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Remove COUPLING::device from param parser of handmk5 coupling device
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@martinaxgloria @Nicogene
martinaxgloria authored and Nicogene committed Feb 10, 2025
1 parent 84345f0 commit b9f95c0
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26 changes: 3 additions & 23 deletions src/modules/couplingXCubHandMk5/CouplingXCubHandMk5_ParamsParser.cpp
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Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Apr 8 16:16:47 2024
// Generated on: Mon Feb 10 16:15:42 2025


#include "CouplingXCubHandMk5_ParamsParser.h"
Expand All @@ -31,7 +31,6 @@ std::vector<std::string> CouplingXCubHandMk5_ParamsParser::getListOfParams() con
params.push_back("jointNames");
params.push_back("LIMITS::jntPosMin");
params.push_back("LIMITS::jntPosMax");
params.push_back("COUPLING::device");
params.push_back("COUPLING::actuatedAxesNames");
params.push_back("COUPLING::actuatedAxesPosMin");
params.push_back("COUPLING::actuatedAxesPosMax");
Expand Down Expand Up @@ -154,24 +153,6 @@ bool CouplingXCubHandMk5_ParamsParser::parseParams(const yarp::os::Searchab
prop_check.unput("LIMITS::jntPosMax");
}

//Parser of parameter COUPLING::device
{
yarp::os::Bottle sectionp;
sectionp = config.findGroup("COUPLING");
if (sectionp.check("device"))
{
m_COUPLING_device = sectionp.find("device").asString();
yCInfo(CouplingXCubHandMk5ParamsCOMPONENT) << "Parameter 'COUPLING::device' using value:" << m_COUPLING_device;
}
else
{
yCError(CouplingXCubHandMk5ParamsCOMPONENT) << "Mandatory parameter 'COUPLING::device' not found!";
yCError(CouplingXCubHandMk5ParamsCOMPONENT) << "Description of the parameter: Name of the device that handles the coupling";
return false;
}
prop_check.unput("COUPLING::device");
}

//Parser of parameter COUPLING::actuatedAxesNames
{
yarp::os::Bottle sectionp;
Expand Down Expand Up @@ -574,7 +555,6 @@ std::string CouplingXCubHandMk5_ParamsParser::getDocumentationOfDeviceParam
doc = doc + std::string("'jointNames': Names of the physical joints\n");
doc = doc + std::string("'LIMITS::jntPosMin': Phyisical joints' position minimum\n");
doc = doc + std::string("'LIMITS::jntPosMax': Phyisical joints' position maximum\n");
doc = doc + std::string("'COUPLING::device': Name of the device that handles the coupling\n");
doc = doc + std::string("'COUPLING::actuatedAxesNames': Names of the actuated axes\n");
doc = doc + std::string("'COUPLING::actuatedAxesPosMin': Actuated axes' position minimum\n");
doc = doc + std::string("'COUPLING::actuatedAxesPosMax': Actuated axes' position maximum\n");
Expand All @@ -588,8 +568,8 @@ std::string CouplingXCubHandMk5_ParamsParser::getDocumentationOfDeviceParam
doc = doc + std::string("'COUPLING_PARAMS::b': Distance between L0 and P0\n");
doc = doc + std::string("\n");
doc = doc + std::string("Here are some examples of invocation command with yarpdev, with all params:\n");
doc = doc + " yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::device <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>\n";
doc = doc + " yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>\n";
doc = doc + std::string("Using only mandatory params:\n");
doc = doc + " yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::device <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>\n";
doc = doc + " yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>\n";
doc = doc + std::string("=============================================\n\n"); return doc;
}
9 changes: 3 additions & 6 deletions src/modules/couplingXCubHandMk5/CouplingXCubHandMk5_ParamsParser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
// This is an automatically generated file. Please do not edit it.
// It will be re-generated if the cmake flag ALLOW_DEVICE_PARAM_PARSER_GERNERATION is ON.

// Generated on: Mon Apr 8 16:16:47 2024
// Generated on: Mon Feb 10 16:15:42 2025


#ifndef COUPLINGXCUBHANDMK5_PARAMSPARSER_H
Expand All @@ -28,7 +28,6 @@
* | - | jointNames | vector<string> | - | - | 1 | Names of the physical joints | - |
* | LIMITS | jntPosMin | vector<double> | - | - | 1 | Phyisical joints' position minimum | - |
* | LIMITS | jntPosMax | vector<double> | - | - | 1 | Phyisical joints' position maximum | - |
* | COUPLING | device | string | - | - | 1 | Name of the device that handles the coupling | - |
* | COUPLING | actuatedAxesNames | vector<string> | - | - | 1 | Names of the actuated axes | - |
* | COUPLING | actuatedAxesPosMin | vector<double> | - | - | 1 | Actuated axes' position minimum | - |
* | COUPLING | actuatedAxesPosMax | vector<double> | - | - | 1 | Actuated axes' position maximum | - |
Expand All @@ -43,11 +42,11 @@
*
* The device can be launched by yarpdev using one of the following examples (with and without all optional parameters):
* \code{.unparsed}
* yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::device <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>
* yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>
* \endcode
*
* \code{.unparsed}
* yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::device <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>
* yarpdev --device couplingXCubHandMk5 --jointNames <mandatory_value> --LIMITS::jntPosMin <mandatory_value> --LIMITS::jntPosMax <mandatory_value> --COUPLING::actuatedAxesNames <mandatory_value> --COUPLING::actuatedAxesPosMin <mandatory_value> --COUPLING::actuatedAxesPosMax <mandatory_value> --COUPLING_PARAMS::L0x <mandatory_value> --COUPLING_PARAMS::L0y <mandatory_value> --COUPLING_PARAMS::q2bias <mandatory_value> --COUPLING_PARAMS::q1off <mandatory_value> --COUPLING_PARAMS::k <mandatory_value> --COUPLING_PARAMS::d <mandatory_value> --COUPLING_PARAMS::l <mandatory_value> --COUPLING_PARAMS::b <mandatory_value>
* \endcode
*
*/
Expand All @@ -72,7 +71,6 @@ class CouplingXCubHandMk5_ParamsParser : public yarp::dev::IDeviceDriverParams
const std::string m_jointNames_defaultValue = {""};
const std::string m_LIMITS_jntPosMin_defaultValue = {""};
const std::string m_LIMITS_jntPosMax_defaultValue = {""};
const std::string m_COUPLING_device_defaultValue = {""};
const std::string m_COUPLING_actuatedAxesNames_defaultValue = {""};
const std::string m_COUPLING_actuatedAxesPosMin_defaultValue = {""};
const std::string m_COUPLING_actuatedAxesPosMax_defaultValue = {""};
Expand All @@ -88,7 +86,6 @@ class CouplingXCubHandMk5_ParamsParser : public yarp::dev::IDeviceDriverParams
std::vector<std::string> m_jointNames = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::vector<double> m_LIMITS_jntPosMin = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::vector<double> m_LIMITS_jntPosMax = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::string m_COUPLING_device = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::vector<std::string> m_COUPLING_actuatedAxesNames = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::vector<double> m_COUPLING_actuatedAxesPosMin = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
std::vector<double> m_COUPLING_actuatedAxesPosMax = {}; //This default value is autogenerated. It is highly recommended to provide a suggested value also for mandatory parameters.
Expand Down
3 changes: 1 addition & 2 deletions src/modules/couplingXCubHandMk5/CouplingXCubHandMk5_params.md
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Expand Up @@ -2,8 +2,7 @@
|:---------------:|:------------------:|:---------------:|:-------:|:--------------:|:--------:|:----------------------------------------------:|:--------------------------------:|
| | jointNames | vector<string> | - | - | Yes | Names of the physical joints | |
| LIMITS | jntPosMin | vector<double> | - | - | Yes | Phyisical joints' position minimum | |
| LIMITS | jntPosMax | vector<double> | - | - | Yes | Phyisical joints' position maximum | |
| COUPLING | device | string | - | - | Yes | Name of the device that handles the coupling | |
| LIMITS | jntPosMax | vector<double> | - | - | Yes | Phyisical joints' position maximum | | |
| COUPLING | actuatedAxesNames | vector<string> | - | - | Yes | Names of the actuated axes | |
| COUPLING | actuatedAxesPosMin | vector<double> | - | - | Yes | Actuated axes' position minimum | |
| COUPLING | actuatedAxesPosMax | vector<double> | - | - | Yes | Actuated axes' position maximum | |
Expand Down

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