YarpObject Class Reference

YarpObject class. More...

Inheritance diagram for YarpObject:

List of all members.

Public Member Functions
	YarpObject (World *world, QString name, const wMatrix &tm=wMatrix::identity())
	Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.
virtual	~YarpObject ()
	Destroy the YarpObject.
yarp::dev::PolyDriver *	polydriver (QString name)
	return the PolyDriver with the given name associated to it
Protected Member Functions
void	registerServerControlBoard (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	registerServerFrameGrabber (yarp::dev::DeviceDriver *device, QString devicename)
	Add a DeviceDriver to the map of controllers It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.
void	removeServerControlBoard (QString devicename)
	Remove, and close the serverControlBoard registered and opened by above call.

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Detailed Description

YarpObject class.

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Motivation

This object represent a Yarped Object, and it's a kind of bridge between World and Yarp

Description

Warnings

Warnings

Definition at line 63 of file yarpobject.h.

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Constructor & Destructor Documentation

YarpObject	(	World *	world,
		QString	name,
		const wMatrix &	tm = wMatrix::identity()
	)

Create a YarpObject; The name is mandatory because it is used as root name for each devices of this object.

Definition at line 71 of file yarpobject.cpp.

~YarpObject

(

)

[virtual]

Destroy the YarpObject.

Definition at line 76 of file yarpobject.cpp.

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Member Function Documentation

yarp::dev::PolyDriver* polydriver

(

QString

name

)

[inline]

return the PolyDriver with the given name associated to it

Definition at line 72 of file yarpobject.h.

Referenced by PhyiCub::enableRightArmCartesianController().

void registerServerControlBoard	(	yarp::dev::DeviceDriver *	device,
		QString	devicename
	)		[protected]

Add a DeviceDriver to the map of controllers
It automatically construct a ServerControlBoard, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

Definition at line 80 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

Referenced by PhyiCub::PhyiCub().

void registerServerFrameGrabber	(	yarp::dev::DeviceDriver *	device,
		QString	devicename
	)		[protected]

Add a DeviceDriver to the map of controllers
It automatically construct a ServerFrameGrabber, the port name for accessing the DeviceDriver will be /worldname/yarpobjectname/devicename.

Definition at line 101 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

void removeServerControlBoard

(

QString

devicename

)

[protected]

Remove, and close the serverControlBoard registered and opened by above call.

Definition at line 91 of file yarpobject.cpp.

References WObject::name(), and WObject::world().

Referenced by PhyiCub::~PhyiCub().

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

• worldsim/include/yarpobject.h
• worldsim/src/yarpobject.cpp