inertial: Export an inertial sensor. More...

#include <ServerInertial/ServerInertial.h>

Inheritance diagram for ServerInertial:

Public Member Functions
	ServerInertial ()
	Constructor. More...

	ServerInertial (const ServerInertial &)=delete

	ServerInertial (ServerInertial &&)=delete

ServerInertial &	operator= (const ServerInertial &)=delete

ServerInertial &	operator= (ServerInertial &&)=delete

	~ServerInertial () override

bool	open (yarp::os::Searchable &config) override
	Open the device driver. More...

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

virtual bool	getInertial (yarp::os::Bottle &bot)

void	run () override
	Main body of the new thread. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection. More...

bool	read (yarp::sig::Vector &out) override
	Read a vector from the sensor. More...

bool	getChannels (int *nc) override
	Get the number of channels of the sensor. More...

bool	calibrate (int ch, double v) override
	Calibrate the sensor, single channel. More...

bool	attach (yarp::dev::PolyDriver *poly) override
	IWrapper interface Attach to another object. More...

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

bool	attachAll (const yarp::dev::PolyDriverList &p) override
	IMultipleWrapper interface Attach to a list of objects. More...

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

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::IWrapper
virtual	~IWrapper ()
	Destructor. More...

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

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

virtual Type	getReadType () const

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

Detailed Description

inertial: Export an inertial sensor.

The network interface is a single Port. We will stream bottles with 12 floats:

1   2  = Euler orientation data (X, Y, Z)  global frame representation.
4   5  = Calibrated 3-axis (X, Y, Z) acceleration data
7   8  = Calibrated 3-axis (X, Y, Z) gyroscope data
10  11  = Calibrated 3-axis (X, Y, Z) magnetometer data

It reads the data from an Inertial measurement unit sensor and sends them through yarp port.

Description of input parameters

Parameters accepted in the config argument of the open method:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	-	Yes	full name of the port opened by the device, like /robotName/deviceId/sensorType:o	must start with a '/' character
period	double	s	0.005	No	refresh period of the broadcasted values in ms (optional, default 5ms)	-
subdevice	string	-	-	alternative to attach action	name of the yarp IMU device driver to be instantiated	if using yarprobotinterface or custom program the 'attach' action can be used instead
ROS	group	-	-	No	Group containing parameter for ROS topic initialization	if missing, it is assumed to not use ROS topics
useROS	string	true/false/only	-	if ROS group is present	set 'true' to have both yarp ports and ROS topic, set 'only' to have only ROS topic and no yarp port	-
ROS_TopicName	string	-	-	if ROS group is present	set the name for ROS topic	must start with a leading '/'
ROS_nodeName	string	-	-	if ROS group is present	set the name for ROS node	must start with a leading '/'
ROS_msgType	string	enum	-	if ROS group is present	choose the message to be sent through ROS topic	supported value now is ONLY geometry_msgs/WrenchedStamped
frame_id	string	-	-	if ROS group is present	name of reference frame the measures are referred to	-

ROS message type used is sensor_msgs/Imu.msg (http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html)

Some example of configuration files:

Configuration file using .ini format

name         /inertial
period       0.02
[ROS]
useROS        true
ROS_topicName /ROSinertial
ROS_nodeName  /IMUPublisher
frame_id      r_shoulder

Configuration file using .xml format.

<param name="name">              /inertial                   </param>
<param name="period">            0.02                          </param>
<group name="ROS">
    <param name="useROS">         true                       </param>    // use 'only' if you want only ROS topic and NOT yarp ports
    <param name="ROS_topicName">  /ROSinertial               </param>
    <param name="ROS_nodeName">   /IMUPublisher              </param>
    <param name="frame_id">       r_shoulder                 </param>
</group>
 
 <!-- Following parameters are meaningful ONLY for yarprobotinterface -->
 <action phase="startup" level="5" type="attach">
     <paramlist name="networks">
         <!-- The param value must match the device name in the corresponding device configuration file -->
         <elem name="imu_device">  left_upper_arm_mc </elem>
      </paramlist>
 </action>
 <action phase="shutdown" level="5" type="detach" />

ROS message type used is sensor_msgs/Imu.msg

Definition at line 108 of file ServerInertial.h.

Constructor & Destructor Documentation

◆ ServerInertial() [1/3]

ServerInertial::ServerInertial ( )

Constructor.

Definition at line 35 of file ServerInertial.cpp.

◆ ServerInertial() [2/3]

ServerInertial::ServerInertial ( const ServerInertial & )

delete

◆ ServerInertial() [3/3]

ServerInertial::ServerInertial ( ServerInertial && )

delete

◆ ~ServerInertial()

ServerInertial::~ServerInertial ( )

override

Definition at line 81 of file ServerInertial.cpp.

Member Function Documentation

◆ attach()

bool ServerInertial::attach ( yarp::dev::PolyDriver * poly )

overridevirtual

IWrapper interface Attach to another object.

Parameters

poly	the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 517 of file ServerInertial.cpp.

◆ attachAll()

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

overridevirtual

IMultipleWrapper interface Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 548 of file ServerInertial.cpp.

◆ calibrate()

bool ServerInertial::calibrate	(	int	ch,
		double	v
	)

overridevirtual

Calibrate the sensor, single channel.

Parameters

ch	channel number
v	reset valure

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 510 of file ServerInertial.cpp.

◆ close()

bool ServerInertial::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 342 of file ServerInertial.cpp.

◆ detach()

bool ServerInertial::detach ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 543 of file ServerInertial.cpp.

◆ detachAll()

bool ServerInertial::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 559 of file ServerInertial.cpp.

◆ getChannels()

bool ServerInertial::getChannels ( int * nc )

overridevirtual

Get the number of channels of the sensor.

Parameters

nc	pointer to storage, return value

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 504 of file ServerInertial.cpp.

◆ getInertial()

bool ServerInertial::getInertial ( yarp::os::Bottle & bot )

virtual

Definition at line 362 of file ServerInertial.cpp.

◆ open()

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

overridevirtual

Open the device driver.

Configure with a set of options.

Parameters

config The options to use

Returns: true iff the object could be configured.

These are:

subdevice	Common name of device to wrap (e.g. "fakeFrameGrabber").
name	Port name to assign to this server (default /grabber).

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 274 of file ServerInertial.cpp.

◆ operator=() [1/2]

ServerInertial& ServerInertial::operator= ( const ServerInertial & )

delete

◆ operator=() [2/2]

ServerInertial& ServerInertial::operator= ( ServerInertial && )

delete

◆ read() [1/2]

bool ServerInertial::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 488 of file ServerInertial.cpp.

◆ read() [2/2]

bool ServerInertial::read ( yarp::sig::Vector & out )

overridevirtual

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns: true/false success/failure

Implements yarp::dev::IGenericSensor.

Definition at line 498 of file ServerInertial.cpp.

◆ run()

void ServerInertial::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

wait 5 ms.

Implements yarp::os::Thread.

Definition at line 394 of file ServerInertial.cpp.

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

src/devices/ServerInertial/ServerInertial.h
src/devices/ServerInertial/ServerInertial.cpp

Public Member Functions

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ ServerInertial() [1/3]

◆ ServerInertial() [2/3]

◆ ServerInertial() [3/3]

◆ ~ServerInertial()

Member Function Documentation

◆ attach()

◆ attachAll()

◆ calibrate()

◆ close()

◆ detach()

◆ detachAll()

◆ getChannels()

◆ getInertial()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ read() [1/2]

◆ read() [2/2]

◆ run()