roboticslab Namespace Reference

The main, catch-all namespace for Robotics Lab UC3M.

Namespaces
namespace	CanUtils
	Contains CAN-related utilities.
namespace	test
	Contains classes related to unit testing.

Classes
class	BottleExtract
class	BusLoadMonitor
	Periodically sends CAN bus load stats through a YARP port. More...
struct	can_message
	Proxy CAN message structure. More...
class	CanOpenNode
	Wrapper for CAN protocol handles with handy accessors. More...
class	CanReaderThread
	A thread that deals with CAN reads. More...
class	CanReaderWriterThread
	Base class for a thread that attends CAN reads or writes. More...
class	CanWriterThread
	A thread that attends CAN writes. More...
class	CommandBuffer
	A buffer for periodic commands implementing linear interpolation. More...
class	DeviceMapper
	Exposes raw subdevice interface handles on a per-axis manner. More...
class	DriveStatusMachine
	Representation of a CiA 402 state machine controller. More...
class	DumpCanBus
	Connects to a remote CAN publisher port and dumps output. More...
class	EmcyCodeRegistry
	Generic EMCY message parser. More...
class	EmcyConsumer
	Representation of CAN EMCY protocol. More...
class	EncoderRead
	Stores last encoder reads, obtains mean speeds and accelerations via differentiation. More...
class	ExampleRemoteControlBoard
class	FutureTask
	Base class for a deferred task executor. More...
class	FutureTaskFactory
	Base class for an abstract factory of FutureTask. More...
class	HicoCanMessage
	YARP wrapper for HicoCAN messages. More...
class	ICanBusSharer
	Abstract base for a CAN bus sharer. More...
class	ICanMessageNotifier
	Implementation-agnostic consumer for RX CAN transfers. More...
class	ICanSenderDelegate
	Implementation-agnostic consumer for TX CAN transfers. More...
class	InterpolatedPositionBuffer
	Base class for a PT/PVT buffer of setpoints. More...
class	LaunchCanBus
	Launches one or more CAN bus drivers and control board network wrappers. More...
class	NmtProtocol
	Representation of NMT protocol. More...
class	OneWayMonitor
	Registers load statistics per single CAN bus. More...
class	ParallelTask
	An implementation of an asynchronous deferred callback executor. More...
class	ParallelTaskFactory
	Abstract factory of ParallelTask. More...
class	PdoConfiguration
	Set of SDO configuration values for a PdoProtocol. More...
class	PdoProtocol
	Abstract representation of PDO protocol. More...
class	PdoTransmissionType
	Wrapped enumeration of a PDO transmission type. More...
class	PeakCanMessage
	YARP wrapper for PeakCAN messages. More...
class	PtBuffer
	Implementation of a PT buffer (linear interpolation). More...
class	PvtBuffer
	Implementation of a PVT buffer (cubic interpolation). More...
class	RawDevice
	Immutable container for YARP raw interface handles. More...
class	ReceivePdo
	Representation of RPDO protocol. More...
class	SdoClient
	Representation of SDO client protocol. More...
class	SdoReplier
	RPC replier for remote SDO transfers. More...
class	SequentialTask
	An implementation of a sequential deferred callback executor. More...
class	SequentialTaskFactory
	Abstract factory of SequentialTask. More...
class	SingleBusBroker
	Message broker of a CAN bus with YARP port interfaces. More...
class	SocketCanMessage
	YARP wrapper for SocketCAN messages. More...
class	StateObserver
	Data-free state observer. More...
class	StateObserverBase
	Base class for a state observer. More...
class	SyncPeriodicThread
	Periodic SYNC signal emitter. More...
class	TechnosoftIposBase
	Base class for all proxied TechnosoftIpos implementations. More...
class	TechnosoftIposEmbedded
	A TechnosoftIposBase implementation using the firmware-embedded PID. More...
class	TechnosoftIposEmcy
	Custom EMCY messages. More...
class	TechnosoftIposExternal
	A TechnosoftIposBase implementation using an external (TEO board) PID. More...
class	TransmitPdo
	Representation of TPDO protocol. More...
class	TrapezoidalTrajectory
class	TypedStateObserver
	Type state observer for non-arithmetic types. More...
class	TypedStateObserver< std::uint8_t[]>
	Type state observer for unsigned char arrays. More...
class	TypedStateObserver< T, typename std::enable_if_t< std::is_arithmetic_v< T > > >
	Type state observer for arithmetic types. More...
class	YarpCanSenderDelegate
	A sender delegate that adheres to standard YARP interfaces for CAN. More...

Enumerations
enum class	DriveState {   DriveState::NOT_READY_TO_SWITCH_ON , DriveState::SWITCH_ON_DISABLED , DriveState::READY_TO_SWITCH_ON , DriveState::SWITCHED_ON ,   DriveState::OPERATION_ENABLED , DriveState::QUICK_STOP_ACTIVE , DriveState::FAULT_REACTION_ACTIVE , DriveState::FAULT }
	CiA 402 drive states (associated to statusword). More...
enum class	DriveTransition : std::uint16_t {   DriveTransition::SHUTDOWN = 0x0006 , DriveTransition::SWITCH_ON = 0x0007 , DriveTransition::DISABLE_VOLTAGE = 0x0000 , DriveTransition::QUICK_STOP = 0x0002 ,   DriveTransition::ENABLE_OPERATION = 0x000F , DriveTransition::FAULT_RESET = 0x0080 , DriveTransition::DISABLE_OPERATION = SWITCH_ON }
	CiA 402 drive transitions (associated to controlword). More...
enum class	NmtService : std::uint8_t {   NmtService::START_REMOTE_NODE = 1 , NmtService::STOP_REMOTE_NODE = 2 , NmtService::ENTER_PRE_OPERATIONAL = 128 , NmtService::RESET_NODE = 129 ,   NmtService::RESET_COMMUNICATION = 130 }
	NMT service commands. More...
enum class	NmtState : std::uint8_t { NmtState::BOOTUP = 0 , NmtState::STOPPED = 4 , NmtState::OPERATIONAL = 5 , NmtState::PRE_OPERATIONAL = 127 }
	NMT state machine. More...

Variables
const RawDevice	invalidDevice (nullptr)
	Singleton instance for an invalid (empty) raw device.