simulator-sdk
2.5.7.1
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HALInterface is responsible for reading and writing values into the Hardware Abstraction Layer (HAL) of the robot. More...
#include <alnaosim.h>
Public Member Functions | |
HALInterface (const Model *model, int NAOqiId=9559) | |
creates a HALInterface given a valid model. More... | |
~HALInterface () | |
destructor. More... | |
float | fetchAngleActuatorValue (const AngleActuator *angleActuator) |
returns the last command value (in radians) of the given angleActuator. More... | |
float | fetchCoupledActuatorValue (const CoupledActuator *coupledActuator) |
returns the last command value (between 0 and 1, no unit) of the given coupledActuator. More... | |
float | fetchTorqueActuatorValue (const TorqueActuator *torqueActuator) |
returns the last command value (in Newton per meter) of the given torqueActuator. More... | |
float | fetchAngleSpeedActuatorValue (const AngleSpeedActuator *angleSpeedActuator) |
returns the last command value (in radians per second) of the given angleSpeedActuator. More... | |
float | fetchWheelTorqueActuatorValue (const WheelTorqueActuator *wheelTorqueActuator) |
returns the last command value (in Newton per meter) of the given wheelTorqueActuator. More... | |
float | fetchWheelVelocityActuatorValue (const WheelVelocityActuator *wheelVelocityActuator) |
returns the last command value (in radians per second) of the given wheelVelocityActuator. More... | |
float | fetchLEDActuatorValue (const LEDActuator *ledActuator) |
returns the last command value (between 0 and 1) of the given ledActuator. More... | |
float | fetchAngleActuatorStiffness (const AngleActuator *angleActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given angleActuator. More... | |
float | fetchCoupledActuatorStiffness (const CoupledActuator *coupledActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given coupledActuator. More... | |
float | fetchTorqueActuatorStiffness (const TorqueActuator *torqueActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given torqueActuator. More... | |
float | fetchAngleSpeedActuatorStiffness (const AngleSpeedActuator *angleSpeedActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given angleSpeedActuator. More... | |
float | fetchWheelTorqueActuatorStiffness (const WheelTorqueActuator *wheelTorqueActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given wheelTorqueActuator. More... | |
float | fetchWheelVelocityActuatorStiffness (const WheelVelocityActuator *wheelVelocityActuator) |
returns the last stiffness value (between 0 and 1, no unit) of the given wheelVelocityActuator. More... | |
bool | sendAngleSensorValue (const AngleSensor *angleSensor, float value) |
sends value (in radians) to the given angleSensor. More... | |
bool | sendCoupledSensorValue (const CoupledSensor *coupledSensor, float value) |
sends value (between 0 and 1, no unit) to the given coupledSensor. More... | |
bool | sendTorqueSensorValue (const TorqueSensor *torqueSensor, float value) |
sends value in Newton per meter to the given torqueSensor. More... | |
bool | sendAngleSpeedSensorValue (const AngleSpeedSensor *angleSpeedSensor, float value) |
sends value in radians per second to the given angleSpeedSensor. More... | |
bool | sendWheelVelocitySensorValue (const WheelVelocitySensor *wheelVelocitySensor, float value) |
sends value in radians per second to the given wheelVelocitySensor. More... | |
bool | sendCameraSensorValue (const CameraSensor *cameraSensor, const unsigned char *img) |
sends the content of the buffer img to the given cameraSensor More... | |
bool | sendCameraSensorValue (const CameraSensor *cameraSensor, const unsigned char *img, CameraResolution camResolution, CameraColorSpace camColorSpace) |
sends the content of the buffer img to the given cameraSensor More... | |
bool | sendCameraDepthSensorValue (const CameraDepthSensor *cameraDepthSensor, const float *buffer) |
sends the content of the buffer depth to the given cameraDepthSensor. More... | |
bool | sendCameraDepthSensorValue (const CameraDepthSensor *cameraDepthSensor, const float *buffer, CameraResolution camResolution, CameraColorSpace camColorSpace) |
sends the content of the buffer depth to the given cameraDepthSensor. More... | |
bool | sendFSRSensorValue (const FSRSensor *fsrSensor, float value) |
sends value (in kilograms) to the given fsrSensor. More... | |
bool | sendBumperSensorValue (const BumperSensor *bumperSensor, float value) |
sends value (between 0 and 1, no unit) to the given bumperSensor. More... | |
bool | sendTactileSensorValue (const TactileSensor *tactileSensor, float value) |
sends value (between 0 and 1, no unit) to the given tactileSensor. More... | |
bool | sendDepthInfraredSensorValue (const DepthInfraredSensor *depthInfraredSensor, float value) |
sends value (in meters) to the given DepthInfraredSensor. More... | |
bool | sendSingleDepthSensorValue (const SingleDepthSensor *singleDepthSensor, float value) |
sends value (in meters) to the given SingleDepthSensor. More... | |
bool | sendInertialSensorValues (const InertialSensor *inertialSensor, const std::vector< float > &values) |
sends values (see remarks) to the given inertialSensor. More... | |
bool | sendSonarSensorValues (const SonarSensor *sonarSensor, const std::vector< float > &values) |
sends values in meters to the given sonarSensor (see remarks). More... | |
bool | sendSonarSensorValue (const SonarSensor *sonarSensor, float value) |
sends value in meters to the given sonarSensor (see remarks). More... | |
bool | sendArrayDepthSensorValues (const ArrayDepthSensor *arrayDepthSensor, const std::vector< float > &values) |
sends values in meters to the given arrayDepthSensor More... | |
void | cameraBufferSize (const CameraSensor *camera, int *cameraBufferSize, int *width, int *height) |
gives the buffer size, width and height of the given camera More... | |
int | cameraBufferSize (const CameraSensor *camera) |
returns the buffer size of the camera. More... | |
void | cameraDepthBufferSize (const CameraDepthSensor *camera, int *cameraBufferSize, int *width, int *height) |
gives the buffer size, width and height of the given depth camera. More... | |
CameraResolution | cameraResolution (const BaseCamera *camera) const |
gives the current resolution of the given CameraSensor More... | |
CameraColorSpace | cameraColorSpace (const BaseCamera *camera) const |
gives the current color space of the given CameraSensor More... | |
Public Attributes | |
class HALInterfaceImpl * | a_impl |
Private implementation. More... | |
HALInterface is responsible for reading and writing values into the Hardware Abstraction Layer (HAL) of the robot.
Definition at line 61 of file alnaosim.h.
Sim::HALInterface::HALInterface | ( | const Model * | model, |
int | NAOqiId = 9559 |
||
) |
creates a HALInterface given a valid model.
Sim::HALInterface::~HALInterface | ( | ) |
destructor.
void Sim::HALInterface::cameraBufferSize | ( | const CameraSensor * | camera, |
int * | cameraBufferSize, | ||
int * | width, | ||
int * | height | ||
) |
gives the buffer size, width and height of the given camera
int Sim::HALInterface::cameraBufferSize | ( | const CameraSensor * | camera | ) |
returns the buffer size of the camera.
CameraColorSpace Sim::HALInterface::cameraColorSpace | ( | const BaseCamera * | camera | ) | const |
gives the current color space of the given CameraSensor
void Sim::HALInterface::cameraDepthBufferSize | ( | const CameraDepthSensor * | camera, |
int * | cameraBufferSize, | ||
int * | width, | ||
int * | height | ||
) |
gives the buffer size, width and height of the given depth camera.
CameraResolution Sim::HALInterface::cameraResolution | ( | const BaseCamera * | camera | ) | const |
gives the current resolution of the given CameraSensor
float Sim::HALInterface::fetchAngleActuatorStiffness | ( | const AngleActuator * | angleActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given angleActuator.
float Sim::HALInterface::fetchAngleActuatorValue | ( | const AngleActuator * | angleActuator | ) |
returns the last command value (in radians) of the given angleActuator.
float Sim::HALInterface::fetchAngleSpeedActuatorStiffness | ( | const AngleSpeedActuator * | angleSpeedActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given angleSpeedActuator.
float Sim::HALInterface::fetchAngleSpeedActuatorValue | ( | const AngleSpeedActuator * | angleSpeedActuator | ) |
returns the last command value (in radians per second) of the given angleSpeedActuator.
float Sim::HALInterface::fetchCoupledActuatorStiffness | ( | const CoupledActuator * | coupledActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given coupledActuator.
float Sim::HALInterface::fetchCoupledActuatorValue | ( | const CoupledActuator * | coupledActuator | ) |
returns the last command value (between 0 and 1, no unit) of the given coupledActuator.
float Sim::HALInterface::fetchLEDActuatorValue | ( | const LEDActuator * | ledActuator | ) |
returns the last command value (between 0 and 1) of the given ledActuator.
float Sim::HALInterface::fetchTorqueActuatorStiffness | ( | const TorqueActuator * | torqueActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given torqueActuator.
float Sim::HALInterface::fetchTorqueActuatorValue | ( | const TorqueActuator * | torqueActuator | ) |
returns the last command value (in Newton per meter) of the given torqueActuator.
float Sim::HALInterface::fetchWheelTorqueActuatorStiffness | ( | const WheelTorqueActuator * | wheelTorqueActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given wheelTorqueActuator.
float Sim::HALInterface::fetchWheelTorqueActuatorValue | ( | const WheelTorqueActuator * | wheelTorqueActuator | ) |
returns the last command value (in Newton per meter) of the given wheelTorqueActuator.
float Sim::HALInterface::fetchWheelVelocityActuatorStiffness | ( | const WheelVelocityActuator * | wheelVelocityActuator | ) |
returns the last stiffness value (between 0 and 1, no unit) of the given wheelVelocityActuator.
float Sim::HALInterface::fetchWheelVelocityActuatorValue | ( | const WheelVelocityActuator * | wheelVelocityActuator | ) |
returns the last command value (in radians per second) of the given wheelVelocityActuator.
bool Sim::HALInterface::sendAngleSensorValue | ( | const AngleSensor * | angleSensor, |
float | value | ||
) |
sends value (in radians) to the given angleSensor.
bool Sim::HALInterface::sendAngleSpeedSensorValue | ( | const AngleSpeedSensor * | angleSpeedSensor, |
float | value | ||
) |
sends value in radians per second to the given angleSpeedSensor.
bool Sim::HALInterface::sendArrayDepthSensorValues | ( | const ArrayDepthSensor * | arrayDepthSensor, |
const std::vector< float > & | values | ||
) |
sends values in meters to the given arrayDepthSensor
bool Sim::HALInterface::sendBumperSensorValue | ( | const BumperSensor * | bumperSensor, |
float | value | ||
) |
sends value (between 0 and 1, no unit) to the given bumperSensor.
bool Sim::HALInterface::sendCameraDepthSensorValue | ( | const CameraDepthSensor * | cameraDepthSensor, |
const float * | buffer | ||
) |
sends the content of the buffer depth to the given cameraDepthSensor.
bool Sim::HALInterface::sendCameraDepthSensorValue | ( | const CameraDepthSensor * | cameraDepthSensor, |
const float * | buffer, | ||
CameraResolution | camResolution, | ||
CameraColorSpace | camColorSpace | ||
) |
sends the content of the buffer depth to the given cameraDepthSensor.
bool Sim::HALInterface::sendCameraSensorValue | ( | const CameraSensor * | cameraSensor, |
const unsigned char * | img | ||
) |
sends the content of the buffer img to the given cameraSensor
bool Sim::HALInterface::sendCameraSensorValue | ( | const CameraSensor * | cameraSensor, |
const unsigned char * | img, | ||
CameraResolution | camResolution, | ||
CameraColorSpace | camColorSpace | ||
) |
sends the content of the buffer img to the given cameraSensor
bool Sim::HALInterface::sendCoupledSensorValue | ( | const CoupledSensor * | coupledSensor, |
float | value | ||
) |
sends value (between 0 and 1, no unit) to the given coupledSensor.
bool Sim::HALInterface::sendDepthInfraredSensorValue | ( | const DepthInfraredSensor * | depthInfraredSensor, |
float | value | ||
) |
sends value (in meters) to the given DepthInfraredSensor.
bool Sim::HALInterface::sendFSRSensorValue | ( | const FSRSensor * | fsrSensor, |
float | value | ||
) |
sends value (in kilograms) to the given fsrSensor.
bool Sim::HALInterface::sendInertialSensorValues | ( | const InertialSensor * | inertialSensor, |
const std::vector< float > & | values | ||
) |
sends values (see remarks) to the given inertialSensor.
bool Sim::HALInterface::sendSingleDepthSensorValue | ( | const SingleDepthSensor * | singleDepthSensor, |
float | value | ||
) |
sends value (in meters) to the given SingleDepthSensor.
bool Sim::HALInterface::sendSonarSensorValue | ( | const SonarSensor * | sonarSensor, |
float | value | ||
) |
sends value in meters to the given sonarSensor (see remarks).
bool Sim::HALInterface::sendSonarSensorValues | ( | const SonarSensor * | sonarSensor, |
const std::vector< float > & | values | ||
) |
sends values in meters to the given sonarSensor (see remarks).
bool Sim::HALInterface::sendTactileSensorValue | ( | const TactileSensor * | tactileSensor, |
float | value | ||
) |
sends value (between 0 and 1, no unit) to the given tactileSensor.
bool Sim::HALInterface::sendTorqueSensorValue | ( | const TorqueSensor * | torqueSensor, |
float | value | ||
) |
sends value in Newton per meter to the given torqueSensor.
bool Sim::HALInterface::sendWheelVelocitySensorValue | ( | const WheelVelocitySensor * | wheelVelocitySensor, |
float | value | ||
) |
sends value in radians per second to the given wheelVelocitySensor.
class HALInterfaceImpl* Sim::HALInterface::a_impl |
Private implementation.
Definition at line 290 of file alnaosim.h.