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YARPComm Class Reference

#include <YARPComm.hh>

List of all members.

Public Member Functions

void finish ()
bool open ()
void publishData (const RobotData &data, const RobotCommand &cmd_old)
bool receiveCommand (RobotCommand *cmd)
void start (FRIThread *fri)
 YARPComm (const char *prefix)
 ~YARPComm ()

Private Member Functions

bool receiveBottle (yarp::os::BufferedPort< yarp::os::Bottle > &port, float *data, int n)
bool receiveKRLCmd (yarp::os::BufferedPort< yarp::os::Bottle > &port, int *iData, float *rData)
void * run ()
void sendData (yarp::os::BufferedPort< yarp::os::Bottle > &p, const float *data, int n)

Static Private Member Functions

static void * run_s (void *ptr)

Private Attributes

bool exitRequested_
FRIThreadfri_
yarp::os::Network * net_
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_add_torque
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_cart_activate
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_cart_damping
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_cart_force_torque
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_cart_stiffness
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_commanded
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_commands
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_current_cart_damping
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_current_cart_force_torque
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_current_cart_stiffness
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_damping
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_krlcommand
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_kukacommand
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_position
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_stiffness
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_torque
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_torque_raw
yarp::os::BufferedPort
< yarp::os::Bottle > 
port_torque_tcp
const char * prefix_
bool running_
pthread_t thread_

Detailed Description

Definition at line 11 of file YARPComm.hh.


Constructor & Destructor Documentation

YARPComm::YARPComm ( const char *  prefix  ) 

Definition at line 17 of file YARPComm.cc.

YARPComm::~YARPComm (  ) 

Definition at line 26 of file YARPComm.cc.


Member Function Documentation

void YARPComm::finish (  ) 

Definition at line 215 of file YARPComm.cc.

bool YARPComm::open (  ) 

Definition at line 35 of file YARPComm.cc.

void YARPComm::publishData ( const RobotData data,
const RobotCommand cmd_old 
)

Definition at line 144 of file YARPComm.cc.

bool YARPComm::receiveBottle ( yarp::os::BufferedPort< yarp::os::Bottle > &  port,
float *  data,
int  n 
) [private]
bool YARPComm::receiveCommand ( RobotCommand cmd  ) 

Definition at line 120 of file YARPComm.cc.

bool YARPComm::receiveKRLCmd ( yarp::os::BufferedPort< yarp::os::Bottle > &  port,
int *  iData,
float *  rData 
) [private]
void * YARPComm::run ( void   )  [private]

Definition at line 178 of file YARPComm.cc.

static void* YARPComm::run_s ( void *  ptr  )  [inline, static, private]

Definition at line 57 of file YARPComm.hh.

void YARPComm::sendData ( yarp::os::BufferedPort< yarp::os::Bottle > &  p,
const float *  data,
int  n 
) [private]
void YARPComm::start ( FRIThread fri  ) 

Definition at line 171 of file YARPComm.cc.


Member Data Documentation

bool YARPComm::exitRequested_ [private]

Definition at line 60 of file YARPComm.hh.

Definition at line 55 of file YARPComm.hh.

yarp::os::Network* YARPComm::net_ [private]

Definition at line 29 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_add_torque [private]

Definition at line 41 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_cart_activate [private]

Definition at line 48 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_cart_damping [private]

Definition at line 46 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_cart_force_torque [private]

Definition at line 47 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_cart_stiffness [private]

Definition at line 45 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_commanded [private]

Definition at line 32 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_commands [private]

Definition at line 31 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_current_cart_damping [private]

Definition at line 51 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_current_cart_force_torque [private]

Definition at line 52 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_current_cart_stiffness [private]

Definition at line 50 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_damping [private]

Definition at line 40 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_krlcommand [private]

Definition at line 43 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_kukacommand [private]

Definition at line 37 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_position [private]

Definition at line 33 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_stiffness [private]

Definition at line 39 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_torque [private]

Definition at line 34 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_torque_raw [private]

Definition at line 35 of file YARPComm.hh.

yarp::os::BufferedPort<yarp::os::Bottle> YARPComm::port_torque_tcp [private]

Definition at line 36 of file YARPComm.hh.

const char* YARPComm::prefix_ [private]

Definition at line 27 of file YARPComm.hh.

bool YARPComm::running_ [private]

Definition at line 60 of file YARPComm.hh.

pthread_t YARPComm::thread_ [private]

Definition at line 59 of file YARPComm.hh.


The documentation for this class was generated from the following files:
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kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Tue Dec 4 09:02:46 2012