BipedalLocomotion::YarpUtilities Namespace Reference

Helper for YARP library. More...

Classes
class	VectorsCollectionClient
	VectorsCollectionClient is a class that implements that allows to receive a VectorsCollection from a VectorsCollectionServer. More...
class	VectorsCollectionServer
	VectorsCollectionServer is a class that implements the VectorsCollectionMetadataService. More...

Functions
template<typename T >
T	convertValue (const yarp::os::Value &value)
	Convert a value in a element of type T. More...
template<>
int	convertValue< int > (const yarp::os::Value &value)
	Convert a value in a element of type int. More...
template<>
double	convertValue< double > (const yarp::os::Value &value)
	Convert a value in a element of type double. More...
template<>
std::string	convertValue< std::string > (const yarp::os::Value &value)
	Convert a value in a element of type string. More...
template<>
bool	convertValue< bool > (const yarp::os::Value &value)
	Convert a value in a element of type Boolean. More...
bool	addVectorOfStringToProperty (yarp::os::Property &prop, const std::string &key, const std::vector< std::string > &list)
	Add a vector of string to a property of a given name. More...
template<typename T >
bool	getElementFromSearchable (const yarp::os::Searchable &config, const std::string &key, T &number)
	Extract a double from a searchable object. More...
template<typename T >
bool	getVectorFromSearchable (const yarp::os::Searchable &config, const std::string &key, T &vector)
	Extract a vector from searchable. More...
template<>
bool	getVectorFromSearchable< std::vector< bool > > (const yarp::os::Searchable &config, const std::string &key, std::vector< bool > &vector)
	Extract an std::vector<bool> from searchable. More...
template<typename T >
void	mergeSigVector (yarp::sig::Vector &vector, const T &t)
	Append a scalar to a vector. More...
template<typename T , typename... Args>
void	mergeSigVector (yarp::sig::Vector &vector, const T &t, const Args &... args)
	Variadic function used to merge several vectors. More...
template<typename... Args>
void	sendVariadicVector (yarp::os::BufferedPort< yarp::sig::Vector > &port, const Args &... args)
	Send a variadic vector through a yarp buffered port. More...
void	populateBottleWithStrings (yarp::os::Bottle &bottle, const std::initializer_list< std::string > &strings)
	Add strings to a bottle. More...

Detailed Description

Helper for YARP library.

Function Documentation

convertValue()

template<typename T >

T BipedalLocomotion::YarpUtilities::convertValue

(

const yarp::os::Value &

value

)

Convert a value in a element of type T.

Parameters

value

the value that will be converted

Template Parameters

T	return type

Returns

an element of type T

convertValue< int >()

template<>

int BipedalLocomotion::YarpUtilities::convertValue< int >

(

const yarp::os::Value &

value

)

Convert a value in a element of type int.

Parameters

value

the value that will be converted

Returns

an integer

convertValue< double >()

template<>

double BipedalLocomotion::YarpUtilities::convertValue< double >

(

const yarp::os::Value &

value

)

Convert a value in a element of type double.

Parameters

value

the value that will be converted

Returns

a double

convertValue< std::string >()

template<>

std::string BipedalLocomotion::YarpUtilities::convertValue< std::string >

(

const yarp::os::Value &

value

)

Convert a value in a element of type string.

Parameters

value

the value that will be converted

Returns

a string

convertValue< bool >()

template<>

bool BipedalLocomotion::YarpUtilities::convertValue< bool >

(

const yarp::os::Value &

value

)

Convert a value in a element of type Boolean.

Parameters

value

the value that will be converted

Returns

a Boolean

addVectorOfStringToProperty()

bool BipedalLocomotion::YarpUtilities::addVectorOfStringToProperty	(	yarp::os::Property &	prop,
		const std::string &	key,
		const std::vector< std::string > &	list
	)

Add a vector of string to a property of a given name.

Parameters

prop	yarp property;
key	is the key;
list	is the vector of strings that will be added into the property.

Returns

true/false in case of success/failure

getElementFromSearchable()

template<typename T >

bool BipedalLocomotion::YarpUtilities::getElementFromSearchable	(	const yarp::os::Searchable &	config,
		const std::string &	key,
		T &	number
	)

Extract a double from a searchable object.

Parameters

config	is the searchable object;
key	the name to check for;
number	is the double.

Returns

true/false in case of success/failure

getVectorFromSearchable()

template<typename T >

bool BipedalLocomotion::YarpUtilities::getVectorFromSearchable	(	const yarp::os::Searchable &	config,
		const std::string &	key,
		T &	vector
	)

Extract a vector from searchable.

Parameters

config	is the searchable object;
key	the name to check for;
vector	a vector.

Returns

true/false in case of success/failure

getVectorFromSearchable< std::vector< bool > >()

template<>

bool BipedalLocomotion::YarpUtilities::getVectorFromSearchable< std::vector< bool > >	(	const yarp::os::Searchable &	config,
		const std::string &	key,
		std::vector< bool > &	vector
	)

Extract an std::vector<bool> from searchable.

The specialization is required because vector.data() is not defined when vector is an std::vector<bool>

Parameters

config	is the searchable object;
key	the name to check for;
vector	a std::vector<bool>

Returns

true/false in case of success/failure

mergeSigVector() [1/2]

template<typename T >

void BipedalLocomotion::YarpUtilities::mergeSigVector	(	yarp::sig::Vector &	vector,
		const T &	t
	)

Append a scalar to a vector.

vector = [vector, t]

Parameters

vector	the original vector. The new elements will be add at the end of this vector;
t	is a container or a scalar. If t is a container it has to be an iterable object (the element has the methods T::begin() and T::end() or the operator[] has to be defined

Warning

If \at does not satisfies the previous assumptions the compilation will fail with a static assertion

mergeSigVector() [2/2]

template<typename T , typename... Args>

void BipedalLocomotion::YarpUtilities::mergeSigVector	(	yarp::sig::Vector &	vector,
		const T &	t,
		const Args &...	args
	)

Variadic function used to merge several vectors.

Parameters

vector	the original vector. The new elements will be add at the end of this vector;
t	is a container or a scalar. If t is a container it has to be an iterable object (the element has the methods T::begin() and T::end()) or the operator[] has to be defined
args	list containing all the vector that will be merged.

Warning

If t does not satisfies the previous assumptions the compilation will fail with a static assertion

sendVariadicVector()

template<typename... Args>

void BipedalLocomotion::YarpUtilities::sendVariadicVector	(	yarp::os::BufferedPort< yarp::sig::Vector > &	port,
		const Args &...	args
	)

Send a variadic vector through a yarp buffered port.

Parameters

port	is a Yarp buffered port
args	list containing all the vector that will be send.

populateBottleWithStrings()

void BipedalLocomotion::YarpUtilities::populateBottleWithStrings	(	yarp::os::Bottle &	bottle,
		const std::initializer_list< std::string > &	strings
	)

Add strings to a bottle.

Parameters

bottle	this bottle will be filled.
strings	list containing all the string.