#include <BasicCartesianControl_ParamsParser.h>

Inheritance diagram for BasicCartesianControl_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 = {"BasicCartesianControl"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_controllerGain_defaultValue = {"0.05"}

const std::string	m_trajectoryDuration_defaultValue = {"0.0"}

const std::string	m_trajectoryRefSpeed_defaultValue = {"0.05"}

const std::string	m_trajectoryRefAccel_defaultValue = {"0.02"}

const std::string	m_cmcPeriodMs_defaultValue = {"50"}

const std::string	m_waitPeriodMs_defaultValue = {"30"}

const std::string	m_usePosdMovl_defaultValue = {"false"}

const std::string	m_enableFailFast_defaultValue = {"false"}

const std::string	m_referenceFrame_defaultValue = {"base"}

const std::string	m_robot_defaultValue = {"remote_controlboard"}

const std::string	m_solver_defaultValue = {"KdlSolver"}

double	m_controllerGain = {0.05}

double	m_trajectoryDuration = {0.0}

double	m_trajectoryRefSpeed = {0.05}

double	m_trajectoryRefAccel = {0.02}

int	m_cmcPeriodMs = {50}

int	m_waitPeriodMs = {30}

bool	m_usePosdMovl = {false}

bool	m_enableFailFast = {false}

std::string	m_referenceFrame = {"base"}

std::string	m_robot = {"remote_controlboard"}

std::string	m_solver = {"KdlSolver"}

Detailed Description

This class is the parameters parser for class BasicCartesianControl.

These are the used parameters:

Group name	Parameter name	Type	Units	Default Value	Description	Notes
-	controllerGain	double	-	0.05	controller gain	-
-	trajectoryDuration	double	s	0.0	trajectory duration	0: use ref speed/acc to compute duration
-	trajectoryRefSpeed	double	m/s	0.05	trajectory reference linear speed	-
-	trajectoryRefAccel	double	m/s^2	0.02	trajectory reference linear acceleration	-
-	cmcPeriodMs	int	ms	50	CMC rate	-
-	waitPeriodMs	int	ms	30	wait command period	-
-	usePosdMovl	bool	-	false	execute MOVL commands in POSD mode using IK	-
-	enableFailFast	bool	-	false	enable fail-fast mode for MOVL commands	-
-	referenceFrame	string	-	base	reference frame	base, tcp
-	robot	string	-	remote_controlboard	robot device	-
-	solver	string	-	KdlSolver	cartesian solver device	-

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

yarpdev --device BasicCartesianControl --controllerGain 0.05 --trajectoryDuration 0.0 --trajectoryRefSpeed 0.05 --trajectoryRefAccel 0.02 --cmcPeriodMs 50 --waitPeriodMs 30 --usePosdMovl false --enableFailFast false --referenceFrame base --robot remote_controlboard --solver KdlSolver

yarpdev --device BasicCartesianControl

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

libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl_ParamsParser.h
libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl_ParamsParser.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description