haptix_sim_utils.h File Reference

This file contains auxiliary functions for haptix_sim. More...

#include <iostream>
#include <string>
#include <mutex>
#include <ignition/transport.hh>
#include "haptix/comm/haptix.h"
#include "msg/hxCollideMode.pb.h"
#include "msg/hxColor.pb.h"
#include "msg/hxContactPoint_V.pb.h"
#include "msg/hxEmpty.pb.h"
#include "msg/hxJoint.pb.h"
#include "msg/hxLink.pb.h"
#include "msg/hxModel.pb.h"
#include "msg/hxQuaternion.pb.h"
#include "msg/hxSimInfo.pb.h"
#include "msg/hxTime.pb.h"
#include "msg/hxTransform.pb.h"
#include "msg/hxVector3.pb.h"

Include dependency graph for haptix_sim_utils.h:

Go to the source code of this file.

Functions
static ignition::transport::Node *	getHxNode ()
template<typename REQ , typename REP , typename T >
hxResult	hxs_call (const std::string &_service, const std::string &_funcName, const REQ _req, REP _rep, T _dst, bool(*_f)(const REP _rep, T _dst))
	Function that requests a given service and converts the protobuf response to a C-struct. More...
template<typename REQ , typename REP >
hxResult	hxs_call (const std::string &_service, const std::string &_funcName, const REQ _req, REP _rep)
	Function that requests a given service. More...
static bool	hxs_convertCollisionMode (const haptix::comm::msgs::hxCollideMode _in, hxsCollideMode *_out)
static bool	hxs_convertColor (const haptix::comm::msgs::hxColor _in, hxsColor *_out)
static bool	hxs_convertContactPoints (const haptix::comm::msgs::hxContactPoint_V _in, hxsContactPoints *_out)
static bool	hxs_convertJoint (const haptix::comm::msgs::hxJoint _in, hxsJoint *_out)
static bool	hxs_convertLink (const haptix::comm::msgs::hxLink _in, hxsLink *_out)
static bool	hxs_convertModel (const haptix::comm::msgs::hxModel _in, hxsModel *_out)
static bool	hxs_convertQuaternion (const haptix::comm::msgs::hxQuaternion _in, hxsQuaternion *_out)
static bool	hxs_convertQuaternion (const hxsQuaternion *_in, haptix::comm::msgs::hxQuaternion *_out)
template<typename T , typename T2 >
bool	hxs_convertScalar (T _in, T2 *_out)
static bool	hxs_convertSimInfo (const haptix::comm::msgs::hxSimInfo _in, hxsSimInfo *_out)
static bool	hxs_convertTransform (const haptix::comm::msgs::hxTransform _in, hxsTransform *_out)
static bool	hxs_convertTransform (const hxsTransform *_in, haptix::comm::msgs::hxTransform *_out)
static bool	hxs_convertVector3 (const haptix::comm::msgs::hxVector3 _in, hxsVector3 *_out)
static bool	hxs_convertVector3 (const hxsVector3 *_in, haptix::comm::msgs::hxVector3 *_out)
static bool	hxs_convertWrench (const hxsWrench *_in, haptix::comm::msgs::hxWrench *_out)

Variables
static ignition::transport::Node *	haptixSimUtilsNode = NULL
	ignition transport node. More...
unsigned int	kTimeout = 1000
	Timeout used for the service requests (ms.). More...
static std::string	lastResult
	Error string, to be retrieved by hx_last_result() More...
static std::mutex	lastResultLock

Detailed Description

This file contains auxiliary functions for haptix_sim.

Function Documentation

template<typename REQ , typename REP , typename T >

hxResult hxs_call	(	const std::string &	_service,
		const std::string &	_funcName,
		const REQ	_req,
		REP	_rep,
		T	_dst,
		bool(*)(const REP _rep, T _dst)	_f
	)

Function that requests a given service and converts the protobuf response to a C-struct.

The conversion from Protobuf to C-struct is done via a function that is also passed as a parameter.

Parameters

[in]	_service	Service name to request.
[in]	_funcName	Name of the caller function.
[in]	_req	Protobuf message used in the service request.
[out]	_rep	Protobuf message used in the service response.
[out]	_dst	Target C-Struct that will be converted from _rep.
[in]	_f	Function that will be able to convert the _rep Protobuf message into the C-struct _dst.

References hxERROR, hxOK, kTimeout, and lastResult.

template<typename REQ , typename REP >

hxResult hxs_call	(	const std::string &	_service,
		const std::string &	_funcName,
		const REQ	_req,
		REP	_rep
	)

Function that requests a given service.

Parameters

[in]	_service	Service name to request.
[in]	_funcName	Name of the caller function.
[in]	_req	Protobuf message used in the service request.
[out]	_rep	Protobuf message used in the service response.

References hxERROR, hxOK, kTimeout, and lastResult.

Variable Documentation

ignition::transport::Node* haptixSimUtilsNode = NULL

static

ignition transport node.

unsigned int kTimeout = 1000

Timeout used for the service requests (ms.).

Referenced by hxs_call().

std::string lastResult

static

Error string, to be retrieved by hx_last_result()

Referenced by hxs_call().