#include <EmulatedControlBoard_ParamsParser.h>

Inheritance diagram for EmulatedControlBoard_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 = {"EmulatedControlBoard"}

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_axes_defaultValue = {"5"}

const std::string	m_jmcMs_defaultValue = {"20"}

const std::string	m_mode_defaultValue = {""}

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

const std::string	m_genJointTol_defaultValue = {"0.25"}

const std::string	m_genMaxLimit_defaultValue = {"180.0"}

const std::string	m_genMinLimit_defaultValue = {"-180.0"}

const std::string	m_genRefSpeed_defaultValue = {"7.5"}

const std::string	m_genEncRawExposed_defaultValue = {"0.0174532925199433"}

const std::string	m_genVelRawExposed_defaultValue = {"0.0174532925199433"}

const std::string	m_initPoss_defaultValue = {""}

const std::string	m_jointTols_defaultValue = {""}

const std::string	m_maxLimits_defaultValue = {""}

const std::string	m_minLimits_defaultValue = {""}

const std::string	m_refSpeeds_defaultValue = {""}

const std::string	m_encRawExposeds_defaultValue = {""}

const std::string	m_velRawExposeds_defaultValue = {""}

int	m_axes = {5}

int	m_jmcMs = {20}

std::string	m_mode = {}

double	m_genInitPos = {0.0}

double	m_genJointTol = {0.25}

double	m_genMaxLimit = {180.0}

double	m_genMinLimit = {-180.0}

double	m_genRefSpeed = {7.5}

double	m_genEncRawExposed = {0.0174532925199433}

double	m_genVelRawExposed = {0.0174532925199433}

std::vector< double >	m_initPoss = {}

std::vector< double >	m_jointTols = {}

std::vector< double >	m_maxLimits = {}

std::vector< double >	m_minLimits = {}

std::vector< double >	m_refSpeeds = {}

std::vector< double >	m_encRawExposeds = {}

std::vector< double >	m_velRawExposeds = {}

Detailed Description

This class is the parameters parser for class EmulatedControlBoard.

These are the used parameters:

Group name	Parameter name	Type	Units	Default Value	Required	Description	Notes
-	axes	int	-	5	0	number of axes to control	-
-	jmcMs	int	ms	20	0	period of JMC periodic thread	-
-	mode	string	-	-	1	control mode	pos, vel, posd
-	genInitPos	double	m or deg	0.0	0	general initialization positions	-
-	genJointTol	double	m or deg	0.25	0	general joint tolerances	-
-	genMaxLimit	double	m or deg	180.0	0	general max limits	-
-	genMinLimit	double	m or deg	-180.0	0	general min limits	-
-	genRefSpeed	double	m/s or deg/s	7.5	0	general ref speed	-
-	genEncRawExposed	double	-	0.0174532925199433	0	general EncRawExposed	-
-	genVelRawExposed	double	-	0.0174532925199433	0	general VelRawExposed	-
-	initPoss	vector<double>	m or deg	-	0	individual initialization positions	-
-	jointTols	vector<double>	m or deg	-	0	individual joint tolerances	-
-	maxLimits	vector<double>	m or deg	-	0	individual max limits	-
-	minLimits	vector<double>	m or deg	-	0	individual min limits	-
-	refSpeeds	vector<double>	m/s or deg/s	-	0	individual ref speeds	-
-	encRawExposeds	vector<double>	-	-	0	individual EncRawExposed	-
-	velRawExposeds	vector<double>	-	-	0	individual VelRawExposed	-

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

yarpdev --device EmulatedControlBoard --axes 5 --jmcMs 20 --mode <mandatory_value> --genInitPos 0.0 --genJointTol 0.25 --genMaxLimit 180.0 --genMinLimit -180.0 --genRefSpeed 7.5 --genEncRawExposed 0.0174532925199433 --genVelRawExposed 0.0174532925199433 --initPoss <optional_value> --jointTols <optional_value> --maxLimits <optional_value> --minLimits <optional_value> --refSpeeds <optional_value> --encRawExposeds <optional_value> --velRawExposeds <optional_value>

yarpdev --device EmulatedControlBoard --mode <mandatory_value>

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

libraries/YarpPlugins/EmulatedControlBoard/EmulatedControlBoard_ParamsParser.h
libraries/YarpPlugins/EmulatedControlBoard/EmulatedControlBoard_ParamsParser.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description