roboticslab::PhidgetSpatial Class Reference

Implementation of a Phidgets device.

#include <PhidgetSpatial.hpp>

Inheritance diagram for roboticslab::PhidgetSpatial:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
bool	close () override
	~PhidgetSpatial () override=default
int	read (yarp::sig::Vector &out) override
int	getState (int ch) override
int	getChannels () override
int	calibrateSensor () override
int	calibrateSensor (const yarp::sig::Vector &value) override
int	calibrateChannel (int ch) override
int	calibrateChannel (int ch, double value) override
int	display_properties (CPhidgetSpatialHandle phid)

Static Public Member Functions
static int	AttachHandler (CPhidgetHandle ENC, void *userptr)
static int	DetachHandler (CPhidgetHandle ENC, void *userptr)
static int	ErrorHandler (CPhidgetHandle ENC, void *userptr, int ErrorCode, const char *Description)
static int	SpatialDataHandler (CPhidgetSpatialHandle spatial, void *userptr, CPhidgetSpatial_SpatialEventDataHandle *data, int count)

Private Attributes
CPhidgetSpatialHandle	hSpatial0
yarp::os::Semaphore	hSemaphore
double	acceleration [3]
double	angularRate [3]
double	magneticField [3]

Constructor & Destructor Documentation

~PhidgetSpatial()

roboticslab::PhidgetSpatial::~PhidgetSpatial ( )

overridedefault

Destructor.

Member Function Documentation

calibrateChannel() [1/2]

int PhidgetSpatial::calibrateChannel ( int  ch )

override

Calibrates one single channel.

Parameters

ch	channel number.

Returns

status.

calibrateChannel() [2/2]

int PhidgetSpatial::calibrateChannel ( int  ch, double  value  )

override

Calibrates one single channel, using a calibration value.

Parameters

ch	channel number.
value	calibration value.

Returns

status.

calibrateSensor() [1/2]

int PhidgetSpatial::calibrateSensor ( )

override

Calibrates the whole sensor.

Returns

status.

calibrateSensor() [2/2]

int PhidgetSpatial::calibrateSensor ( const yarp::sig::Vector &  value )

override

Calibrates the whole sensor, using an vector of calibration values.

Parameters

value

a vector of calibration values.

Returns

status.

getChannels()

int PhidgetSpatial::getChannels ( )

override

Get the number of channels of the sensor.

Returns

number of channels (0 in case of errors).

getState()

int PhidgetSpatial::getState ( int  ch )

override

Check the state value of a given channel.

Parameters

ch	channel number.

Returns

status.

open()

bool PhidgetSpatial::open ( yarp::os::Searchable &  config )

override

Open the DeviceDriver.

Returns

true/false upon success/failure

read()

int PhidgetSpatial::read ( yarp::sig::Vector &  out )

override

Read a vector from the sensor.

Parameters

out	a vector containing the sensor's last readings.

Returns

AS_OK or return code. AS_TIMEOUT if the sensor timed-out.

SpatialDataHandler()

int PhidgetSpatial::SpatialDataHandler ( CPhidgetSpatialHandle  spatial, void *  userptr, CPhidgetSpatial_SpatialEventDataHandle *  data, int  count  )

static

printf("Number of Data Packets in this event: %d\n", count);

printf("---------------------------------------------\n");

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

• libraries/YarpPlugins/PhidgetSpatial/PhidgetSpatial.hpp
• libraries/YarpPlugins/PhidgetSpatial/DeviceDriverImpl.cpp
• libraries/YarpPlugins/PhidgetSpatial/IAnalogSensorImpl.cpp
• libraries/YarpPlugins/PhidgetSpatial/PhidgetSpatial.cpp