roboticslab::XTrainerDevice Class Reference

Represents an XTrainer-compatible device.

#include <XTrainerDevice.hpp>

Inheritance diagram for roboticslab::XTrainerDevice:

Public Member Functions
	XTrainerDevice (yarp::os::Searchable &config)
bool	acquireInterfaces () override
	Acquires plugin interfaces.
bool	initialize (const ICartesianControl::config_map_t &params) 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.
ICartesianControl::Actuator	getActuatorState () override
	If actuator command data is available, return its current state.
void	sendMovementCommand (double timestamp) override
	Sends movement command to the cartesian controller.
Public Member Functions inherited from roboticslab::StreamingDevice
	StreamingDevice (yarp::os::Searchable &config)
	Constructor.
virtual	~StreamingDevice ()
	Destructor.
virtual bool	hasValidMovementData () const
	Checks whether the device may forward acquired and processed data to the controller.
virtual void	stopMotion ()
	Sends a movement command that would stop motion.
void	setCartesianControllerHandle (ICartesianControl *iCartesianControl)
	Stores handle to an ICartesianControl instance.

Private Attributes
yarp::dev::IJoypadController *	iJoypadController {nullptr}
ICartesianSolver *	iCartesianSolver {nullptr}
yarp::dev::PolyDriver	solverDevice
std::string	kinematics
std::vector< double >	initialTcpOffset
std::vector< double >	initialDeviceOffset
KDL::Frame	H_base_device
KDL::Frame	H_ee_device
KDL::Frame	H_device_ee
bool	buttonClose {false}
bool	buttonOpen {false}

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

Member Function Documentation

acquireData()

bool XTrainerDevice::acquireData ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

acquireInterfaces()

bool XTrainerDevice::acquireInterfaces ( )

overridevirtual

Returns

true on success, false otherwise

Implements roboticslab::StreamingDevice.

getActuatorState()

ICartesianControl::Actuator XTrainerDevice::getActuatorState ( )

overridevirtual

Returns

integer value describing current actuator state

Reimplemented from roboticslab::StreamingDevice.

initialize()

bool XTrainerDevice::initialize ( const ICartesianControl::config_map_t &  params )

overridevirtual

Parameters

params

Configuration parameters for the cartesian controller.

Returns

true on success, false otherwise

Reimplemented from roboticslab::StreamingDevice.

sendMovementCommand()

void XTrainerDevice::sendMovementCommand ( double  timestamp )

overridevirtual

Parameters

timestamp

Current timestamp.

Implements roboticslab::StreamingDevice.

transformData()

bool XTrainerDevice::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/XTrainerDevice.hpp
• programs/streamingDeviceController/XTrainerDevice.cpp