RobotInfo::Capabilities Class Reference
Allows behaviors to lookup output/button/sensor names from other models to support basic cross-model portability. More...
#include <CommonInfo.h>
Detailed Description
Allows behaviors to lookup output/button/sensor names from other models to support basic cross-model portability.
Use the getCapabilities() function to look up the Capabalities instance for a given model based on its string robot name
Definition at line 82 of file CommonInfo.h.
Public Member Functions | |
| Capabilities (const char *robName, size_t numFrame, const char *const frameNames[], size_t numBut, const char *const butNames[], size_t numSen, const char *const senNames[], size_t pidOff, size_t numPID, size_t ledOff, size_t numLED, size_t numTotalOut) | |
| constructor, pass the robot name this is regarding, and outputs, buttons, and sensor names | |
| Capabilities (const Capabilities &cap) | |
| shallow copy (explicit to satisfy warning) | |
| Capabilities & | operator= (const Capabilities &cap) |
| shallow assign (explicit to satisfy warning) | |
| virtual | ~Capabilities () |
| destructor, explicit just to avoid warning when used as base class | |
| const char * | getRobotName () const |
| returns the name of the robot this corresponds to | |
| unsigned int | getNumOutputs () const |
| returns the number of unique outputs (i.e. not counting aliases and non-actuated reference frames) | |
| unsigned int | getNumFrames () const |
| returns the number of unique reference frames (includes all outputs, plus unactuated points of interest, like cameras or end effector tips | |
| unsigned int | getNumButtons () const |
| returns the number of unique buttons (i.e. not counting aliases) | |
| unsigned int | getNumSensors () const |
| returns the number of unique sensors (i.e. not counting aliases) | |
| unsigned int | getPIDJointOffset () const |
| returns the offset of the block of 'PID' joints in an output array | |
| unsigned int | getNumPIDJoints () const |
| returns the number of 'PID' joints | |
| unsigned int | getLEDOffset () const |
| returns the offset of the block of LEDs in an output array | |
| unsigned int | getNumLEDs () const |
| returns the number of LEDs | |
| const char * | getOutputName (unsigned int i) const |
| look up the name corresponding to an offset, returns NULL if not found/available | |
| const char * | getFrameName (unsigned int i) const |
| look up the name corresponding to an offset, returns NULL if not found/available | |
| const char * | getButtonName (unsigned int i) const |
| look up the name corresponding to an offset, returns NULL if not found/available | |
| const char * | getSensorName (unsigned int i) const |
| look up the name corresponding to an offset, returns NULL if not found/available | |
| unsigned int | getOutputOffset (const std::string &out) const |
| Look up the offset corresponding to a output name, throws std::invalid_argument if not found. | |
| unsigned int | getFrameOffset (const std::string &frame) const |
| Look up the offset corresponding to a reference frame name, throws std::invalid_argument if not found. | |
| unsigned int | getButtonOffset (const std::string &but) const |
| look up the offset corresponding to a button name, throws std::invalid_argument if not found | |
| unsigned int | getSensorOffset (const std::string &sen) const |
| look up the offset corresponding to a sensor name, throws std::invalid_argument if not found | |
| unsigned int | findOutputOffset (const std::string &out) const |
| look up the offset corresponding to a output name, returns -1U if not found/available | |
| unsigned int | findFrameOffset (const std::string &frame) const |
| look up the offset corresponding to a reference frame name, returns -1U if not found/available | |
| unsigned int | findButtonOffset (const std::string &but) const |
| look up the offset corresponding to a button name, returns -1U if not found/available | |
| unsigned int | findSensorOffset (const std::string &sen) const |
| look up the offset corresponding to a sensor name, returns -1U if not found/available | |
| const std::set< unsigned int > & | getFakeOutputs () const |
| returns the offsets of "fake" outputs, see fakeOutputs | |
Protected Member Functions | |
| unsigned int | lookupT (const char *errStr, const std::map< std::string, unsigned int > &nameToIndex, const std::string &capname) const |
| helper function, does the work of the get..Offset functions | |
| unsigned int | lookup (const std::map< std::string, unsigned int > &nameToIndex, const std::string &capname) const |
| helper function, does the work of the find..Offset functions | |
Static Protected Member Functions | |
| static std::map< std::string, const Capabilities * > & | getCaps () |
| returns a static map from robot names to capability instances, which are externally allocated | |
Protected Attributes | |
| const char * | name |
| name of robot model | |
| std::vector< std::string > | frames |
| array of names for reference frames -- this is the "primary" name for each output/frame, frameToIndex may contain additional aliases | |
| std::vector< std::string > | buttons |
| array of names for buttons -- this is the "primary" name for each button, buttonToIndex may contain additional aliases | |
| std::vector< std::string > | sensors |
| array of names for sensors -- this is the "primary" name for each sensor, sensorToIndex may contain additional aliases | |
| std::map< std::string, unsigned int > | frameToIndex |
| maps output names to offset values | |
| std::map< std::string, unsigned int > | buttonToIndex |
| maps button names to offset values | |
| std::map< std::string, unsigned int > | sensorToIndex |
| maps sensor names to offset values | |
| size_t | pidJointOffset |
| the offset of the PID joints | |
| size_t | numPIDJoints |
| the number of PID joints | |
| size_t | ledOffset |
| the offset of the LEDs | |
| size_t | numLEDs |
| the number of LEDs | |
| size_t | numOutputs |
| the total number of outputs (e.g. the reference frames which are actuated) | |
| std::set< unsigned int > | fakeOutputs |
| Offsets of "fake" outputs, which don't correspond to any physical device on the robot. | |
Friends | |
| const Capabilities * | getCapabilities (const std::string &robName) |
| Accessor for Capabilities::caps, returns the Capabilities instance for a specified robot model (or NULL if robot is unknown or didn't provide a Capabilities instance). | |
Constructor & Destructor Documentation
| Capabilities::Capabilities | ( | const char * | robName, | |
| size_t | numFrame, | |||
| const char *const | frameNames[], | |||
| size_t | numBut, | |||
| const char *const | butNames[], | |||
| size_t | numSen, | |||
| const char *const | senNames[], | |||
| size_t | pidOff, | |||
| size_t | numPID, | |||
| size_t | ledOff, | |||
| size_t | numLED, | |||
| size_t | numTotalOut | |||
| ) |
constructor, pass the robot name this is regarding, and outputs, buttons, and sensor names
Definition at line 213 of file RobotInfo.cc.
| RobotInfo::Capabilities::Capabilities | ( | const Capabilities & | cap | ) |
shallow copy (explicit to satisfy warning)
Definition at line 88 of file CommonInfo.h.
| virtual RobotInfo::Capabilities::~Capabilities | ( | ) | [virtual] |
destructor, explicit just to avoid warning when used as base class
Definition at line 104 of file CommonInfo.h.
Member Function Documentation
| unsigned int RobotInfo::Capabilities::findButtonOffset | ( | const std::string & | but | ) | const |
look up the offset corresponding to a button name, returns -1U if not found/available
Identical to getButtonOffset(), except returns an invalid value instead of throwing an exception. Use this if you are testing to see if a capability exists, and don't want to incur exception handling if it isn't (say you're doing a lot of testing)
Definition at line 170 of file CommonInfo.h.
Referenced by TorqueCalibrate::TakeMeasurementControl::activate(), CameraBehavior::doStart(), PostureEngine::loadLine(), and Controller::takeLine().
| unsigned int RobotInfo::Capabilities::findFrameOffset | ( | const std::string & | frame | ) | const |
look up the offset corresponding to a reference frame name, returns -1U if not found/available
Identical to getFrameOffset(), except returns an invalid value instead of throwing an exception. Use this if you are testing to see if a capability exists, and don't want to incur exception handling if it isn't (say you're doing a lot of testing)
Definition at line 166 of file CommonInfo.h.
Referenced by Grasper::convertObstacles(), plist::OutputSelector::get(), plist::OutputSelector::loadXML(), ArmMC::moveOffsetToPoint(), ArmMC::moveOffsetToPointWithOrientation(), plist::OutputSelector::set(), Grasper::CloseTheGripper::setup(), and Grasper::OpenTheGripper::setup().
| unsigned int RobotInfo::Capabilities::findOutputOffset | ( | const std::string & | out | ) | const |
look up the offset corresponding to a output name, returns -1U if not found/available
Identical to getOutputOffset(), except returns an invalid value instead of throwing an exception. Use this if you are testing to see if a capability exists, and don't want to incur exception handling if it isn't (say you're doing a lot of testing)
Definition at line 159 of file CommonInfo.h.
Referenced by PostureMC::defaultMaxSpeed(), HeadPointerMC::defaultMaxSpeed(), PostureEngine::loadLine(), HeadController::runCommand(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), HeadPointerMC::setJoints(), and XWalkMC::updateOutputsWalking().
| unsigned int RobotInfo::Capabilities::findSensorOffset | ( | const std::string & | sen | ) | const |
look up the offset corresponding to a sensor name, returns -1U if not found/available
Identical to getSensorOffset(), except returns an invalid value instead of throwing an exception. Use this if you are testing to see if a capability exists, and don't want to incur exception handling if it isn't (say you're doing a lot of testing)
Definition at line 174 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| const char* RobotInfo::Capabilities::getButtonName | ( | unsigned int | i | ) | const |
look up the name corresponding to an offset, returns NULL if not found/available
Definition at line 128 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getButtonOffset | ( | const std::string & | but | ) | const |
look up the offset corresponding to a button name, throws std::invalid_argument if not found
Identical to findButtonOffset(), except throws an exception instead of returning an invalid value. Use this if you expect that the button is available, and want a noisy fail-fast if something's wrong (e.g. typo in name?)
Definition at line 150 of file CommonInfo.h.
Referenced by CameraBehavior::doStart(), and EmergencyStopMC::trigger().
| std::map< std::string, const Capabilities * > & Capabilities::getCaps | ( | ) | [static, protected] |
returns a static map from robot names to capability instances, which are externally allocated
The Capabilties base class will automatically insert entries into this collection.
Definition at line 233 of file RobotInfo.cc.
Referenced by Capabilities(), and RobotInfo::getCapabilities().
| const std::set<unsigned int>& RobotInfo::Capabilities::getFakeOutputs | ( | ) | const |
returns the offsets of "fake" outputs, see fakeOutputs
Definition at line 177 of file CommonInfo.h.
| const char* RobotInfo::Capabilities::getFrameName | ( | unsigned int | i | ) | const |
look up the name corresponding to an offset, returns NULL if not found/available
Definition at line 126 of file CommonInfo.h.
Referenced by plist::OutputSelector::get(), plist::OutputSelector::loadXML(), plist::OutputSelector::operator=(), plist::OutputSelector::set(), and plist::OutputSelector::setRange().
| unsigned int RobotInfo::Capabilities::getFrameOffset | ( | const std::string & | frame | ) | const |
Look up the offset corresponding to a reference frame name, throws std::invalid_argument if not found.
Identical to findFrameOffset(), except throws an exception instead of returning an invalid value. Use this if you expect that the frame is available, and want a noisy fail-fast if something's wrong (e.g. typo in name?)
Definition at line 146 of file CommonInfo.h.
| unsigned int RobotInfo::Capabilities::getLEDOffset | ( | ) | const |
returns the offset of the block of LEDs in an output array
Definition at line 120 of file CommonInfo.h.
| unsigned int RobotInfo::Capabilities::getNumButtons | ( | ) | const |
returns the number of unique buttons (i.e. not counting aliases)
Definition at line 114 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getNumFrames | ( | ) | const |
returns the number of unique reference frames (includes all outputs, plus unactuated points of interest, like cameras or end effector tips
Definition at line 112 of file CommonInfo.h.
Referenced by plist::OutputSelector::loadXML(), plist::OutputSelector::operator=(), plist::OutputSelector::set(), and plist::OutputSelector::setRange().
| unsigned int RobotInfo::Capabilities::getNumLEDs | ( | ) | const |
returns the number of LEDs
Definition at line 121 of file CommonInfo.h.
| unsigned int RobotInfo::Capabilities::getNumOutputs | ( | ) | const |
returns the number of unique outputs (i.e. not counting aliases and non-actuated reference frames)
Definition at line 110 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getNumPIDJoints | ( | ) | const |
returns the number of 'PID' joints
Definition at line 119 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getNumSensors | ( | ) | const |
returns the number of unique sensors (i.e. not counting aliases)
Definition at line 116 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| const char* RobotInfo::Capabilities::getOutputName | ( | unsigned int | i | ) | const |
look up the name corresponding to an offset, returns NULL if not found/available
Definition at line 124 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getOutputOffset | ( | const std::string & | out | ) | const |
Look up the offset corresponding to a output name, throws std::invalid_argument if not found.
Identical to findOutputOffset(), except throws an exception instead of returning an invalid value. Use this if you expect that the output is available, and want a noisy fail-fast if something's wrong (e.g. typo in name?)
Definition at line 135 of file CommonInfo.h.
Referenced by EmergencyStopMC::EmergencyStopMC(), EmergencyStopMC::freezeJoints(), BatteryMonitorBehavior::setFlipper(), and TailWagMC::updateOutputs().
| unsigned int RobotInfo::Capabilities::getPIDJointOffset | ( | ) | const |
returns the offset of the block of 'PID' joints in an output array
Definition at line 118 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| const char* RobotInfo::Capabilities::getRobotName | ( | ) | const |
returns the name of the robot this corresponds to
Definition at line 107 of file CommonInfo.h.
Referenced by plist::OutputSelector::get(), PostureEngine::loadLine(), plist::OutputSelector::loadXML(), plist::OutputSelector::operator=(), and plist::OutputSelector::set().
| const char* RobotInfo::Capabilities::getSensorName | ( | unsigned int | i | ) | const |
look up the name corresponding to an offset, returns NULL if not found/available
Definition at line 130 of file CommonInfo.h.
Referenced by PostureEngine::loadLine().
| unsigned int RobotInfo::Capabilities::getSensorOffset | ( | const std::string & | sen | ) | const |
look up the offset corresponding to a sensor name, throws std::invalid_argument if not found
Identical to findSensorOffset(), except throws an exception instead of returning an invalid value. Use this if you expect that the sensor is available, and want a noisy fail-fast if something's wrong (e.g. typo in name?)
Definition at line 154 of file CommonInfo.h.
| unsigned int RobotInfo::Capabilities::lookup | ( | const std::map< std::string, unsigned int > & | nameToIndex, | |
| const std::string & | capname | |||
| ) | const [protected] |
helper function, does the work of the find..Offset functions
Definition at line 190 of file CommonInfo.h.
Referenced by DynamicInfo::DynamicCapabilities::findButtonOffset(), findButtonOffset(), DynamicInfo::DynamicCapabilities::findFrameOffset(), findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), findOutputOffset(), DynamicInfo::DynamicCapabilities::findSensorOffset(), and findSensorOffset().
| unsigned int RobotInfo::Capabilities::lookupT | ( | const char * | errStr, | |
| const std::map< std::string, unsigned int > & | nameToIndex, | |||
| const std::string & | capname | |||
| ) | const [protected] |
helper function, does the work of the get..Offset functions
Definition at line 181 of file CommonInfo.h.
Referenced by DynamicInfo::DynamicCapabilities::getButtonOffset(), getButtonOffset(), DynamicInfo::DynamicCapabilities::getFrameOffset(), getFrameOffset(), DynamicInfo::DynamicCapabilities::getOutputOffset(), getOutputOffset(), DynamicInfo::DynamicCapabilities::getSensorOffset(), and getSensorOffset().
| Capabilities& RobotInfo::Capabilities::operator= | ( | const Capabilities & | cap | ) |
shallow assign (explicit to satisfy warning)
Definition at line 95 of file CommonInfo.h.
Friends And Related Function Documentation
| const Capabilities* getCapabilities | ( | const std::string & | robName | ) | [friend] |
Accessor for Capabilities::caps, returns the Capabilities instance for a specified robot model (or NULL if robot is unknown or didn't provide a Capabilities instance).
Use this if you have a robot name in string form and want to check or map its capabilities. (For example, if you are communicating with another robot of a different type over the network.) If you know at compile time the type of the robot in question, you could just directly access its 'capabilities' instance via its RobotInfo namespace. (e.g. ERS210Info::capabilities) If you want the capabilities for the current robot, just use the global 'capabilities' instance as RobotInfo.h will automatically import the current robot's namespace into the global space.
Definition at line 133 of file RobotInfo.h.
Member Data Documentation
std::vector<std::string> RobotInfo::Capabilities::buttons [protected] |
array of names for buttons -- this is the "primary" name for each button, buttonToIndex may contain additional aliases
Definition at line 197 of file CommonInfo.h.
Referenced by Capabilities(), DynamicInfo::DynamicCapabilities::findButtonOffset(), getButtonName(), DynamicInfo::DynamicCapabilities::getButtonOffset(), getNumButtons(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
std::map<std::string,unsigned int> RobotInfo::Capabilities::buttonToIndex [protected] |
maps button names to offset values
Definition at line 200 of file CommonInfo.h.
Referenced by Capabilities(), ERS220Info::ERS220Capabilities::ERS220Capabilities(), ERS7Info::ERS7Capabilities::ERS7Capabilities(), DynamicInfo::DynamicCapabilities::findButtonOffset(), findButtonOffset(), DynamicInfo::DynamicCapabilities::getButtonOffset(), getButtonOffset(), and operator=().
std::set<unsigned int> RobotInfo::Capabilities::fakeOutputs [protected] |
Offsets of "fake" outputs, which don't correspond to any physical device on the robot.
This is used in compatability modes, where some outputs may not be available on the host hardware, or for meta-outputs, which control the interpretation of other outputs. (such as the A/B LED mode setting for the ERS-7, where a "virtual" LED switches the system's intepretation of the face panel LEDs).
Most robots can probably just leave this empty -- on Aperios the "fake" outputs are skipped when interfacing with the system and their values receive feedback from the motion process. When using the tekkotsu executable under unix-based systems, the HAL layer handles this functionality via its own configuration settings, and these values are ignored.
Definition at line 220 of file CommonInfo.h.
Referenced by ERS7Info::ERS7Capabilities::ERS7Capabilities(), getFakeOutputs(), and operator=().
std::vector<std::string> RobotInfo::Capabilities::frames [protected] |
array of names for reference frames -- this is the "primary" name for each output/frame, frameToIndex may contain additional aliases
Definition at line 196 of file CommonInfo.h.
Referenced by Capabilities(), DynamicInfo::DynamicCapabilities::findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), getFrameName(), DynamicInfo::DynamicCapabilities::getFrameOffset(), getNumFrames(), getOutputName(), DynamicInfo::DynamicCapabilities::getOutputOffset(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
std::map<std::string,unsigned int> RobotInfo::Capabilities::frameToIndex [protected] |
maps output names to offset values
Definition at line 199 of file CommonInfo.h.
Referenced by Capabilities(), ChiaraInfo::ChiaraCapabilities::ChiaraCapabilities(), Chiara2Info::ChiaraCapabilities::ChiaraCapabilities(), ERS220Info::ERS220Capabilities::ERS220Capabilities(), ERS7Info::ERS7Capabilities::ERS7Capabilities(), DynamicInfo::DynamicCapabilities::findFrameOffset(), findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), findOutputOffset(), DynamicInfo::DynamicCapabilities::getFrameOffset(), getFrameOffset(), DynamicInfo::DynamicCapabilities::getOutputOffset(), getOutputOffset(), HandEyeInfo::HandEyeCapabilities::HandEyeCapabilities(), HandEyeZInfo::HandEyeZCapabilities::HandEyeZCapabilities(), operator=(), QBotPlusInfo::QBotPlusCapabilities::QBotPlusCapabilities(), and Regis1Info::Regis1Capabilities::Regis1Capabilities().
size_t RobotInfo::Capabilities::ledOffset [protected] |
the offset of the LEDs
Definition at line 205 of file CommonInfo.h.
Referenced by getLEDOffset(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
const char* RobotInfo::Capabilities::name [protected] |
name of robot model
Definition at line 195 of file CommonInfo.h.
Referenced by getOutputOffset(), getRobotName(), lookupT(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
size_t RobotInfo::Capabilities::numLEDs [protected] |
the number of LEDs
Definition at line 206 of file CommonInfo.h.
Referenced by getNumLEDs(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
size_t RobotInfo::Capabilities::numOutputs [protected] |
the total number of outputs (e.g. the reference frames which are actuated)
Definition at line 207 of file CommonInfo.h.
Referenced by DynamicInfo::DynamicCapabilities::findFrameOffset(), DynamicInfo::DynamicCapabilities::findOutputOffset(), findOutputOffset(), DynamicInfo::DynamicCapabilities::getFrameOffset(), getNumOutputs(), getOutputName(), DynamicInfo::DynamicCapabilities::getOutputOffset(), getOutputOffset(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
size_t RobotInfo::Capabilities::numPIDJoints [protected] |
the number of PID joints
Definition at line 204 of file CommonInfo.h.
Referenced by getNumPIDJoints(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
size_t RobotInfo::Capabilities::pidJointOffset [protected] |
the offset of the PID joints
Definition at line 203 of file CommonInfo.h.
Referenced by getPIDJointOffset(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
std::vector<std::string> RobotInfo::Capabilities::sensors [protected] |
array of names for sensors -- this is the "primary" name for each sensor, sensorToIndex may contain additional aliases
Definition at line 198 of file CommonInfo.h.
Referenced by Capabilities(), DynamicInfo::DynamicCapabilities::findSensorOffset(), getNumSensors(), getSensorName(), DynamicInfo::DynamicCapabilities::getSensorOffset(), DynamicInfo::DynamicCapabilities::operator=(), and operator=().
std::map<std::string,unsigned int> RobotInfo::Capabilities::sensorToIndex [protected] |
maps sensor names to offset values
Definition at line 201 of file CommonInfo.h.
Referenced by Capabilities(), ChiaraInfo::ChiaraCapabilities::ChiaraCapabilities(), Chiara2Info::ChiaraCapabilities::ChiaraCapabilities(), ERS7Info::ERS7Capabilities::ERS7Capabilities(), DynamicInfo::DynamicCapabilities::findSensorOffset(), findSensorOffset(), DynamicInfo::DynamicCapabilities::getSensorOffset(), getSensorOffset(), and operator=().
The documentation for this class was generated from the following files:
