An interface for the device drivers. More...

Namespaces
	impl

	Nav2D

	RGBDRosConversionUtils

	ROSPixelCode

Classes
class	AudioBufferSize

class	audioBufferSizeData

class	AudioDeviceDriverSettings

class	AudioRecorderDeviceBase

struct	CalibrationParameters

struct	CameraConfig
	Struct describing a possible camera configuration. More...

class	CanBuffer

class	CanErrors

class	CanMessage

class	CartesianEvent
	Interface for a event notified by the cartesian controller. More...

struct	CartesianEventParameters
	Structure for configuring a cartesian event. More...

struct	CartesianEventVariables
	Structure for configuring a cartesian event. More...

class	CircularAudioBuffer

class	ControlBoardHelper

class	DeprecatedDeviceDriver
	Interface implemented by deprecated device drivers. More...

struct	DeviceDescription

class	DeviceDriver
	Interface implemented by all device drivers. More...

class	DeviceResponder
	A cheap and cheerful framework for human readable/writable forms of messages to devices. More...

class	DriverCreator
	A base class for factories that create driver objects. More...

class	DriverCreatorOf
	A factory for creating driver objects of a particular type. More...

class	DriverLinkCreator
	A factory for creating links to a driver that has already been created. More...

class	Drivers
	Global factory for devices. More...

class	FrameGrabberControls_Parser

class	FrameGrabberControls_Sender
	This classes implement a sender / parser for IFrameGrabberControls interface messages. More...

class	GazeEvent
	Interface for a event notified by the gaze controller. More...

struct	GazeEventParameters
	Structure for configuring a gaze event. More...

struct	GazeEventVariables
	Structure for retrieving information from a gaze event. More...

class	IAmplifierControl
	Interface for control devices, amplifier commands. More...

class	IAmplifierControlRaw
	Interface for control devices, amplifier commands. More...

class	IAnalogSensor
	A generic interface to sensors (gyro, a/d converters). More...

class	IAudioGrabberSound
	Read a YARP-format sound block from a device. More...

class	IAudioRender

class	IAudioVisualGrabber
	Read a YARP-format image and sound from a device. More...

class	IAudioVisualStream

class	IAxisInfo
	Interface for getting information about specific axes, if available. More...

class	IAxisInfoRaw
	Interface for getting information about specific axes, if available. More...

class	IBattery
	A generic battery interface. More...

class	ICalibrator

class	ICanBufferFactory

class	ICanBus
	Interface for a can bus device. More...

class	ICanBusErrors

class	ICartesianControl
	Interface for a cartesian controller. More...

class	IContactLoadCellArrays
	Device interface to one or multiple contact load cell arrays. More...

class	IControlCalibration
	Interface for control devices, calibration commands. More...

class	IControlCalibrationRaw
	Interface for control devices, calibration commands. More...

class	IControlDebug
	Interface for control devices, debug commands. More...

class	IControlLimits
	Interface for control devices, commands to get/set position and veloity limits. More...

class	IControlLimitsRaw
	Interface for control devices. More...

class	IControlMode
	Interface for setting control mode in control board. More...

class	IControlModeRaw
	Interface for setting control mode in control board. More...

class	ICurrentControl
	Interface for control boards implementing current control. More...

class	ICurrentControlRaw
	Interface for control boards implementing current control. More...

class	IDepthVisualParams
	An interface for retrieving intrinsic parameter from a depth camera. More...

class	IEncoderArrays
	Device interface to one or multiple arrays of encoders. More...

class	IEncoders
	Control board, encoder interface. More...

class	IEncodersRaw
	Control board, encoder interface. More...

class	IEncodersTimed
	Control board, extend encoder interface with timestamps. More...

class	IEncodersTimedRaw
	Control board, extend encoder raw interface adding timestamps. More...

class	IFrameGrabber
	Common interface to a FrameGrabber. More...

class	IFrameGrabberControls
	Control interface for frame grabber devices. More...

class	IFrameGrabberControlsDC1394

class	IFrameGrabberImage
	Read a YARP-format image from a device. More...

class	IFrameGrabberImageRaw
	Read a YARP-format image from a device. More...

class	IFrameGrabberRgb
	RGB Interface to a FrameGrabber device. More...

class	IFrameTransform
	Transform Interface. More...

class	IFrameTransformClientControl
	IFrameTransformClientControl Interface. More...

class	IFrameWriterAudioVisual
	Write a YARP-format image and sound to a device. More...

class	IFrameWriterImage
	Read a YARP-format image to a device. More...

class	IGazeControl
	Interface for a gaze controller. More...

class	IGenericSensor
	A generic interface to sensors – gyro, a/d converters etc. More...

class	IGPUDevice
	A generic interface to GPU port devices. More...

class	IImpedanceControl
	Interface for control boards implementing impedance control. More...

class	IImpedanceControlRaw
	Interface for control boards implementing impedance control. More...

class	IInteractionMode
	Interface settings the way the robot interacts with the environment: basic interaction types are Stiff and Compliant. More...

class	IInteractionModeRaw
	Interface settings the way the robot interacts with the environment: basic interaction types are Stiff and Compliant. More...

class	IJoypadController

class	IJoypadEvent

class	IJoypadEventDriven

class	IMotor
	Control board, encoder interface. More...

class	IMotorEncoders
	Control board, encoder interface. More...

class	IMotorEncodersRaw
	Control board, encoder interface. More...

class	IMotorRaw
	Control board, encoder interface. More...

class	Implement_DepthVisualParams_Parser

class	Implement_DepthVisualParams_Sender

class	Implement_RgbVisualParams_Parser

class	Implement_RgbVisualParams_Sender

class	ImplementAmplifierControl

class	ImplementAxisInfo

class	ImplementCanBufferFactory
	Implementation of a ICanBufferFactory. More...

class	ImplementControlCalibration

class	ImplementControlLimits
	class ImplementControlLimits; class StubImplControlLimitsRaw; More...

class	ImplementControlMode

class	ImplementCurrentControl

class	ImplementEncoders

class	ImplementEncodersTimed

class	ImplementImpedanceControl

class	ImplementInteractionMode
	Interface settings the way the robot interacts with the environment: basic interaction types are Stiff and Compliant. More...

class	ImplementMotor

class	ImplementMotorEncoders

class	ImplementPidControl

class	ImplementPositionControl
	Default implementation of the IPositionControl interface. More...

class	ImplementPositionDirect
	Default implementation of the IPositionDirect interface. More...

class	ImplementPWMControl

class	ImplementRemoteVariables

class	ImplementTorqueControl

class	ImplementVelocityControl

class	ImplementVirtualAnalogSensor

class	IMultipleWrapper
	Interface for an object that can wrap/attach to to another. More...

class	IOrientationSensors
	Device interface to one or multiple orientation sensors, such as IMUs with on board estimation algorithms. More...

class	IPidControl
	Interface for a generic control board device implementing a PID controller, with scaled arguments. More...

class	IPidControlRaw
	Interface for a generic control board device implementing a PID controller. More...

class	IPositionControl
	Interface for a generic control board device implementing position control. More...

class	IPositionControlRaw
	Interface for a generic control board device implementing position control in encoder coordinates. More...

class	IPositionDirect
	Interface for a generic control board device implementing position control. More...

class	IPositionDirectRaw
	Interface for a generic control board device implementing position control in encoder coordinates. More...

class	IPositionSensors
	Device interface to one or multiple position sensors, such as UWB localization sensors. More...

class	IPreciselyTimed

class	IPWMControl
	Interface for controlling an axis, by sending directly a PWM reference signal to a motor. More...

class	IPWMControlRaw
	Interface for controlling an axis, by sending directly a PWM reference signal to a motor. More...

class	IRangefinder2D
	A generic interface for planar laser range finders. More...

class	IRemoteCalibrator
	IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

class	IRemoteVariables
	IRemoteVariables interface. More...

class	IRemoteVariablesRaw
	IRemoteVariablesRaw interface. More...

class	IRGBDSensor
	A generic interface for cameras that have both color camera as well as depth camera sensor, like kinect device. More...

class	IRgbVisualParams
	An interface for retrieving intrinsic parameter from a rgb camera. More...

class	IRobotDescription
	This interface allows users to retrieve a list which contains the names and the types of the currently running devices. More...

class	ISerialDevice
	A generic interface to serial port devices. More...

class	IService
	Common interface for devices that act like services (by which we mean they do something for remote users, with minimal interaction with their creator other than initial configuration). More...

class	ISixAxisForceTorqueSensors
	Device interface to one or multiple six axis force torque sensor. More...

class	ISkinPatches
	Device interface to one or more groups (patches) of tactile sensors (skin). More...

class	ITemperatureSensors
	Device interface to one or multiple temperature sensors. More...

class	IThreeAxisGyroscopes
	Device interface to one or multiple three axis gyroscopes. More...

class	IThreeAxisLinearAccelerometers
	Device interface to one or multiple three axis linear accelerometers. More...

class	IThreeAxisMagnetometers
	Device interface to one or multiple three axis magnetometers. More...

class	ITorqueControl
	Interface for control boards implementing torque control. More...

class	ITorqueControlRaw
	Interface for control boards implementing torque control. More...

class	IVelocityControl
	Interface for control boards implementing velocity control. More...

class	IVelocityControlRaw
	Interface for control boards implementig velocity control in encoder coordinates. More...

class	IVirtualAnalogSensor
	A generic interface to a virtual sensors. More...

class	IVirtualAnalogSensorRaw
	A generic interface to a virtual sensors. More...

class	IVisualServoing
	Interface for visual servoing controllers. More...

class	IWrapper
	Interface for an object that can wrap/or "attach" to another. More...

class	LaserMeasurementData
	\LaserMeasurementData More...

class	LaserScan2D

class	Lidar2DDeviceBase
	The DLidarDeviceTemplate class. More...

class	Map2DLocationData

class	Map2DPathData

class	MobileBaseVelocity

class	MotorTorqueParameters

class	OdometryData

class	OdometryData6D

class	OVRHeadset
	`ovrheadset`: Device that manages the Oculus Rift Headset. More...

class	Pid
	Contains the parameters for a PID. More...

class	PolyDriver
	A container for a device driver. More...

class	PolyDriverDescriptor

class	PolyDriverList

struct	Range_t

class	RGBDSensorParamParser
	The RGBDSensorParamParser class. More...

class	StubDriverCreator
	A factory for creating driver objects from DLLs / shared libraries. More...

class	StubImplControlLimitsRaw
	Stub implementation of IControlLimitRaw interface. More...

class	StubImplEncodersRaw
	Stub implementation of IEncodersRaw interface. More...

class	StubImplInteractionModeRaw
	Stub implementation of IInteractionMode interface. More...

class	StubImplPositionControlRaw
	Stub implementation of IPositionControlRaw interface. More...

class	StubImplPositionDirectRaw
	Stub implementation of IPositionControl2Raw interface. More...

class	StubImplVelocityControlRaw
	Stub implementation of IPositionControl2Raw interface. More...

Typedefs
typedef yarp::os::PortablePair< yarp::sig::ImageOf< yarp::sig::PixelRgb >, yarp::sig::Sound >	ImageRgbSound

typedef yarp::dev::CircularAudioBuffer< unsigned char >	CircularAudioBuffer_8t

typedef yarp::dev::CircularAudioBuffer< unsigned short int >	CircularAudioBuffer_16t

typedef yarp::dev::CircularAudioBuffer< unsigned int >	CircularAudioBuffer_32t

typedef IFrameGrabberControls	IFrameGrabberControls2
	This interface exports a list of general methods to discover the remote camera capabilities. More...

typedef IControlCalibrationRaw	IControlCalibration2Raw

typedef IControlCalibration	IControlCalibration2

typedef IControlLimits	IControlLimits2

typedef IControlLimitsRaw	IControlLimits2Raw

typedef IControlModeRaw	IControlMode2Raw

typedef IControlMode	IControlMode2

typedef ImplementControlLimits	ImplementControlLimits2

typedef StubImplControlLimitsRaw	StubImplControlLimits2Raw

typedef ImplementControlMode	ImplementControlMode2

typedef ImplementPositionControl	ImplementPositionControl2

typedef StubImplPositionControlRaw	StubImplPositionControl2Raw

typedef ImplementVelocityControl	ImplementVelocityControl2

typedef StubImplVelocityControlRaw	StubImplVelocityControl2Raw

typedef IPositionControl	IPositionControl2

typedef IPositionControlRaw	IPositionControl2Raw

typedef IVelocityControl	IVelocityControl2

typedef IVelocityControlRaw	IVelocityControl2Raw

Enumerations
enum	JointTypeEnum { VOCAB_JOINTTYPE_REVOLUTE = yarp::os::createVocab('a', 't', 'r', 'v'), VOCAB_JOINTTYPE_PRISMATIC = yarp::os::createVocab('a', 't', 'p', 'r'), VOCAB_JOINTTYPE_UNKNOWN = yarp::os::createVocab('u', 'n', 'k', 'n') }

enum	InteractionModeEnum { VOCAB_IM_STIFF = yarp::os::createVocab('s','t','i','f'), VOCAB_IM_COMPLIANT = yarp::os::createVocab('c','o','m','p'), VOCAB_IM_UNKNOWN = yarp::os::createVocab('u','n','k','n') }

enum	VAS_status { VAS_status::VAS_OK = 0, VAS_status::VAS_ERROR = 1, VAS_status::VAS_OVF = 2, VAS_status::VAS_TIMEOUT = 3 }

enum	MAS_status { MAS_OK =0, MAS_ERROR =1, MAS_OVF =2, MAS_TIMEOUT =3, MAS_WAITING_FOR_FIRST_READ =4, MAS_UNKNOWN =5 }
	Status of a given analog sensor exposed by a multiple analog sensors interface. More...

enum	PidControlTypeEnum { VOCAB_PIDTYPE_POSITION = yarp::os::createVocab('p', 'o', 's'), VOCAB_PIDTYPE_VELOCITY = yarp::os::createVocab('v', 'e', 'l'), VOCAB_PIDTYPE_TORQUE = yarp::os::createVocab('t', 'r', 'q'), VOCAB_PIDTYPE_CURRENT = yarp::os::createVocab('c', 'u', 'r') }

enum	PidFeedbackUnitsEnum { PidFeedbackUnitsEnum::RAW_MACHINE_UNITS = 0, PidFeedbackUnitsEnum::METRIC = 1 }

enum	PidOutputUnitsEnum { PidOutputUnitsEnum::RAW_MACHINE_UNITS = 0, PidOutputUnitsEnum::DUTYCYCLE_PWM_PERCENT = 1, PidOutputUnitsEnum::POSITION_METRIC = 2, PidOutputUnitsEnum::VELOCITY_METRIC = 3, PidOutputUnitsEnum::TORQUE_METRIC = 4, PidOutputUnitsEnum::CURRENT_METRIC = 5 }

Functions
void	checkGlError (const char file, int line, const char func)

Detailed Description

An interface for the device drivers.

Typedef Documentation

◆ CircularAudioBuffer_16t

typedef yarp::dev::CircularAudioBuffer<unsigned short int> yarp::dev::CircularAudioBuffer_16t

Definition at line 118 of file CircularAudioBuffer.h.

◆ CircularAudioBuffer_32t

typedef yarp::dev::CircularAudioBuffer<unsigned int> yarp::dev::CircularAudioBuffer_32t

Definition at line 119 of file CircularAudioBuffer.h.

◆ CircularAudioBuffer_8t

typedef yarp::dev::CircularAudioBuffer<unsigned char> yarp::dev::CircularAudioBuffer_8t

Definition at line 117 of file CircularAudioBuffer.h.

◆ IControlCalibration2

typedef IControlCalibration yarp::dev::IControlCalibration2

Definition at line 25 of file IControlCalibration.h.

◆ IControlCalibration2Raw

typedef IControlCalibrationRaw yarp::dev::IControlCalibration2Raw

Definition at line 21 of file IControlCalibration.h.

◆ IControlLimits2

typedef IControlLimits yarp::dev::IControlLimits2

Definition at line 17 of file IControlLimits2.h.

◆ IControlLimits2Raw

typedef IControlLimitsRaw yarp::dev::IControlLimits2Raw

Definition at line 18 of file IControlLimits2.h.

◆ IControlMode2

typedef IControlMode yarp::dev::IControlMode2

Definition at line 19 of file IControlMode2.h.

◆ IControlMode2Raw

typedef IControlModeRaw yarp::dev::IControlMode2Raw

Definition at line 18 of file IControlMode2.h.

◆ IFrameGrabberControls2

typedef IFrameGrabberControls yarp::dev::IFrameGrabberControls2

This interface exports a list of general methods to discover the remote camera capabilities.

It also has the get/set feature methods so can be used in conjuntion with former IFrameGrabberControls2 or as standalone.

Deprecated:: Since YARP 3.0.0

Definition at line 27 of file FrameGrabberControl2.h.

◆ ImageRgbSound

typedef yarp::os::PortablePair<yarp::sig::ImageOf<yarp::sig::PixelRgb>, yarp::sig::Sound> yarp::dev::ImageRgbSound

Definition at line 26 of file AudioVisualInterfaces.h.

◆ ImplementControlLimits2

typedef ImplementControlLimits yarp::dev::ImplementControlLimits2

Definition at line 20 of file ImplementControlLimits2.h.

◆ ImplementControlMode2

typedef ImplementControlMode yarp::dev::ImplementControlMode2

Definition at line 18 of file ImplementControlMode2.h.

◆ ImplementPositionControl2

typedef ImplementPositionControl yarp::dev::ImplementPositionControl2

Definition at line 18 of file ImplementPositionControl2.h.

◆ ImplementVelocityControl2

typedef ImplementVelocityControl yarp::dev::ImplementVelocityControl2

Definition at line 19 of file ImplementVelocityControl2.h.

◆ IPositionControl2

typedef IPositionControl yarp::dev::IPositionControl2

Definition at line 16 of file IPositionControl2.h.

◆ IPositionControl2Raw

typedef IPositionControlRaw yarp::dev::IPositionControl2Raw

Definition at line 17 of file IPositionControl2.h.

◆ IVelocityControl2

typedef IVelocityControl yarp::dev::IVelocityControl2

Definition at line 17 of file IVelocityControl2.h.

◆ IVelocityControl2Raw

typedef IVelocityControlRaw yarp::dev::IVelocityControl2Raw

Definition at line 18 of file IVelocityControl2.h.

◆ StubImplControlLimits2Raw

typedef StubImplControlLimitsRaw yarp::dev::StubImplControlLimits2Raw

Definition at line 21 of file ImplementControlLimits2.h.

◆ StubImplPositionControl2Raw

typedef StubImplPositionControlRaw yarp::dev::StubImplPositionControl2Raw

Definition at line 19 of file ImplementPositionControl2.h.

◆ StubImplVelocityControl2Raw

typedef StubImplVelocityControlRaw yarp::dev::StubImplVelocityControl2Raw

Definition at line 20 of file ImplementVelocityControl2.h.

Enumeration Type Documentation

◆ InteractionModeEnum

enum yarp::dev::InteractionModeEnum

Enumerator
VOCAB_IM_STIFF
VOCAB_IM_COMPLIANT
VOCAB_IM_UNKNOWN

Definition at line 20 of file IInteractionMode.h.

◆ JointTypeEnum

enum yarp::dev::JointTypeEnum

Enumerator
VOCAB_JOINTTYPE_REVOLUTE
VOCAB_JOINTTYPE_PRISMATIC
VOCAB_JOINTTYPE_UNKNOWN

Definition at line 28 of file IAxisInfo.h.

◆ MAS_status

enum yarp::dev::MAS_status

Status of a given analog sensor exposed by a multiple analog sensors interface.

Enumerator
MAS_OK	The sensor is working correctly.
MAS_ERROR	The sensor is in generic error state.
MAS_OVF	The sensor reached an overflow.
MAS_TIMEOUT	The sensor is read through the network, and the latest measurement was received before an implementation-define timeout period.
MAS_WAITING_FOR_FIRST_READ	The sensor is read through the network, and the device is waiting to receive the first measurement.
MAS_UNKNOWN	The sensor is in an unknown state.

Definition at line 36 of file MultipleAnalogSensorsInterfaces.h.

◆ PidControlTypeEnum

enum yarp::dev::PidControlTypeEnum

Enumerator
VOCAB_PIDTYPE_POSITION
VOCAB_PIDTYPE_VELOCITY
VOCAB_PIDTYPE_TORQUE
VOCAB_PIDTYPE_CURRENT

Definition at line 20 of file PidEnums.h.

◆ PidFeedbackUnitsEnum

enum yarp::dev::PidFeedbackUnitsEnum

strong

Enumerator
RAW_MACHINE_UNITS
METRIC

Definition at line 30 of file PidEnums.h.

◆ PidOutputUnitsEnum

enum yarp::dev::PidOutputUnitsEnum

strong

Enumerator
RAW_MACHINE_UNITS
DUTYCYCLE_PWM_PERCENT
POSITION_METRIC
VELOCITY_METRIC
TORQUE_METRIC
CURRENT_METRIC

Definition at line 36 of file PidEnums.h.

◆ VAS_status

enum yarp::dev::VAS_status

strong

Enumerator
VAS_OK
VAS_ERROR
VAS_OVF
VAS_TIMEOUT

Definition at line 30 of file IVirtualAnalogSensor.h.

Function Documentation

◆ checkGlError()

void yarp::dev::checkGlError	(	const char *	file,
		int	line,
		const char *	func
	)

Definition at line 25 of file GLDebug.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ CircularAudioBuffer_16t

◆ CircularAudioBuffer_32t

◆ CircularAudioBuffer_8t

◆ IControlCalibration2

◆ IControlCalibration2Raw

◆ IControlLimits2

◆ IControlLimits2Raw

◆ IControlMode2

◆ IControlMode2Raw

◆ IFrameGrabberControls2

◆ ImageRgbSound

◆ ImplementControlLimits2

◆ ImplementControlMode2

◆ ImplementPositionControl2

◆ ImplementVelocityControl2

◆ IPositionControl2

◆ IPositionControl2Raw

◆ IVelocityControl2

◆ IVelocityControl2Raw

◆ StubImplControlLimits2Raw

◆ StubImplPositionControl2Raw

◆ StubImplVelocityControl2Raw

Enumeration Type Documentation

◆ InteractionModeEnum

◆ JointTypeEnum

◆ MAS_status

◆ PidControlTypeEnum

◆ PidFeedbackUnitsEnum

◆ PidOutputUnitsEnum

◆ VAS_status

Function Documentation

◆ checkGlError()