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_
FRIThread *	fri_
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_

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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]

Definition at line 76 of file YARPComm.cc.

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]

Definition at line 92 of file YARPComm.cc.

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]

Definition at line 159 of file YARPComm.cc.

void YARPComm::start

(

FRIThread *

fri

)

Definition at line 171 of file YARPComm.cc.

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Member Data Documentation

bool YARPComm::exitRequested_ [private]

Definition at line 60 of file YARPComm.hh.

FRIThread* YARPComm::fri_ [private]

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.

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

• YARPComm.hh
• YARPComm.cc