roboticslab::RawDevice Class Reference

Immutable container for YARP raw interface handles. More...

#include <RawDevice.hpp>

Classes
struct	Private

Public Member Functions
	RawDevice (yarp::dev::PolyDriver *driver)
	Constructor, extracts all interface handles of the supplied driver.
	~RawDevice ()
	Destructor.
template<typename T >
T *	getHandle () const
	Retrieve a handle to a raw interface implemented by the device.
std::string	getId () const
	Retrieve the device id (can be an empty string if not set).
template<typename T >
T *	castToType () const
	Perform a dynamic cast on the given type.
bool	isValid () const
	Whether this instance wraps a device with a supported interface.
template<>
yarp::dev::IAmplifierControlRaw *	getHandle () const
template<>
yarp::dev::IAxisInfoRaw *	getHandle () const
template<>
yarp::dev::IControlCalibrationRaw *	getHandle () const
template<>
yarp::dev::IControlLimitsRaw *	getHandle () const
template<>
yarp::dev::IControlModeRaw *	getHandle () const
template<>
yarp::dev::ICurrentControlRaw *	getHandle () const
template<>
yarp::dev::IEncodersRaw *	getHandle () const
template<>
yarp::dev::IEncodersTimedRaw *	getHandle () const
template<>
yarp::dev::IImpedanceControlRaw *	getHandle () const
template<>
yarp::dev::IInteractionModeRaw *	getHandle () const
template<>
yarp::dev::IJointFaultRaw *	getHandle () const
template<>
yarp::dev::IMotorRaw *	getHandle () const
template<>
yarp::dev::IMotorEncodersRaw *	getHandle () const
template<>
yarp::dev::IPidControlRaw *	getHandle () const
template<>
yarp::dev::IPositionControlRaw *	getHandle () const
template<>
yarp::dev::IPositionDirectRaw *	getHandle () const
template<>
yarp::dev::IPWMControlRaw *	getHandle () const
template<>
yarp::dev::IRemoteVariablesRaw *	getHandle () const
template<>
yarp::dev::IVelocityControlRaw *	getHandle () const
template<>
yarp::dev::ITorqueControlRaw *	getHandle () const
template<>
yarp::dev::IThreeAxisGyroscopes *	getHandle () const
template<>
yarp::dev::IThreeAxisLinearAccelerometers *	getHandle () const
template<>
yarp::dev::IThreeAxisMagnetometers *	getHandle () const
template<>
yarp::dev::IOrientationSensors *	getHandle () const
template<>
yarp::dev::ITemperatureSensors *	getHandle () const
template<>
yarp::dev::ISixAxisForceTorqueSensors *	getHandle () const
template<>
yarp::dev::IContactLoadCellArrays *	getHandle () const
template<>
yarp::dev::IEncoderArrays *	getHandle () const
template<>
yarp::dev::ISkinPatches *	getHandle () const
template<>
yarp::dev::IPositionSensors *	getHandle () const

Private Attributes
std::unique_ptr< Private >	priv
yarp::dev::PolyDriver *	driver {nullptr}
bool	valid {false}

Detailed Description

Performs all RTTI stuff on initial configuration to avoid abusing dynamic_cast on runtime.

Member Function Documentation

castToType()

template<typename T >

T * roboticslab::RawDevice::castToType ( ) const

inline

Template Parameters

T	A type the original driver should be able to be cast to.

getHandle()

template<typename T >

T * roboticslab::RawDevice::getHandle

(

)

const

Template Parameters

T	YARP raw interface.

getId()

std::string roboticslab::RawDevice::getId ( ) const

inline

Returns

A string containing the device id.

isValid()

bool roboticslab::RawDevice::isValid ( ) const

inline

Returns

True if the device exists and has at least one supported interface.

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

• libraries/YarpDeviceMapperLib/RawDevice.hpp
• libraries/YarpDeviceMapperLib/RawDevice.cpp