensors device and expose them as a single device exposing MultipleAnalogSensors interface. More...

#include <multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.h>

Inheritance diagram for MultipleAnalogSensorsRemapper:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	MultipeWrapper methods. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor. More...

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope. More...

size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device. More...

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getNrOfThreeAxisMagnetometers () const override
	Get the number of magnetometers exposed by this device. More...

yarp::dev::MAS_status	getThreeAxisMagnetometerStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getThreeAxisMagnetometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getThreeAxisMagnetometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getThreeAxisMagnetometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device. More...

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw. More...

size_t	getNrOfTemperatureSensors () const override
	Get the number of temperature sensors exposed by this device. More...

yarp::dev::MAS_status	getTemperatureSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getTemperatureSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getTemperatureSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getTemperatureSensorMeasure (size_t sens_index, double &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

bool	getTemperatureSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getNrOfSixAxisForceTorqueSensors () const override
	Get the number of six axis force torque sensors exposed by this device. More...

yarp::dev::MAS_status	getSixAxisForceTorqueSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getSixAxisForceTorqueSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getSixAxisForceTorqueSensorFrameName (size_t sens_index, std::string &frame) const override
	Get the name of the frame of the specified sensor. More...

bool	getSixAxisForceTorqueSensorMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getNrOfContactLoadCellArrays () const override
	Get the number of contact load cell array exposed by this device. More...

yarp::dev::MAS_status	getContactLoadCellArrayStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getContactLoadCellArrayName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getContactLoadCellArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getContactLoadCellArraySize (size_t sens_index) const override
	Get the size of the specified contact load cell array. More...

size_t	getNrOfEncoderArrays () const override
	Get the number of encoder arrays exposed by this device. More...

yarp::dev::MAS_status	getEncoderArrayStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getEncoderArrayName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getEncoderArrayMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getEncoderArraySize (size_t sens_index) const override
	Get the size of the specified encoder array. More...

size_t	getNrOfSkinPatches () const override
	Get the number of skin patches exposed by this device. More...

yarp::dev::MAS_status	getSkinPatchStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getSkinPatchName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getSkinPatchMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor. More...

size_t	getSkinPatchSize (size_t sens_index) const override
	Get the size of the specified skin patch. More...

size_t	getNrOfPositionSensors () const override
	Get the number of position sensors exposed by this device. More...

yarp::dev::MAS_status	getPositionSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor. More...

bool	getPositionSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor. More...

bool	getPositionSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor. More...

bool	getPositionSensorMeasure (size_t sens_index, yarp::sig::Vector &xyz, double &timestamp) const override
	Get the last reading of the position sensor as x y z. More...

template<typename Interface >
MAS_status	genericGetStatus (const MAS_SensorType sensorType, size_t &sens_index, const std::vector< Interface * > &subDeviceVec, MAS_status(Interface::*methodPtr)(size_t) const) const

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IThreeAxisGyroscopes
virtual	~IThreeAxisGyroscopes ()

Public Member Functions inherited from yarp::dev::IThreeAxisLinearAccelerometers
virtual	~IThreeAxisLinearAccelerometers ()

Public Member Functions inherited from yarp::dev::IThreeAxisMagnetometers
virtual	~IThreeAxisMagnetometers ()

Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual	~IOrientationSensors ()

Public Member Functions inherited from yarp::dev::ITemperatureSensors
virtual	~ITemperatureSensors ()

Public Member Functions inherited from yarp::dev::ISixAxisForceTorqueSensors
virtual	~ISixAxisForceTorqueSensors ()

Public Member Functions inherited from yarp::dev::IContactLoadCellArrays
virtual	~IContactLoadCellArrays ()

Public Member Functions inherited from yarp::dev::IEncoderArrays
virtual	~IEncoderArrays ()

Public Member Functions inherited from yarp::dev::ISkinPatches
virtual	~ISkinPatches ()

Public Member Functions inherited from yarp::dev::IPositionSensors
virtual	~IPositionSensors ()

Detailed Description

multipleanalogsensorsremapper : device that takes a list of sensor from multiple analog sensors device and expose them as a single device exposing MultipleAnalogSensors interface.

YARP device name
`multipleanalogsensorsremapper`

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
{sensorTag}Names	-	vector of strings	-	-	Yes	Ordered list of name that must belong of the remapped device. The list also defines the index that the sensor will

The sensorTag is a tag identifing the spefici sensor interface, see Multiple Analog Sensor Interfaces for a list of possible sensors. The tag of each sensor interface is provided in the doxygen documentation of the specific interface.

Configuration file using .ini format.

device multipleanalogsensorsremapper
ThreeAxisGyroscopesNames (head torso)
SixAxisForceTorqueSensorsNames (left_foot right_foot left_leg right_leg)

Configuration of the device from C++ code.

Property options;
options.put("device","multipleanalogsensorsremapper");
Bottle gyrosNames;
Bottle & gyrosList = gyrosNames.addList();
gyrosList.addString("head");
gyrosList.addString("torso");
options.put("ThreeAxisGyroscopesNames", gyrosNames.get(0));
Bottle ftNames;
Bottle & ftList = ftNames.addList();
ftList.addString("left_foot");
ftList.addString("right_foot");
ftList.addString("left_leg");
ftList.addString("right_leg");
options.put("SixAxisForceTorqueSensorsNames", ftNames.get(0));
 
// Actually open the device
PolyDriver multipleAnalogRemappedDevice(options);
 
// Use it as  you would use any controlboard device
// ...

Definition at line 87 of file MultipleAnalogSensorsRemapper.h.

Member Function Documentation

◆ attachAll()

bool MultipleAnalogSensorsRemapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

MultipeWrapper methods.

Implements yarp::dev::IMultipleWrapper.

Definition at line 217 of file MultipleAnalogSensorsRemapper.cpp.

◆ close()

bool MultipleAnalogSensorsRemapper::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 71 of file MultipleAnalogSensorsRemapper.cpp.

◆ detachAll()

bool MultipleAnalogSensorsRemapper::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 245 of file MultipleAnalogSensorsRemapper.cpp.

◆ genericGetStatus()

template<typename Interface >

MAS_status MultipleAnalogSensorsRemapper::genericGetStatus	(	const MAS_SensorType	sensorType,
		size_t &	sens_index,
		const std::vector< Interface * > &	subDeviceVec,
		MAS_status(Interface::*)(size_t) const	methodPtr
	)		const

Definition at line 263 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayMeasure()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getContactLoadCellArrayMeasure()-1).
[out]	out	The requested measure. The vector should be getContactLoadCellArrayMeasure(sens_index)-dimensional. The measure is expressed in Newton.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 592 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayName()

bool MultipleAnalogSensorsRemapper::getContactLoadCellArrayName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 587 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArraySize()

size_t MultipleAnalogSensorsRemapper::getContactLoadCellArraySize ( size_t sens_index ) const

overridevirtual

Get the size of the specified contact load cell array.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 597 of file MultipleAnalogSensorsRemapper.cpp.

◆ getContactLoadCellArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getContactLoadCellArrayStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 582 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayMeasure()

bool MultipleAnalogSensorsRemapper::getEncoderArrayMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfEncoderArrays()-1).
[out]	out	The requested measure. The vector should be getEncoderArraySize(sens_index)-dimensional. The measure is expressed in Newton.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::IEncoderArrays.

Definition at line 617 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayName()

bool MultipleAnalogSensorsRemapper::getEncoderArrayName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 612 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArraySize()

size_t MultipleAnalogSensorsRemapper::getEncoderArraySize ( size_t sens_index ) const

overridevirtual

Get the size of the specified encoder array.

Implements yarp::dev::IEncoderArrays.

Definition at line 622 of file MultipleAnalogSensorsRemapper.cpp.

◆ getEncoderArrayStatus()

MAS_status MultipleAnalogSensorsRemapper::getEncoderArrayStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IEncoderArrays.

Definition at line 607 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfContactLoadCellArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfContactLoadCellArrays ( ) const

overridevirtual

Get the number of contact load cell array exposed by this device.

Implements yarp::dev::IContactLoadCellArrays.

Definition at line 577 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfEncoderArrays()

size_t MultipleAnalogSensorsRemapper::getNrOfEncoderArrays ( ) const

overridevirtual

Get the number of encoder arrays exposed by this device.

Implements yarp::dev::IEncoderArrays.

Definition at line 602 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfOrientationSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 494 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfPositionSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfPositionSensors ( ) const

overridevirtual

Get the number of position sensors exposed by this device.

Implements yarp::dev::IPositionSensors.

Definition at line 469 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSixAxisForceTorqueSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfSixAxisForceTorqueSensors ( ) const

overridevirtual

Get the number of six axis force torque sensors exposed by this device.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 552 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfSkinPatches()

size_t MultipleAnalogSensorsRemapper::getNrOfSkinPatches ( ) const

overridevirtual

Get the number of skin patches exposed by this device.

Implements yarp::dev::ISkinPatches.

Definition at line 627 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfTemperatureSensors()

size_t MultipleAnalogSensorsRemapper::getNrOfTemperatureSensors ( ) const

overridevirtual

Get the number of temperature sensors exposed by this device.

Implements yarp::dev::ITemperatureSensors.

Definition at line 519 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 394 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 419 of file MultipleAnalogSensorsRemapper.cpp.

◆ getNrOfThreeAxisMagnetometers()

size_t MultipleAnalogSensorsRemapper::getNrOfThreeAxisMagnetometers ( ) const

overridevirtual

Get the number of magnetometers exposed by this device.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 444 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorFrameName()

bool MultipleAnalogSensorsRemapper::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 509 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool MultipleAnalogSensorsRemapper::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

${}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right)$

with

$RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}$

,

$RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix}$

and

$RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix}$

where ${}^f R_s \in \mathbb{R}^{3 \times 3}$ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 514 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorName()

bool MultipleAnalogSensorsRemapper::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 504 of file MultipleAnalogSensorsRemapper.cpp.

◆ getOrientationSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 499 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorFrameName()

bool MultipleAnalogSensorsRemapper::getPositionSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 484 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorMeasure()

bool MultipleAnalogSensorsRemapper::getPositionSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	xyz,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the position sensor as x y z.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfPositionSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 489 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorName()

bool MultipleAnalogSensorsRemapper::getPositionSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IPositionSensors.

Definition at line 479 of file MultipleAnalogSensorsRemapper.cpp.

◆ getPositionSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getPositionSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IPositionSensors.

Definition at line 474 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorFrameName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 567 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorMeasure()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSixAxisForceTorqueSensors()-1).
[out]	out	The requested measure. The vector should be 6-dimensional. The measure is expressed in Newton for the first three elements, Newton Meters for the last three elements.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 572 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorName()

bool MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 562 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSixAxisForceTorqueSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getSixAxisForceTorqueSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISixAxisForceTorqueSensors.

Definition at line 557 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchMeasure()

bool MultipleAnalogSensorsRemapper::getSkinPatchMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfSkinPatches()-1).
[out]	out	The requested measure. The vector should be getNrOfSkinPatches(sens_index)-dimensional. The measure is expressed in implementation-specific unit of measure.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Implements yarp::dev::ISkinPatches.

Definition at line 642 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchName()

bool MultipleAnalogSensorsRemapper::getSkinPatchName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 637 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchSize()

size_t MultipleAnalogSensorsRemapper::getSkinPatchSize ( size_t sens_index ) const

overridevirtual

Get the size of the specified skin patch.

Implements yarp::dev::ISkinPatches.

Definition at line 647 of file MultipleAnalogSensorsRemapper.cpp.

◆ getSkinPatchStatus()

MAS_status MultipleAnalogSensorsRemapper::getSkinPatchStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ISkinPatches.

Definition at line 632 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorFrameName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 534 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [1/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure	(	size_t	sens_index,
		double &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

TODO(traversaro) : make the method swig-friendly

Implements yarp::dev::ITemperatureSensors.

Definition at line 544 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorMeasure() [2/2]

bool MultipleAnalogSensorsRemapper::getTemperatureSensorMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfTemperatureSensors()-1).
[out]	out	The requested measure. The vector should be 1-dimensional. The measure is expressed in celsius degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::ITemperatureSensors.

Definition at line 539 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorName()

bool MultipleAnalogSensorsRemapper::getTemperatureSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 529 of file MultipleAnalogSensorsRemapper.cpp.

◆ getTemperatureSensorStatus()

MAS_status MultipleAnalogSensorsRemapper::getTemperatureSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::ITemperatureSensors.

Definition at line 524 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 409 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 414 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeName()

bool MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 404 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisGyroscopeStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 399 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 434 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 439 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 429 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 424 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerFrameName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 459 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerMeasure()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisMagnetometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in tesla .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 464 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerName()

bool MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 454 of file MultipleAnalogSensorsRemapper.cpp.

◆ getThreeAxisMagnetometerStatus()

MAS_status MultipleAnalogSensorsRemapper::getThreeAxisMagnetometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisMagnetometers.

Definition at line 449 of file MultipleAnalogSensorsRemapper.cpp.

◆ open()

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

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 76 of file MultipleAnalogSensorsRemapper.cpp.

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

src/devices/multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.h
src/devices/multipleanalogsensorsremapper/MultipleAnalogSensorsRemapper.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ genericGetStatus()

◆ getContactLoadCellArrayMeasure()

◆ getContactLoadCellArrayName()

◆ getContactLoadCellArraySize()

◆ getContactLoadCellArrayStatus()

◆ getEncoderArrayMeasure()

◆ getEncoderArrayName()

◆ getEncoderArraySize()

◆ getEncoderArrayStatus()

◆ getNrOfContactLoadCellArrays()

◆ getNrOfEncoderArrays()

◆ getNrOfOrientationSensors()

◆ getNrOfPositionSensors()

◆ getNrOfSixAxisForceTorqueSensors()

◆ getNrOfSkinPatches()

◆ getNrOfTemperatureSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getNrOfThreeAxisMagnetometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getPositionSensorFrameName()

◆ getPositionSensorMeasure()

◆ getPositionSensorName()

◆ getPositionSensorStatus()

◆ getSixAxisForceTorqueSensorFrameName()

◆ getSixAxisForceTorqueSensorMeasure()

◆ getSixAxisForceTorqueSensorName()

◆ getSixAxisForceTorqueSensorStatus()

◆ getSkinPatchMeasure()

◆ getSkinPatchName()

◆ getSkinPatchSize()

◆ getSkinPatchStatus()

◆ getTemperatureSensorFrameName()

◆ getTemperatureSensorMeasure() [1/2]

◆ getTemperatureSensorMeasure() [2/2]

◆ getTemperatureSensorName()

◆ getTemperatureSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ getThreeAxisMagnetometerFrameName()

◆ getThreeAxisMagnetometerMeasure()

◆ getThreeAxisMagnetometerName()

◆ getThreeAxisMagnetometerStatus()

◆ open()