Implement motor currents reading #187
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
isorrentino
force-pushed
the
feature/addMotorCurrentsReading
branch
from
b5d6136
to
11f29b7
Compare
| jointCurrents = yarp::eigen::toEigen(m_pimpl->controlBoardRemapperMeasures.jointCurrents); | ||
| receiveTimeInSeconds = &m_pimpl->controlBoardRemapperMeasures.receivedTimeInSeconds; | ||
| return true; | ||
| } |
prashanthr05
reviewed
Feb 4, 2021
Comment on lines
409
to
410
| std::cerr << "[YarpSensorBridge::getJointVelocity] " << jointName | ||
| << " could not be found in the configured list of joints" << std::endl; |
There was a problem hiding this comment.
Suggested change
| std::cerr << "[YarpSensorBridge::getJointVelocity] " << jointName | |
| << " could not be found in the configured list of joints" << std::endl; | |
| std::cerr << "[YarpSensorBridge::getMotorCurrent] " << jointName | |
| << " could not be found in the configured list of joints" << std::endl; |
|
@isorrentino please be aware of this PR #191 Whichever gets merged first, the other might have to fix merge conflicts ;D |
S-Dafarra
reviewed
Feb 4, 2021
Comment on lines
1210
to
1228
| if (std::binary_search(controlBoardRemapperMeasures.jointCurrents.begin(), controlBoardRemapperMeasures.jointCurrents.end(), NAN)) | ||
| { | ||
| std::cerr << logPrefix << " NAN values read from current control interface, use previous measurement" << std::endl; | ||
| return false; | ||
| } |
isorrentino
force-pushed
the
feature/addMotorCurrentsReading
branch
from
5a04b07
to
44e683d
Compare
S-Dafarra
reviewed
Feb 8, 2021
Comment on lines
305
to
357
| * Helper method to maintain SensorBridgeOptions struct by populating it from the configuration | ||
| * parameters | ||
| * @note the user may choose to use/not use this method depending on their requirements for the | ||
| * implementation if the user chooses to not use the method, the implementation must simply | ||
| * contain "return true;" | ||
| * | ||
| * @param[in] handler Parameters handler | ||
| * @param[in] sensorBridgeOptions SensorBridgeOptions to hold the bridge options for streaming sensor measurements | ||
| * @param[in] sensorBridgeOptions SensorBridgeOptions to hold the bridge options for streaming | ||
| * sensor measurements | ||
| */ | ||
| virtual bool populateSensorBridgeOptionsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| SensorBridgeOptions& sensorBridgeOptions) { return true; }; | ||
| virtual bool populateSensorBridgeOptionsFromConfig( | ||
| std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| SensorBridgeOptions& sensorBridgeOptions) | ||
| { | ||
| return true; | ||
| }; | ||
|
|
||
| /** | ||
| * Helper method to maintain SensorLists struct by populating it from the configuration parameters | ||
| * @note the user may choose to use/not use this method depending on their requirements for the implementation | ||
| * if the user chooses to not use the method, the implementation must simply contain "return true;" | ||
| * Helper method to maintain SensorLists struct by populating it from the configuration | ||
| * parameters | ||
| * @note the user may choose to use/not use this method depending on their requirements for the | ||
| * implementation if the user chooses to not use the method, the implementation must simply | ||
| * contain "return true;" | ||
| * | ||
| * @param[in] handler Parameters handler | ||
| * @param[in] sensorBridgeOptions configured object of SensorBridgeOptions | ||
| * @param[in] sensorLists SensorLists object holding list of connected sensor devices | ||
| */ | ||
| virtual bool populateSensorListsFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| const SensorBridgeOptions& sensorBridgeOptions, | ||
| SensorLists& sensorLists) { return true; }; | ||
| virtual bool populateSensorListsFromConfig( | ||
| std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| const SensorBridgeOptions& sensorBridgeOptions, | ||
| SensorLists& sensorLists) | ||
| { | ||
| return true; | ||
| }; | ||
|
|
||
| /** | ||
| * Helper method to maintain SensorBridgeMetaData struct by populating it from the configuration parameters | ||
| * @note the user may choose to use/not use this method depending on their requirements for the implementation | ||
| * if the user chooses to not use the method, the implementation must simply contain "return true;" | ||
| * Helper method to maintain SensorBridgeMetaData struct by populating it from the configuration | ||
| * parameters | ||
| * @note the user may choose to use/not use this method depending on their requirements for the | ||
| * implementation if the user chooses to not use the method, the implementation must simply | ||
| * contain "return true;" | ||
| * | ||
| * @param[in] handler Parameters handler | ||
| * @param[in] sensorBridgeMetaData configured object of SensorBridgeMetadata | ||
| * @param[in] sensorLists SensorLists object holding list of connected sensor devices | ||
| */ | ||
| virtual bool populateSensorBridgeMetaDataFromConfig(std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| SensorBridgeMetaData& sensorBridgeMetaData) { return true; }; | ||
| virtual bool populateSensorBridgeMetaDataFromConfig( | ||
| std::weak_ptr<BipedalLocomotion::ParametersHandler::IParametersHandler> handler, | ||
| SensorBridgeMetaData& sensorBridgeMetaData) | ||
| { | ||
| return true; | ||
| }; |
There was a problem hiding this comment.
Probably you can revert these changes, just to have the PR cleaner. In addition, the indentation is weird
S-Dafarra
approved these changes
Feb 8, 2021
GiulioRomualdi
force-pushed
the
feature/addMotorCurrentsReading
branch
from
b6c7483
to
7b0577a
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.