roboticslab::WiimoteDevice Class Reference

Represents a Wiimote device wrapped as an analog sensor by YARP.

#include <WiimoteDevice.hpp>

Inheritance diagram for roboticslab::WiimoteDevice:

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

Private Types
enum	cmd_mode { NONE , FWD , BKWD , ROT }

Private Attributes
yarp::dev::IJoypadController *	iJoypadController {nullptr}
cmd_mode	mode {NONE}
bool	usingPose {false}
double	step {0.0}
bool	buttonA {false}
bool	buttonB {false}
bool	yawActive {false}

Additional Inherited Members
Protected Attributes inherited from roboticslab::StreamingDevice
ICartesianControl *	iCartesianControl
std::vector< double >	data
std::vector< bool >	fixedAxes
int	actuatorState

Member Function Documentation

acquireData()

bool WiimoteDevice::acquireData ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

acquireInterfaces()

bool WiimoteDevice::acquireInterfaces ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

hasValidMovementData()

bool WiimoteDevice::hasValidMovementData ( ) const

overridevirtual

Returns

true if valid, false otherwise

Reimplemented from roboticslab::StreamingDevice.

initialize()

bool WiimoteDevice::initialize ( bool  usingStreamingPreset )

overridevirtual

Parameters

usingStreamingPreset

Whether the cartesian controller supports streaming command presets or not.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

sendMovementCommand()

void WiimoteDevice::sendMovementCommand ( double  timestamp )

overridevirtual

Parameters

timestamp

Current timestamp.

Implements roboticslab::StreamingDevice.

stopMotion()

void WiimoteDevice::stopMotion ( )

overridevirtual

Implements roboticslab::StreamingDevice.

transformData()

bool WiimoteDevice::transformData ( double  scaling )

overridevirtual

Parameters

scaling

Scaling factor applied to each data value.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

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

• programs/streamingDeviceController/WiimoteDevice.hpp
• programs/streamingDeviceController/WiimoteDevice.cpp