roboticslab::StreamingDevice Class Reference

Abstract class for a YARP streaming device.

#include <StreamingDevice.hpp>

Inheritance diagram for roboticslab::StreamingDevice:

Public Member Functions
	StreamingDevice (yarp::os::Searchable &config)
	Constructor.
virtual	~StreamingDevice ()
	Destructor.
virtual bool	acquireInterfaces ()=0
	Acquires plugin interfaces.
virtual bool	initialize (const std::map< ICartesianControl::Config, double > &params)
	Perform any custom initialization needed. This method is called after the successful creation of the device and once all interface handles are acquired.
virtual bool	acquireData ()=0
	Acquires data from remote device.
virtual bool	transformData (double scaling)
	Performs required operations on stored data.
virtual ICartesianControl::Actuator	getActuatorState ()
	If actuator command data is available, return its current state.
virtual bool	hasValidMovementData () const
	Checks whether the device may forward acquired and processed data to the controller.
virtual void	sendMovementCommand (double timestamp)=0
	Sends movement command to the cartesian controller.
virtual void	stopMotion ()=0
	Sends a movement command that would stop motion.
void	setCartesianControllerHandle (ICartesianControl *iCartesianControl)
	Stores handle to an ICartesianControl instance.

Protected Attributes
ICartesianControl *	iCartesianControl
std::vector< double >	data
std::vector< bool >	fixedAxes
ICartesianControl::Actuator	actuatorState

Private Member Functions
void	configureFixedAxes (const yarp::os::Value &v)
	Stores vector of values representing axes that are always fixed.

Private Attributes
friend	CentroidTransform

Constructor & Destructor Documentation

StreamingDevice()

StreamingDevice::StreamingDevice

(

yarp::os::Searchable &

config

)

Parameters

config

List of options the YARP device should be opened with.

Member Function Documentation

acquireData()

virtual bool roboticslab::StreamingDevice::acquireData ( )

pure virtual

Returns

true on success, false otherwise

Implemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, roboticslab::InvalidDevice, and roboticslab::WiimoteDevice.

acquireInterfaces()

virtual bool roboticslab::StreamingDevice::acquireInterfaces ( )

pure virtual

Returns

true on success, false otherwise

Implemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, roboticslab::InvalidDevice, and roboticslab::WiimoteDevice.

getActuatorState()

virtual ICartesianControl::Actuator roboticslab::StreamingDevice::getActuatorState ( )

inlinevirtual

Returns

integer value describing current actuator state

Reimplemented in roboticslab::LeapMotionSensorDevice, and roboticslab::SpnavSensorDevice.

hasValidMovementData()

bool StreamingDevice::hasValidMovementData ( ) const

virtual

Returns

true if valid, false otherwise

Reimplemented in roboticslab::SpnavSensorDevice, and roboticslab::WiimoteDevice.

initialize()

virtual bool roboticslab::StreamingDevice::initialize ( const std::map< ICartesianControl::Config, double > &  params )

inlinevirtual

Parameters

params

Configuration parameters for the cartesian controller.

Returns

true on success, false otherwise

Reimplemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, and roboticslab::WiimoteDevice.

sendMovementCommand()

virtual void roboticslab::StreamingDevice::sendMovementCommand ( double  timestamp )

pure virtual

Parameters

timestamp

Current timestamp.

Implemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, roboticslab::InvalidDevice, and roboticslab::WiimoteDevice.

setCartesianControllerHandle()

void roboticslab::StreamingDevice::setCartesianControllerHandle ( ICartesianControl *  iCartesianControl )

inline

Parameters

iCartesianControl

Handle to an ICartesianControl instance.

stopMotion()

virtual void roboticslab::StreamingDevice::stopMotion ( )

pure virtual

Implemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, roboticslab::InvalidDevice, and roboticslab::WiimoteDevice.

transformData()

bool StreamingDevice::transformData ( double  scaling )

virtual

Parameters

scaling

Scaling factor applied to each data value.

Returns

true on success, false otherwise

Reimplemented in roboticslab::LeapMotionSensorDevice, roboticslab::SpnavSensorDevice, and roboticslab::WiimoteDevice.

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

• programs/streamingDeviceController/StreamingDevice.hpp
• programs/streamingDeviceController/StreamingDevice.cpp