#include <AsibotSolver_ParamsParser.h>

Inheritance diagram for AsibotSolver_ParamsParser:

Classes
struct	parser_version_type

Public Member Functions
bool	parseParams (const yarp::os::Searchable &config) override

std::string	getDeviceClassName () const override

std::string	getDeviceName () const override

std::string	getDocumentationOfDeviceParams () const override

std::vector< std::string >	getListOfParams () const override

Public Attributes
const std::string	m_device_classname = {"AsibotSolver"}

const std::string	m_device_name = {"AsibotSolver"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_A0_defaultValue = {"0.3"}

const std::string	m_A1_defaultValue = {"0.4"}

const std::string	m_A2_defaultValue = {"0.4"}

const std::string	m_A3_defaultValue = {"0.3"}

const std::string	m_invKinStrategy_defaultValue = {"leastOverallAngularDisplacement"}

const std::string	m_mins_defaultValue = {""}

const std::string	m_maxs_defaultValue = {""}

double	m_A0 = {0.3}

double	m_A1 = {0.4}

double	m_A2 = {0.4}

double	m_A3 = {0.3}

std::string	m_invKinStrategy = {"leastOverallAngularDisplacement"}

std::vector< double >	m_mins = {}

std::vector< double >	m_maxs = {}

Detailed Description

This class is the parameters parser for class AsibotSolver.

These are the used parameters:

Group name	Parameter name	Type	Units	Default Value	Required	Description	Notes
-	A0	double	m	0.3	0	length of link 1	-
-	A1	double	m	0.4	0	length of link 2	-
-	A2	double	m	0.4	0	length of link 3	-
-	A3	double	m	0.3	0	length of link 4	-
-	invKinStrategy	string	-	leastOverallAngularDisplacement	0	IK configuration strategy	-
-	mins	vector<double>	deg	-	1	lower bound joint position limits	-
-	maxs	vector<double>	deg	-	1	upper bound joint position limits	-

The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):

yarpdev --device AsibotSolver --A0 0.3 --A1 0.4 --A2 0.4 --A3 0.3 --invKinStrategy leastOverallAngularDisplacement --mins <mandatory_value> --maxs <mandatory_value>

yarpdev --device AsibotSolver --mins <mandatory_value> --maxs <mandatory_value>

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

libraries/YarpPlugins/AsibotSolver/AsibotSolver_ParamsParser.h
libraries/YarpPlugins/AsibotSolver/AsibotSolver_ParamsParser.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description