SensorInterface Class Reference

Public Member Functions
Construction
virtual	~SensorInterface ()
	HardwareInterface (const std::string &_name, const std::string &_ip, const unsigned short _port, const double _communicationTime)
Hardware Properties
virtual HardwareType	GetHardwareType () const noexcept override
Sensor Interface
virtual SensorType	GetType () const noexcept=0
virtual void	SendCommand (const SensorCommand &_c)=0
	Instruct the sensor to take a measurement. More...
bool	IsReady () const noexcept
size_t	GetLastTimestamp () const noexcept
	Get the timestep when the last measurement was completed.
virtual std::vector< mathtool::Transformation >	GetLastTransformations ()
	Get the last transformation measurements. More...
virtual std::vector< std::vector< double > >	GetLastJointAngles ()
	Get the last joint angle measurements.
virtual std::vector< double >	GetUncertainty ()=0
Hardware Properties
Get and set the robot's name, IP, port, and communication time.
const std::string &	GetName () const noexcept
	Get robot's name.
void	SetName (const std::string &_name) noexcept
	Set robot's name.
const std::string &	GetIP () const noexcept
	Get IP address for hardware controller.
void	SetIP (const std::string &_ip) noexcept
	Set IP address for hardware controller.
unsigned short	GetPort () const noexcept
	Get IP port for connection.
void	SetPort (const unsigned short _port) noexcept
	Set IP port for connection.
double	GetCommunicationTime () const noexcept
	Get minimum time in seconds to send command.
void	SetCommunicationTime (const double _t) noexcept
	Set minimum time in seconds to send command.

Static Public Member Functions
Construction
static std::unique_ptr< HardwareInterface >	Factory (class XMLNode &_node)

Public Types
Local Types
enum	SensorType { Transformation , JointAngle }
	The supported sensor types.
enum	HardwareType
	The types of supported hardware.

Protected Attributes
Internal State
Get the measurement transformation matrix H such that a configuration c produces a measurement y = Hc. Todo: We need a dynamically sizable matrix for this, either dlib or eigen will probably be the choice.
std::atomic< bool >	m_ready {false}
	Is the measurement is ready to read?
std::atomic< size_t >	m_timestamp {0}
	Timestep of last completed measurement.
Internal State
std::string	m_name
	The hardware type.
std::string	m_ip
	The IP address for the hardware's controller.
unsigned short	m_port
	The IP port for the controller connection.
double	m_communicationTime {0.}
	The minimum time in seconds needed to send a command to the hardware.

Detailed Description

An abstract interface for a hardware sensor that measures the robot's world state (either base transformation and/or joint angles).

Member Function Documentation

GetHardwareType()

HardwareInterface::HardwareType SensorInterface::GetHardwareType ( ) const

overridevirtualnoexcept

Implements HardwareInterface.

GetType()

virtual SensorType SensorInterface::GetType ( ) const

pure virtualnoexcept

Indicates the type of sensor.

Returns

The sensor type.

Implemented in ArucoDetectorInterface.

SendCommand()

virtual void SensorInterface::SendCommand ( const SensorCommand &  _c )

pure virtual

Instruct the sensor to take a measurement.

Implemented in ArucoDetectorInterface.

IsReady()

bool SensorInterface::IsReady ( ) const

noexcept

Check if the sensor has completed its measurement.

Returns

True if measurement ready to read

GetLastTransformations()

std::vector< mathtool::Transformation > SensorInterface::GetLastTransformations ( )

virtual

Get the last transformation measurements.

Reimplemented in ArucoDetectorInterface.

GetUncertainty()

virtual std::vector< double > SensorInterface::GetUncertainty ( )

pure virtual

Get the measurement uncertainty.

Todo:

This should maybe be a covariance matrix instead of an uncertainty in each measured dimension.

Implemented in ArucoDetectorInterface.

HardwareInterface()

HardwareInterface::HardwareInterface	(	const std::string &	_name,
		const std::string &	_ip,
		const unsigned short	_port,
		const double	_communicationTime
	)

Construct a hardware interface.

Parameters

_name	The name of the hardware, such as 'iCreate'.
_ip	The IP address for the on-board controller.
_port	The IP port.
_communicationTime	The minimum time needed to send a command to the robot.

Factory()

std::unique_ptr< HardwareInterface > HardwareInterface::Factory ( class XMLNode &  _node )

staticinherited

Create an interface from an XML node.

Parameters

_node

Returns

A dynamically allocated interface.

---

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

• SensorInterface.h
• SensorInterface.cpp