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YarpSensorBridge.cpp
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YarpSensorBridge.cpp
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/**
* @file YarpSensorBridge.cpp
* @authors Prashanth Ramadoss
* @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and
* distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
*/
#include <BipedalLocomotion/RobotInterface/YarpSensorBridgeImpl.h>
#include <yarp/eigen/Eigen.h>
using namespace BipedalLocomotion::RobotInterface;
using namespace BipedalLocomotion::GenericContainer;
using namespace BipedalLocomotion::ParametersHandler;
YarpSensorBridge::YarpSensorBridge() : m_pimpl(std::make_unique<Impl>())
{
}
YarpSensorBridge::~YarpSensorBridge() = default;
bool YarpSensorBridge::initialize(std::weak_ptr<IParametersHandler> handler)
{
constexpr std::string_view logPrefix = "[YarpSensorBridge::initialize] ";
auto ptr = handler.lock();
if (ptr == nullptr)
{
std::cerr << logPrefix << "The handler is not pointing to an already initialized memory."
<< std ::endl;
return false;
}
int temp;
ptr->getParameter("check_for_nan", temp);
m_pimpl->checkForNAN = static_cast<bool>(temp);
bool ret{true};
ret = m_pimpl->subConfigLoader("stream_joint_states", "RemoteControlBoardRemapper",
&YarpSensorBridge::Impl::configureRemoteControlBoardRemapper,
handler,
m_pimpl->metaData,
m_pimpl->metaData.bridgeOptions.isKinematicsEnabled);
if (!ret)
{
std::cout << logPrefix << " Skipping the configuration of RemoteControlBoardRemapper. YarpSensorBridge will not stream relevant measures." << std::endl;
}
bool useInertialSensors{false};
ret = m_pimpl->subConfigLoader("stream_inertials", "InertialSensors",
&YarpSensorBridge::Impl::configureInertialSensors,
handler,
m_pimpl->metaData,
useInertialSensors);
if (!ret)
{
std::cout << logPrefix << " Skipping the configuration of InertialSensors. YarpSensorBridge will not stream relevant measures." << std::endl;
}
ret = m_pimpl->subConfigLoader("stream_forcetorque_sensors", "SixAxisForceTorqueSensors",
&YarpSensorBridge::Impl::configureSixAxisForceTorqueSensors,
handler,
m_pimpl->metaData,
m_pimpl->metaData.bridgeOptions.isSixAxisForceTorqueSensorEnabled);
if (!ret)
{
std::cout << logPrefix << " Skipping the configuration of SixAxisForceTorqueSensors. YarpSensorBridge will not stream relevant measures." << std::endl;
}
ret = m_pimpl->subConfigLoader("stream_cartesian_wrenches", "CartesianWrenches",
&YarpSensorBridge::Impl::configureCartesianWrenches,
handler,
m_pimpl->metaData,
m_pimpl->metaData.bridgeOptions.isCartesianWrenchEnabled);
if (!ret)
{
std::cout << logPrefix << " Skipping the configuration of CartesianWrenches. YarpSensorBridge will not stream relevant measures." << std::endl;
}
bool useCameras{false};
ret = m_pimpl->subConfigLoader("stream_cameras", "Cameras",
&YarpSensorBridge::Impl::configureCameras,
handler,
m_pimpl->metaData,
useCameras);
if (!ret)
{
std::cout << logPrefix << " Skipping the configuration of Cameras. YarpSensorBridge will not stream relevant measures." << std::endl;
}
m_pimpl->bridgeInitialized = true;
return true;
}
bool YarpSensorBridge::setDriversList(const yarp::dev::PolyDriverList& deviceDriversList)
{
constexpr std::string_view logPrefix = "[YarpSensorBridge::setDriversList] ";
if (!m_pimpl->bridgeInitialized)
{
std::cerr << logPrefix << "Please initialize YarpSensorBridge before calling setDriversList(...)."
<< std ::endl;
return false;
}
bool ret{true};
ret = ret && m_pimpl->attachRemappedRemoteControlBoard(deviceDriversList);
ret = ret && m_pimpl->attachAllInertials(deviceDriversList);
ret = ret && m_pimpl->attachAllSixAxisForceTorqueSensors(deviceDriversList);
ret = ret && m_pimpl->attachCartesianWrenchInterface(deviceDriversList);
ret = ret && m_pimpl->attachAllCameras(deviceDriversList);
if (!ret)
{
std::cerr << logPrefix << "Failed to attach to one or more device drivers."
<< std ::endl;
return false;
}
m_pimpl->driversAttached = true;
return true;
}
bool YarpSensorBridge::advance()
{
constexpr std::string_view logPrefix = "[YarpSensorBridge::advance] ";
if (!m_pimpl->checkValid("[YarpSensorBridge::advance]"))
{
std::cerr << logPrefix << "Please initialize and set drivers list before running advance()."
<< std ::endl;
return false;
}
m_pimpl->readAllSensors(m_pimpl->failedSensorReads);
return true;
}
bool YarpSensorBridge::isValid() const
{
return m_pimpl->checkValid("[YarpSensorBridge::isValid]");
}
const SensorBridgeMetaData& YarpSensorBridge::get() const { return m_pimpl->metaData; }
bool YarpSensorBridge::getJointsList(std::vector<std::string>& jointsList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getJointsList]"))
{
return false;
}
jointsList = m_pimpl->metaData.sensorsList.jointsList;
return true;
}
bool YarpSensorBridge::getIMUsList(std::vector<std::string>& IMUsList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getIMUsList]"))
{
return false;
}
IMUsList = m_pimpl->metaData.sensorsList.IMUsList;
return true;
}
bool YarpSensorBridge::getLinearAccelerometersList(std::vector<std::string>& linearAccelerometersList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getLinearAccelerometersList]"))
{
return false;
}
linearAccelerometersList = m_pimpl->metaData.sensorsList.linearAccelerometersList;
return true;
}
bool YarpSensorBridge::getGyroscopesList(std::vector<std::string>& gyroscopesList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getGyroscopesList]"))
{
return false;
}
gyroscopesList = m_pimpl->metaData.sensorsList.gyroscopesList;
return true;
}
bool YarpSensorBridge::getOrientationSensorsList(std::vector<std::string>& orientationSensorsList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getOrientationSensorsList]"))
{
return false;
}
orientationSensorsList = m_pimpl->metaData.sensorsList.orientationSensorsList;
return true;
}
bool YarpSensorBridge::getMagnetometersList(std::vector<std::string>& magnetometersList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getMagnetometersList]"))
{
return false;
}
magnetometersList = m_pimpl->metaData.sensorsList.magnetometersList;
return true;
}
bool YarpSensorBridge::getSixAxisForceTorqueSensorsList(std::vector<std::string>& sixAxisForceTorqueSensorsList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getSixAxisForceTorqueSensorsList]"))
{
return false;
}
sixAxisForceTorqueSensorsList = m_pimpl->metaData.sensorsList.sixAxisForceTorqueSensorsList;
return true;
}
bool YarpSensorBridge::getCartesianWrenchesList(std::vector<std::string>& cartesianWrenchesList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getCartesianWrenchesList]"))
{
return false;
}
cartesianWrenchesList = m_pimpl->metaData.sensorsList.cartesianWrenchesList;
return true;
}
bool YarpSensorBridge::getRGBCamerasList(std::vector<std::string>& rgbCamerasList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getRGBCamerasList]"))
{
return false;
}
rgbCamerasList = m_pimpl->metaData.sensorsList.rgbCamerasList;
return true;
}
bool YarpSensorBridge::getRGBDCamerasList(std::vector<std::string>& rgbdCamerasList)
{
if (!m_pimpl->checkValid("[YarpSensorBridge::getRGBDCamerasList]"))
{
return false;
}
rgbdCamerasList = m_pimpl->metaData.sensorsList.rgbdCamerasList;
return true;
}
bool YarpSensorBridge::getJointPosition(const std::string& jointName,
double& jointPosition,
double* receiveTimeInSeconds)
{
int idx;
if (!m_pimpl->getIndexFromVector(m_pimpl->metaData.sensorsList.jointsList,
jointName, idx))
{
std::cerr << "[YarpSensorBridge::getJointVelocity] " << jointName
<< " could not be found in the configured list of joints" << std::endl;
return false;
}
jointPosition = m_pimpl->controlBoardRemapperMeasures.jointPositions[idx];
receiveTimeInSeconds = &m_pimpl->controlBoardRemapperMeasures.receivedTimeInSeconds;
return true;
}
bool YarpSensorBridge::getJointPositions(Eigen::Ref<Eigen::VectorXd> jointPositions,
double* receiveTimeInSeconds)
{
jointPositions = yarp::eigen::toEigen(m_pimpl->controlBoardRemapperMeasures.jointPositions);
receiveTimeInSeconds = &m_pimpl->controlBoardRemapperMeasures.receivedTimeInSeconds;
return true;
}
bool YarpSensorBridge::getJointVelocity(const std::string& jointName,
double& jointVelocity,
double* receiveTimeInSeconds)
{
int idx;
if (!m_pimpl->getIndexFromVector(m_pimpl->metaData.sensorsList.jointsList,
jointName, idx))
{
std::cerr << "[YarpSensorBridge::getJointVelocity] " << jointName
<< " could not be found in the configured list of joints" << std::endl;
return false;
}
jointVelocity = m_pimpl->controlBoardRemapperMeasures.jointVelocities[idx];
receiveTimeInSeconds = &m_pimpl->controlBoardRemapperMeasures.receivedTimeInSeconds;
return true;
}
bool YarpSensorBridge::getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocties,
double* receiveTimeInSeconds)
{
jointVelocties = yarp::eigen::toEigen(m_pimpl->controlBoardRemapperMeasures.jointVelocities);
receiveTimeInSeconds = &m_pimpl->controlBoardRemapperMeasures.receivedTimeInSeconds;
return true;
}
bool YarpSensorBridge::getIMUMeasurement(const std::string& imuName,
Eigen::Ref<Vector12d> imuMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getIMUMeasurement ",
m_pimpl->wholeBodyIMUMeasures, imuName))
{
return false;
}
auto iter = m_pimpl->wholeBodyIMUMeasures.find(imuName);
imuMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getLinearAccelerometerMeasurement(const std::string& accName,
Eigen::Ref<Eigen::Vector3d> accMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getLinearAccelerometerMeasurement ",
m_pimpl->wholeBodyInertialMeasures, accName))
{
return false;
}
auto iter = m_pimpl->wholeBodyInertialMeasures.find(accName);
accMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getGyroscopeMeasure(const std::string& gyroName,
Eigen::Ref<Eigen::Vector3d> gyroMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getGyroscopeMeasure ",
m_pimpl->wholeBodyInertialMeasures, gyroName))
{
return false;
}
auto iter = m_pimpl->wholeBodyInertialMeasures.find(gyroName);
gyroMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getOrientationSensorMeasurement(const std::string& rpyName,
Eigen::Ref<Eigen::Vector3d> rpyMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getOrientationSensorMeasurement ",
m_pimpl->wholeBodyInertialMeasures, rpyName))
{
return false;
}
auto iter = m_pimpl->wholeBodyInertialMeasures.find(rpyName);
rpyMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getMagnetometerMeasurement(const std::string& magName,
Eigen::Ref<Eigen::Vector3d> magMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getMagnetometerMeasurement ",
m_pimpl->wholeBodyInertialMeasures, magName))
{
return false;
}
auto iter = m_pimpl->wholeBodyInertialMeasures.find(magName);
magMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getSixAxisForceTorqueMeasurement(const std::string& ftName,
Eigen::Ref<Vector6d> ftMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getSixAxisForceTorqueMeasurement ",
m_pimpl->wholeBodyFTMeasures, ftName))
{
return false;
}
auto iter = m_pimpl->wholeBodyFTMeasures.find(ftName);
ftMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getCartesianWrench(const std::string& cartesianWrenchName,
Eigen::Ref<Vector6d> cartesianWrenchMeasurement,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getCartesianWrench ",
m_pimpl->wholeBodyCartesianWrenchMeasures, cartesianWrenchName))
{
return false;
}
auto iter = m_pimpl->wholeBodyCartesianWrenchMeasures.find(cartesianWrenchName);
cartesianWrenchMeasurement = yarp::eigen::toEigen(iter->second.first);
receiveTimeInSeconds = &iter->second.second;
return true;
}
bool YarpSensorBridge::getColorImage(const std::string& camName,
Eigen::Ref<Eigen::MatrixXd> colorImg,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getColorImage ",
m_pimpl->wholeBodyCameraRGBImages, camName))
{
return false;
}
auto iter = m_pimpl->wholeBodyCameraRGBImages.find(camName);
// TODO understand the conversion from YARP image to Eigen
receiveTimeInSeconds = &iter->second.second;
std::cerr << "This method is currently unimplemented. Need to implement toEigen for yarp images" << std::endl;
return false;
}
bool YarpSensorBridge::getDepthImage(const std::string& camName,
Eigen::Ref<Eigen::MatrixXd> depthImg,
double* receiveTimeInSeconds)
{
if (!m_pimpl->checkValidSensorMeasure("YarpSensorBridge::getDepthImage ",
m_pimpl->wholeBodyCameraDepthImages, camName))
{
return false;
}
auto iter = m_pimpl->wholeBodyCameraDepthImages.find(camName);
// TODO understand the conversion from YARP image to Eigen
receiveTimeInSeconds = &iter->second.second;
std::cerr << "This method is currently unimplemented. Need to implement toEigen for yarp images" << std::endl;
return false;
}
bool YarpSensorBridge::getThreeAxisForceTorqueMeasurement(const std::string& ftName,
Eigen::Ref<Eigen::Vector3d> ftMeasurement,
double* receiveTimeInSeconds)
{
constexpr std::string_view error = "[YarpSensorBridge::getThreeAxisForceTorqueMeasurement] Currently unimplemented";
std::cerr << error << std::endl;
return false;
}
bool YarpSensorBridge::getThreeAxisForceTorqueSensorsList(std::vector<std::string>& threeAxisForceTorqueSensorsList)
{
constexpr std::string_view error = "[YarpSensorBridge::getThreeAxisForceTorqueSensorsList] Currently unimplemented";
std::cerr << error << std::endl;
return false;
}