The client side of the control board, connects to a remote controlboard using the YARP network. More...

Inheritance diagram for yarp::dev::RemoteControlBoard:

Detailed Description

The client side of the control board, connects to a remote controlboard using the YARP network.

This device communicates using the YARP ports opened the yarp::dev::ControlBoardWrapper device to use a device exposing controlboard method even from a different process (or even computer) from the one that opened the controlboard device.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
remote	-	string	-	-	Yes	Prefix of the port to which to connect.
local	-	string	-	-	Yes	Port prefix of the port opened by this device.
writeStrict	-	string	-	See note	No

Definition at line 134 of file RemoteControlBoard.cpp.

Public Member Functions
	RemoteControlBoard ()
	Constructor. More...

virtual	~RemoteControlBoard ()=default
	Destructor. More...

virtual bool	open ()
	Default open. More...

bool	open (Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the device driver and stop the port connections. More...

bool	setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
	Set new pid value for a joint axis. More...

bool	setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override
	Set new pid value on multiple axes. More...

bool	setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis. More...

bool	setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes. More...

bool	setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specifi joint. More...

bool	setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints. More...

bool	getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint. More...

bool	getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints. More...

bool	getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
	Get current pid value for a specific joint. More...

bool	getPids (const PidControlTypeEnum &pidtype, Pid *pids) override
	Get current pid value for a specific joint. More...

bool	getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint. More...

bool	getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers. More...

bool	getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *limit) override
	Get the error limit for the controller on a specific joint. More...

bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits) override
	Get the error limit for all controllers. More...

bool	resetPid (const PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...

bool	disablePid (const PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint. More...

bool	enablePid (const PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint. More...

bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid. More...

bool	getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g. More...

bool	getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g. More...

bool	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller. More...

bool	resetEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetEncoders () override
	Reset encoders. More...

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint. More...

bool	setEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getEncoderTimed (int j, double v, double t) override
	Read the value of an encoder. More...

bool	getEncoders (double *encs) override
	Read the position of all axes. More...

bool	getEncodersTimed (double encs, double ts) override
	Read the position of all axes. More...

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getEncoderAcceleration (int j, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getEncoderAccelerations (double *accs) override
	Read the istantaneous acceleration of all axes. More...

bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override

bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override

bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override

bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled axes from the current physical interface. More...

bool	getTemperature (int m, double *val) override
	Get temperature of a motor. More...

bool	getTemperatures (double *vals) override
	Get temperature of all the motors. More...

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor. More...

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor. More...

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor. More...

virtual bool	getGearboxRatio (int m, const double val)

bool	resetMotorEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetMotorEncoders () override
	Reset encoders. More...

bool	setMotorEncoder (int j, const double val) override
	Set the value of the encoder for a given joint. More...

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m. More...

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	gets number of counts per revolution for motor encoder m. More...

bool	setMotorEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getMotorEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getMotorEncoderTimed (int j, double v, double t) override
	Read the value of an encoder. More...

bool	getMotorEncoders (double *encs) override
	Read the position of all axes. More...

bool	getMotorEncodersTimed (double encs, double ts) override
	Read the position of all axes. More...

bool	getMotorEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getMotorEncoderAcceleration (int j, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getMotorEncoderAccelerations (double *accs) override
	Read the istantaneous acceleration of all axes. More...

Stamp	getLastInputStamp () override
	Get the time stamp for the last read data. More...

bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders. More...

bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a group of axis. More...

bool	positionMove (const double *refs) override
	Set new reference point for all axes. More...

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

bool	relativeMove (int j, double delta) override
	Set relative position. More...

bool	relativeMove (const int n_joint, const int joints, const double refs) override
	Set relative position for a subset of joints. More...

bool	relativeMove (const double *deltas) override
	Set relative position, all joints. More...

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (const int n_joint, const int joints, bool flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints. More...

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint. More...

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints. More...

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Set reference speed on all joints. More...

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints. More...

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints. More...

bool	stop (int j) override
	Stop motion, single joint. More...

bool	stop (const int len, const int *val1) override
	Stop motion for subset of joints. More...

bool	stop () override
	Stop motion, multiple joints. More...

bool	velocityMove (int j, double v) override
	Set new reference speed for a single axis. More...

bool	velocityMove (const double *v) override
	Set a new reference speed for all axes. More...

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint. More...

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint. More...

bool	getAmpStatus (int *st) override
	Get the status of the amplifiers, coded in a 32 bits integer for each amplifier (at the moment contains only the fault, it will be expanded in the future). More...

bool	getAmpStatus (int j, int *st) override

bool	setMaxCurrent (int j, double v) override
	Set the maximum electric current going to a given motor. More...

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor. More...

bool	getNominalCurrent (int m, double *val) override

bool	setNominalCurrent (int m, const double val) override

bool	getPeakCurrent (int m, double *val) override

bool	setPeakCurrent (int m, const double val) override

bool	getPWM (int m, double *val) override

bool	getPWMLimit (int m, double *val) override

bool	setPWMLimit (int m, const double val) override

bool	getPowerSupplyVoltage (int m, double *val) override

bool	setLimits (int axis, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getLimits (int axis, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setVelLimits (int axis, double min, double max) override
	Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getVelLimits (int axis, double min, double max) override
	Get the software speed limits for a particular axis. More...

bool	getAxisName (int j, std::string &name) override

bool	getJointType (int j, yarp::dev::JointTypeEnum &type) override

bool	calibrateRobot () override
	Calibrate robot by using an external calibrator. More...

bool	abortCalibration () override

bool	abortPark () override

bool	park (bool wait=true) override

bool	calibrateAxisWithParams (int j, unsigned int ui, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific. More...

bool	setCalibrationParameters (int j, const CalibrationParameters &params) override
	Start calibration, this method is very often platform specific. More...

bool	calibrationDone (int j) override
	Check if the calibration is terminated, on a particular joint. More...

bool	getRefTorque (int j, double *t) override
	Get the reference value of the torque for a given joint. More...

bool	getRefTorques (double *t) override
	Get the reference value of the torque for all joints. More...

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints. More...

bool	setRefTorque (int j, double v) override
	Set the reference value of the torque for a given joint. More...

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints. More...

bool	setMotorTorqueParams (int j, const MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	getMotorTorqueParams (int j, MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	getTorque (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint. More...

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints. More...

bool	getImpedance (int j, double stiffness, double damping) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint. More...

bool	getImpedanceOffset (int j, double *offset) override
	Get current force Offset for a specific joint. More...

bool	setImpedance (int j, double stiffness, double damping) override
	Set current impedance gains (stiffness,damping) for a specific joint. More...

bool	setImpedanceOffset (int j, double offset) override
	Set current force Offset for a specific joint. More...

bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint. More...

bool	getControlMode (int j, int *mode) override
	Get the current control mode. More...

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes. More...

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints). More...

bool	setControlMode (const int j, const int mode) override
	Set the current control mode. More...

bool	setControlModes (const int n_joint, const int joints, int modes) override
	Set the current control mode for a subset of axes. More...

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints). More...

bool	setPosition (int j, double ref) override
	Set new position for a single axis. More...

bool	setPositions (const int n_joint, const int joints, const double refs) override
	Set new reference point for all axes. More...

bool	setPositions (const double *refs) override
	Set new position for a set of axis. More...

bool	getRefPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getRefPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

bool	velocityMove (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints. More...

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint. More...

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints. More...

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints. More...

bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant. More...

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	checkProtocolVersion (bool ignore)

bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...

bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint More...

bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device More...

bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint More...

bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device More...

bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint More...

bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part More...

bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure More...

bool	quitPark () override
	quitPark: interrupt the park procedure More...

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors. More...

bool	getRefCurrent (int j, double *t) override
	Get the reference value of the current for a single motor. More...

bool	setRefCurrents (const double *refs) override
	Set the reference value of the currents for all motors. More...

bool	setRefCurrent (int j, double ref) override
	Set the reference value of the current for a single motor. More...

bool	setRefCurrents (const int n_joint, const int joints, const double refs) override
	Set the reference value of the current for a group of motors. More...

bool	getCurrents (double *vals) override
	Read the electric current going to all motors. More...

bool	getCurrent (int j, double *val) override
	Read the electric current going to a given motor. More...

bool	getCurrentRange (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g. More...

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g. More...

bool	setRefDutyCycle (int j, double v) override
	Sets the reference dutycycle to a single motor. More...

bool	setRefDutyCycles (const double *v) override
	Sets the reference dutycycle for all the motors. More...

bool	getRefDutyCycle (int j, double *ref) override
	Gets the last reference sent using the setRefDutyCycle function. More...

bool	getRefDutyCycles (double *refs) override
	Gets the last reference sent using the setRefDutyCycles function. More...

bool	getDutyCycle (int j, double *out) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getDutyCycles (double *outs) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

Public Member Functions inherited from yarp::dev::IPidControl
virtual	~IPidControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IPositionControl
virtual	~IPositionControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IVelocityControl
virtual	~IVelocityControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual	~IEncodersTimed ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IEncoders
virtual	~IEncoders ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IMotorEncoders
virtual	~IMotorEncoders ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IMotor
virtual	~IMotor ()
	Destructor. More...

virtual bool	setGearboxRatio (int m, const double val)
	Set the gearbox ratio for a specific motor. More...

Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual	~IAmplifierControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IControlLimits
virtual	~IControlLimits ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IAxisInfo
virtual	~IAxisInfo ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IPreciselyTimed
virtual	~IPreciselyTimed ()

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot. More...

Public Member Functions inherited from yarp::dev::ITorqueControl
virtual	~ITorqueControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IImpedanceControl
virtual	~IImpedanceControl ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

Public Member Functions inherited from yarp::dev::DeviceDriver
virtual	~DeviceDriver ()
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IPositionDirect
virtual	~IPositionDirect ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IInteractionMode
virtual	~IInteractionMode ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

virtual	~IRemoteCalibrator ()

virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device. More...

virtual yarp::dev::IRemoteCalibrator *	getCalibratorDevice ()
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...

virtual void	releaseCalibratorDevice (void)
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...

Public Member Functions inherited from yarp::dev::IRemoteVariables
virtual	~IRemoteVariables ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IPWMControl
virtual	~IPWMControl ()

Public Member Functions inherited from yarp::dev::ICurrentControl
virtual	~ICurrentControl ()
	Destructor. More...

Constructor & Destructor Documentation

◆ RemoteControlBoard()

yarp::dev::RemoteControlBoard::RemoteControlBoard ( )

inline

Constructor.

Definition at line 956 of file RemoteControlBoard.cpp.

◆ ~RemoteControlBoard()

virtual yarp::dev::RemoteControlBoard::~RemoteControlBoard ( )

virtualdefault

Destructor.

Member Function Documentation

◆ abortCalibration()

bool yarp::dev::RemoteControlBoard::abortCalibration ( )

inlineoverridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2426 of file RemoteControlBoard.cpp.

◆ abortPark()

bool yarp::dev::RemoteControlBoard::abortPark ( )

inlineoverridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2429 of file RemoteControlBoard.cpp.

◆ calibrateAxisWithParams()

bool yarp::dev::RemoteControlBoard::calibrateAxisWithParams	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3
	)

inlineoverridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 2435 of file RemoteControlBoard.cpp.

◆ calibrateRobot()

bool yarp::dev::RemoteControlBoard::calibrateRobot ( )

inlineoverridevirtual

Calibrate robot by using an external calibrator.

The external calibrator must be previously set by calling the setCalibration() method.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2423 of file RemoteControlBoard.cpp.

◆ calibrateSingleJoint()

bool yarp::dev::RemoteControlBoard::calibrateSingleJoint ( int j )

inlineoverridevirtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters

j	joint to be calibrated

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3057 of file RemoteControlBoard.cpp.

◆ calibrateWholePart()

bool yarp::dev::RemoteControlBoard::calibrateWholePart ( )

inlineoverridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3066 of file RemoteControlBoard.cpp.

◆ calibrationDone()

bool yarp::dev::RemoteControlBoard::calibrationDone ( int j )

inlineoverridevirtual

Check if the calibration is terminated, on a particular joint.

Non blocking.

Returns: true/false

Implements yarp::dev::IControlCalibration.

Definition at line 2474 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [1/3]

bool yarp::dev::RemoteControlBoard::checkMotionDone	(	int	j,
		bool *	flag
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	joint id
flag	true/false if trajectory is terminated or not.

Returns: true on success/failure.

Implements yarp::dev::IPositionControl.

Definition at line 1989 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [2/3]

bool yarp::dev::RemoteControlBoard::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 1999 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [3/3]

bool yarp::dev::RemoteControlBoard::checkMotionDone ( bool * flag )

inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true on success/failure.

Implements yarp::dev::IPositionControl.

Definition at line 2008 of file RemoteControlBoard.cpp.

◆ checkProtocolVersion()

bool yarp::dev::RemoteControlBoard::checkProtocolVersion ( bool ignore )

inline

Definition at line 2975 of file RemoteControlBoard.cpp.

◆ close()

bool yarp::dev::RemoteControlBoard::close ( void )

inlineoverridevirtual

Close the device driver and stop the port connections.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 1182 of file RemoteControlBoard.cpp.

◆ disableAmp()

bool yarp::dev::RemoteControlBoard::disableAmp ( int j )

inlineoverridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 2226 of file RemoteControlBoard.cpp.

◆ disablePid()

bool yarp::dev::RemoteControlBoard::disablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

inlineoverridevirtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1367 of file RemoteControlBoard.cpp.

◆ enableAmp()

bool yarp::dev::RemoteControlBoard::enableAmp ( int j )

inlineoverridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 2217 of file RemoteControlBoard.cpp.

◆ enablePid()

bool yarp::dev::RemoteControlBoard::enablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

inlineoverridevirtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1379 of file RemoteControlBoard.cpp.

◆ getAmpStatus() [1/2]

bool yarp::dev::RemoteControlBoard::getAmpStatus ( int * st )

inlineoverridevirtual

Get the status of the amplifiers, coded in a 32 bits integer for each amplifier (at the moment contains only the fault, it will be expanded in the future).

Parameters

st	pointer to storage

Returns: true in good luck, false otherwise.

Implements yarp::dev::IAmplifierControl.

Definition at line 2237 of file RemoteControlBoard.cpp.

◆ getAmpStatus() [2/2]

bool yarp::dev::RemoteControlBoard::getAmpStatus	(	int	j,
		int *	st
	)

inlineoverridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2246 of file RemoteControlBoard.cpp.

◆ getAxes()

bool yarp::dev::RemoteControlBoard::getAxes ( int * ax )

inlineoverridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Parameters

ax	pointer to storage

Returns: true/false.

Implements yarp::dev::IImpedanceControl.

Definition at line 1878 of file RemoteControlBoard.cpp.

◆ getAxisName()

bool yarp::dev::RemoteControlBoard::getAxisName	(	int	j,
		std::string &	name
	)

inlineoverridevirtual

Implements yarp::dev::IAxisInfo.

Definition at line 2414 of file RemoteControlBoard.cpp.

◆ getControlMode()

bool yarp::dev::RemoteControlBoard::getControlMode	(	int	j,
		int *	mode
	)

inlineoverridevirtual

Get the current control mode.

Parameters

j	joint number
mode	a vocab of the current control mode for joint j.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2697 of file RemoteControlBoard.cpp.

◆ getControlModes() [1/2]

bool yarp::dev::RemoteControlBoard::getControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

inlineoverridevirtual

Get the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2707 of file RemoteControlBoard.cpp.

◆ getControlModes() [2/2]

bool yarp::dev::RemoteControlBoard::getControlModes ( int * modes )

inlineoverridevirtual

Get the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the current control modes of the joints.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2726 of file RemoteControlBoard.cpp.

◆ getCurrent()

bool yarp::dev::RemoteControlBoard::getCurrent	(	int	j,
		double *	val
	)

inlineoverridevirtual

Read the electric current going to a given motor.

Parameters

m	motor number
val	pointer to storage for the output value

Returns: probably true, might return false in bad time

Implements yarp::dev::IAmplifierControl.

Definition at line 3230 of file RemoteControlBoard.cpp.

◆ getCurrentImpedanceLimit()

bool yarp::dev::RemoteControlBoard::getCurrentImpedanceLimit	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)

inlineoverridevirtual

Get the current impedandance limits for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2674 of file RemoteControlBoard.cpp.

◆ getCurrentRange()

bool yarp::dev::RemoteControlBoard::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3239 of file RemoteControlBoard.cpp.

◆ getCurrentRanges()

bool yarp::dev::RemoteControlBoard::getCurrentRanges	(	double *	min,
		double *	max
	)

inlineoverridevirtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3244 of file RemoteControlBoard.cpp.

◆ getCurrents()

bool yarp::dev::RemoteControlBoard::getCurrents ( double * vals )

inlineoverridevirtual

Read the electric current going to all motors.

Parameters

vals	pointer to storage for the output values

Returns: hopefully true, false in bad luck.

Implements yarp::dev::IAmplifierControl.

Definition at line 3215 of file RemoteControlBoard.cpp.

◆ getDutyCycle()

bool yarp::dev::RemoteControlBoard::getDutyCycle	(	int	m,
		double *	val
	)

inlineoverridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters

m	motor number
val	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3314 of file RemoteControlBoard.cpp.

◆ getDutyCycles()

bool yarp::dev::RemoteControlBoard::getDutyCycles ( double * vals )

inlineoverridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters

vals	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3323 of file RemoteControlBoard.cpp.

◆ getEncoder()

bool yarp::dev::RemoteControlBoard::getEncoder	(	int	j,
		double *	v
	)

inlineoverridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncoders.

Definition at line 1467 of file RemoteControlBoard.cpp.

◆ getEncoderAcceleration()

bool yarp::dev::RemoteControlBoard::getEncoderAcceleration	(	int	j,
		double *	acc
	)

inlineoverridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
acc	pointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 1566 of file RemoteControlBoard.cpp.

◆ getEncoderAccelerations()

bool yarp::dev::RemoteControlBoard::getEncoderAccelerations ( double * accs )

inlineoverridevirtual

Read the istantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 1580 of file RemoteControlBoard.cpp.

◆ getEncoders()

bool yarp::dev::RemoteControlBoard::getEncoders ( double * encs )

inlineoverridevirtual

Read the position of all axes.

This object receives encoders periodically from a YARP port. You should check the return value of the function to make sure that encoders have been received at least once and with the expected rate.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure. Failure means encoders have not been received from the server or that they are not being streamed with the expected rate.

Implements yarp::dev::IEncoders.

Definition at line 1503 of file RemoteControlBoard.cpp.

◆ getEncoderSpeed()

bool yarp::dev::RemoteControlBoard::getEncoderSpeed	(	int	j,
		double *	sp
	)

inlineoverridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IEncoders.

Definition at line 1534 of file RemoteControlBoard.cpp.

◆ getEncoderSpeeds()

bool yarp::dev::RemoteControlBoard::getEncoderSpeeds ( double * spds )

inlineoverridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 1550 of file RemoteControlBoard.cpp.

◆ getEncodersTimed()

bool yarp::dev::RemoteControlBoard::getEncodersTimed	(	double *	encs,
		double *	ts
	)

inlineoverridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output
ts	pointer to the array that will contain timestamps

Returns: true/false on success/failure

Implements yarp::dev::IEncodersTimed.

Definition at line 1519 of file RemoteControlBoard.cpp.

◆ getEncoderTimed()

bool yarp::dev::RemoteControlBoard::getEncoderTimed	(	int	j,
		double *	v,
		double *	t
	)

inlineoverridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncodersTimed.

Definition at line 1483 of file RemoteControlBoard.cpp.

◆ getGearboxRatio() [1/2]

bool yarp::dev::RemoteControlBoard::getGearboxRatio	(	int	m,
		double *	val
	)

inlineoverridevirtual

Get the gearbox ratio for a specific motor.

Parameters

m	motor number
val	retrieved gearbox ratio

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 1656 of file RemoteControlBoard.cpp.

◆ getGearboxRatio() [2/2]

virtual bool yarp::dev::RemoteControlBoard::getGearboxRatio	(	int	m,
		const double	val
	)

inlinevirtual

Definition at line 1660 of file RemoteControlBoard.cpp.

◆ getImpedance()

bool yarp::dev::RemoteControlBoard::getImpedance	(	int	j,
		double *	stiffness,
		double *	damping
	)

inlineoverridevirtual

Get current impedance gains (stiffness,damping,offset) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2604 of file RemoteControlBoard.cpp.

◆ getImpedanceOffset()

bool yarp::dev::RemoteControlBoard::getImpedanceOffset	(	int	j,
		double *	offset
	)

inlineoverridevirtual

Get current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2624 of file RemoteControlBoard.cpp.

◆ getInteractionMode()

bool yarp::dev::RemoteControlBoard::getInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

inlineoverridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters

axis	joint number
mode	contains the requested information about interaction mode of the joint

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2884 of file RemoteControlBoard.cpp.

◆ getInteractionModes() [1/2]

bool yarp::dev::RemoteControlBoard::getInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

inlineoverridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2893 of file RemoteControlBoard.cpp.

◆ getInteractionModes() [2/2]

bool yarp::dev::RemoteControlBoard::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

inlineoverridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters

mode	array containing the requested information about interaction mode, one value for each joint.

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2911 of file RemoteControlBoard.cpp.

◆ getJointType()

bool yarp::dev::RemoteControlBoard::getJointType	(	int	j,
		yarp::dev::JointTypeEnum &	type
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAxisInfo.

Definition at line 2418 of file RemoteControlBoard.cpp.

◆ getLastInputStamp()

Stamp yarp::dev::RemoteControlBoard::getLastInputStamp ( )

inlineoverridevirtual

Get the time stamp for the last read data.

Returns: last time stamp.

Implements yarp::dev::IPreciselyTimed.

Definition at line 1853 of file RemoteControlBoard.cpp.

◆ getLimits()

bool yarp::dev::RemoteControlBoard::getLimits	(	int	axis,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false if something bad happens

Implements yarp::dev::IControlLimits.

Definition at line 2399 of file RemoteControlBoard.cpp.

◆ getMaxCurrent()

bool yarp::dev::RemoteControlBoard::getMaxCurrent	(	int	j,
		double *	v
	)

inlineoverridevirtual

Returns the maximum electric current allowed for a given motor.

The behavior of the board/amplifier when this limit is reached depends on the implementation.

Parameters

m	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 2271 of file RemoteControlBoard.cpp.

◆ getMotorEncoder()

bool yarp::dev::RemoteControlBoard::getMotorEncoder	(	int	j,
		double *	v
	)

inlineoverridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IMotorEncoders.

Definition at line 1727 of file RemoteControlBoard.cpp.

◆ getMotorEncoderAcceleration()

bool yarp::dev::RemoteControlBoard::getMotorEncoderAcceleration	(	int	j,
		double *	acc
	)

inlineoverridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
acc	pointer to the array that will contain the output

Implements yarp::dev::IMotorEncoders.

Definition at line 1825 of file RemoteControlBoard.cpp.

◆ getMotorEncoderAccelerations()

bool yarp::dev::RemoteControlBoard::getMotorEncoderAccelerations ( double * accs )

inlineoverridevirtual

Read the istantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IMotorEncoders.

Definition at line 1839 of file RemoteControlBoard.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool yarp::dev::RemoteControlBoard::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

inlineoverridevirtual

gets number of counts per revolution for motor encoder m.

Parameters

m	motor encoder number
cpr	pointer to storage for the return value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1708 of file RemoteControlBoard.cpp.

◆ getMotorEncoders()

bool yarp::dev::RemoteControlBoard::getMotorEncoders ( double * encs )

inlineoverridevirtual

Read the position of all axes.

This object receives encoders periodically from a YARP port. You should check the return value of the function to make sure that encoders have been received at least once and with the expected rate.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure. Failure means encoders have not been received from the server or that they are not being streamed with the expected rate.

Implements yarp::dev::IMotorEncoders.

Definition at line 1763 of file RemoteControlBoard.cpp.

◆ getMotorEncoderSpeed()

bool yarp::dev::RemoteControlBoard::getMotorEncoderSpeed	(	int	j,
		double *	sp
	)

inlineoverridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 1796 of file RemoteControlBoard.cpp.

◆ getMotorEncoderSpeeds()

bool yarp::dev::RemoteControlBoard::getMotorEncoderSpeeds ( double * spds )

inlineoverridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IMotorEncoders.

Definition at line 1810 of file RemoteControlBoard.cpp.

◆ getMotorEncodersTimed()

bool yarp::dev::RemoteControlBoard::getMotorEncodersTimed	(	double *	encs,
		double *	ts
	)

inlineoverridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output
ts	pointer to the array that will contain timestamps

Returns: true/false on success/failure

Implements yarp::dev::IMotorEncoders.

Definition at line 1780 of file RemoteControlBoard.cpp.

◆ getMotorEncoderTimed()

bool yarp::dev::RemoteControlBoard::getMotorEncoderTimed	(	int	j,
		double *	v,
		double *	t
	)

inlineoverridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IMotorEncoders.

Definition at line 1743 of file RemoteControlBoard.cpp.

◆ getMotorTorqueParams()

bool yarp::dev::RemoteControlBoard::getMotorTorqueParams	(	int	j,
		MotorTorqueParameters *	params
	)

inlineoverridevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2553 of file RemoteControlBoard.cpp.

◆ getNominalCurrent()

bool yarp::dev::RemoteControlBoard::getNominalCurrent	(	int	m,
		double *	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2284 of file RemoteControlBoard.cpp.

◆ getNumberOfMotorEncoders()

bool yarp::dev::RemoteControlBoard::getNumberOfMotorEncoders ( int * num )

inlineoverridevirtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1866 of file RemoteControlBoard.cpp.

◆ getNumberOfMotors()

bool yarp::dev::RemoteControlBoard::getNumberOfMotors ( int * ax )

inlineoverridevirtual

Retrieves the number of controlled axes from the current physical interface.

Parameters

ax	returns the number of controlled axes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 1636 of file RemoteControlBoard.cpp.

◆ getPeakCurrent()

bool yarp::dev::RemoteControlBoard::getPeakCurrent	(	int	m,
		double *	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2312 of file RemoteControlBoard.cpp.

◆ getPid()

bool yarp::dev::RemoteControlBoard::getPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		Pid *	pid
	)

inlineoverridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	pointer to storage for the return value.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1274 of file RemoteControlBoard.cpp.

◆ getPidError()

bool yarp::dev::RemoteControlBoard::getPidError	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

inlineoverridevirtual

Get the current error for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
err	pointer to the storage for the return value

Returns: true/false on success failure

Implements yarp::dev::IPidControl.

Definition at line 1266 of file RemoteControlBoard.cpp.

◆ getPidErrorLimit()

bool yarp::dev::RemoteControlBoard::getPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

inlineoverridevirtual

Get the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	pointer to storage

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1347 of file RemoteControlBoard.cpp.

◆ getPidErrorLimits()

bool yarp::dev::RemoteControlBoard::getPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		double *	limits
	)

inlineoverridevirtual

Get the error limit for all controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the array that will store the output

Returns: success or failure

Implements yarp::dev::IPidControl.

Definition at line 1351 of file RemoteControlBoard.cpp.

◆ getPidErrors()

bool yarp::dev::RemoteControlBoard::getPidErrors	(	const PidControlTypeEnum &	pidtype,
		double *	errs
	)

inlineoverridevirtual

Get the error of all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
errs	pointer to the vector that will store the errors

Implements yarp::dev::IPidControl.

Definition at line 1270 of file RemoteControlBoard.cpp.

◆ getPidOutput()

bool yarp::dev::RemoteControlBoard::getPidOutput	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

inlineoverridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
out	pointer to storage for return value

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1408 of file RemoteControlBoard.cpp.

◆ getPidOutputs()

bool yarp::dev::RemoteControlBoard::getPidOutputs	(	const PidControlTypeEnum &	pidtype,
		double *	outs
	)

inlineoverridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
outs	pinter to the vector that will store the output values

Implements yarp::dev::IPidControl.

Definition at line 1413 of file RemoteControlBoard.cpp.

◆ getPidReference()

bool yarp::dev::RemoteControlBoard::getPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

inlineoverridevirtual

Get the current reference of the pid controller for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	pointer to storage for return value

Returns: reference value

Implements yarp::dev::IPidControl.

Definition at line 1339 of file RemoteControlBoard.cpp.

◆ getPidReferences()

bool yarp::dev::RemoteControlBoard::getPidReferences	(	const PidControlTypeEnum &	pidtype,
		double *	refs
	)

inlineoverridevirtual

Get the current reference of all pid controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	vector that will store the output.

Implements yarp::dev::IPidControl.

Definition at line 1343 of file RemoteControlBoard.cpp.

◆ getPids()

bool yarp::dev::RemoteControlBoard::getPids	(	const PidControlTypeEnum &	pidtype,
		Pid *	pids
	)

inlineoverridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	vector that will store the values of the pids.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1302 of file RemoteControlBoard.cpp.

◆ getPowerSupplyVoltage()

bool yarp::dev::RemoteControlBoard::getPowerSupplyVoltage	(	int	m,
		double *	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2373 of file RemoteControlBoard.cpp.

◆ getPWM()

bool yarp::dev::RemoteControlBoard::getPWM	(	int	m,
		double *	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2337 of file RemoteControlBoard.cpp.

◆ getPWMLimit()

bool yarp::dev::RemoteControlBoard::getPWMLimit	(	int	m,
		double *	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2352 of file RemoteControlBoard.cpp.

◆ getRefAcceleration()

bool yarp::dev::RemoteControlBoard::getRefAcceleration	(	int	j,
		double *	acc
	)

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2111 of file RemoteControlBoard.cpp.

◆ getRefAccelerations() [1/2]

bool yarp::dev::RemoteControlBoard::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2121 of file RemoteControlBoard.cpp.

◆ getRefAccelerations() [2/2]

bool yarp::dev::RemoteControlBoard::getRefAccelerations ( double * accs )

inlineoverridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 2131 of file RemoteControlBoard.cpp.

◆ getRefCurrent()

bool yarp::dev::RemoteControlBoard::getRefCurrent	(	int	m,
		double *	curr
	)

inlineoverridevirtual

Get the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3161 of file RemoteControlBoard.cpp.

◆ getRefCurrents()

bool yarp::dev::RemoteControlBoard::getRefCurrents ( double * currs )

inlineoverridevirtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3156 of file RemoteControlBoard.cpp.

◆ getRefDutyCycle()

bool yarp::dev::RemoteControlBoard::getRefDutyCycle	(	int	m,
		double *	ref
	)

inlineoverridevirtual

Gets the last reference sent using the setRefDutyCycle function.

Parameters

m	motor number
ref	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3286 of file RemoteControlBoard.cpp.

◆ getRefDutyCycles()

bool yarp::dev::RemoteControlBoard::getRefDutyCycles ( double * refs )

inlineoverridevirtual

Gets the last reference sent using the setRefDutyCycles function.

Parameters

refs	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3309 of file RemoteControlBoard.cpp.

◆ getRefPosition()

bool yarp::dev::RemoteControlBoard::getRefPosition	(	const int	joint,
		double *	ref
	)

inlineoverridevirtual

Get the last position reference for the specified axis.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2832 of file RemoteControlBoard.cpp.

◆ getRefPositions() [1/2]

bool yarp::dev::RemoteControlBoard::getRefPositions ( double * refs )

inlineoverridevirtual

Get the last position reference for all axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2837 of file RemoteControlBoard.cpp.

◆ getRefPositions() [2/2]

bool yarp::dev::RemoteControlBoard::getRefPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

inlineoverridevirtual

Get the last position reference for the specified group of axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2842 of file RemoteControlBoard.cpp.

◆ getRefSpeed()

bool yarp::dev::RemoteControlBoard::getRefSpeed	(	int	j,
		double *	ref
	)

inlineoverridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 2081 of file RemoteControlBoard.cpp.

◆ getRefSpeeds() [1/2]

bool yarp::dev::RemoteControlBoard::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2091 of file RemoteControlBoard.cpp.

◆ getRefSpeeds() [2/2]

bool yarp::dev::RemoteControlBoard::getRefSpeeds ( double * spds )

inlineoverridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 2100 of file RemoteControlBoard.cpp.

◆ getRefTorque()

bool yarp::dev::RemoteControlBoard::getRefTorque	(	int	j,
		double *	t
	)

inlineoverridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2477 of file RemoteControlBoard.cpp.

◆ getRefTorques()

bool yarp::dev::RemoteControlBoard::getRefTorques ( double * t )

inlineoverridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2480 of file RemoteControlBoard.cpp.

◆ getRefVelocities() [1/2]

bool yarp::dev::RemoteControlBoard::getRefVelocities ( double * vels )

inlineoverridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2873 of file RemoteControlBoard.cpp.

◆ getRefVelocities() [2/2]

bool yarp::dev::RemoteControlBoard::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

inlineoverridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2878 of file RemoteControlBoard.cpp.

◆ getRefVelocity()

bool yarp::dev::RemoteControlBoard::getRefVelocity	(	const int	joint,
		double *	vel
	)

inlineoverridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2868 of file RemoteControlBoard.cpp.

◆ getRemoteVariable()

bool yarp::dev::RemoteControlBoard::getRemoteVariable	(	std::string	key,
		yarp::os::Bottle &	val
	)

inlineoverridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1590 of file RemoteControlBoard.cpp.

◆ getRemoteVariablesList()

bool yarp::dev::RemoteControlBoard::getRemoteVariablesList ( yarp::os::Bottle * listOfKeys )

inlineoverridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1619 of file RemoteControlBoard.cpp.

◆ getTargetPosition()

bool yarp::dev::RemoteControlBoard::getTargetPosition	(	const int	joint,
		double *	ref
	)

inlineoverridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1921 of file RemoteControlBoard.cpp.

◆ getTargetPositions() [1/2]

bool yarp::dev::RemoteControlBoard::getTargetPositions ( double * refs )

inlineoverridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1935 of file RemoteControlBoard.cpp.

◆ getTargetPositions() [2/2]

bool yarp::dev::RemoteControlBoard::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

inlineoverridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1949 of file RemoteControlBoard.cpp.

◆ getTemperature()

bool yarp::dev::RemoteControlBoard::getTemperature	(	int	m,
		double *	val
	)

inlineoverridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1640 of file RemoteControlBoard.cpp.

◆ getTemperatureLimit()

bool yarp::dev::RemoteControlBoard::getTemperatureLimit	(	int	m,
		double *	temp
	)

inlineoverridevirtual

Retreives the current temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the current temperature limit.

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1648 of file RemoteControlBoard.cpp.

◆ getTemperatures()

bool yarp::dev::RemoteControlBoard::getTemperatures ( double * vals )

inlineoverridevirtual

Get temperature of all the motors.

Parameters

vals	pointer to an array containing all motor temperatures

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1644 of file RemoteControlBoard.cpp.

◆ getTorque()

bool yarp::dev::RemoteControlBoard::getTorque	(	int	j,
		double *	t
	)

inlineoverridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2580 of file RemoteControlBoard.cpp.

◆ getTorqueRange()

bool yarp::dev::RemoteControlBoard::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2598 of file RemoteControlBoard.cpp.

◆ getTorqueRanges()

bool yarp::dev::RemoteControlBoard::getTorqueRanges	(	double *	min,
		double *	max
	)

inlineoverridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2601 of file RemoteControlBoard.cpp.

◆ getTorques()

bool yarp::dev::RemoteControlBoard::getTorques ( double * t )

inlineoverridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2589 of file RemoteControlBoard.cpp.

◆ getVelLimits()

bool yarp::dev::RemoteControlBoard::getVelLimits	(	int	axis,
		double *	min,
		double *	max
	)

inlineoverridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 2408 of file RemoteControlBoard.cpp.

◆ homingSingleJoint()

bool yarp::dev::RemoteControlBoard::homingSingleJoint ( int j )

inlineoverridevirtual

homingSingleJoint: call the homing procedure for a single joint

Parameters

j	joint to be calibrated

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3081 of file RemoteControlBoard.cpp.

◆ homingWholePart()

bool yarp::dev::RemoteControlBoard::homingWholePart ( )

inlineoverridevirtual

homingWholePart: call the homing procedure for a the whole part/device

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3090 of file RemoteControlBoard.cpp.

◆ isCalibratorDevicePresent()

bool yarp::dev::RemoteControlBoard::isCalibratorDevicePresent ( bool * isCalib )

inlineoverridevirtual

isCalibratorDevicePresent: check if a calibrator device has been set

Returns: true if a valid calibrator device has been found

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 3034 of file RemoteControlBoard.cpp.

◆ isPidEnabled()

bool yarp::dev::RemoteControlBoard::isPidEnabled	(	const PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

inlineoverridevirtual

Get the current status (enabled/disabled) of the pid.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
enabled	the current status of the pid controller.

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1391 of file RemoteControlBoard.cpp.

◆ open() [1/2]

virtual bool yarp::dev::RemoteControlBoard::open ( )

inlinevirtual

Default open.

Returns: always true.

Definition at line 970 of file RemoteControlBoard.cpp.

◆ open() [2/2]

bool yarp::dev::RemoteControlBoard::open ( Searchable & config )

inlineoverridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 974 of file RemoteControlBoard.cpp.

◆ park()

bool yarp::dev::RemoteControlBoard::park ( bool wait = true )

inlineoverridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2432 of file RemoteControlBoard.cpp.

◆ parkSingleJoint()

bool yarp::dev::RemoteControlBoard::parkSingleJoint	(	int	j,
		bool	_wait = `true`
	)

inlineoverridevirtual

parkSingleJoint(): start the parking procedure for the single joint

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3105 of file RemoteControlBoard.cpp.

◆ parkWholePart()

bool yarp::dev::RemoteControlBoard::parkWholePart ( )

inlineoverridevirtual

parkWholePart: start the parking procedure for the whole part

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3114 of file RemoteControlBoard.cpp.

◆ positionMove() [1/3]

bool yarp::dev::RemoteControlBoard::positionMove	(	int	j,
		double	ref
	)

inlineoverridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1888 of file RemoteControlBoard.cpp.

◆ positionMove() [2/3]

bool yarp::dev::RemoteControlBoard::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

inlineoverridevirtual

Set new reference point for a group of axis.

Parameters

n_joint	number of joints specified in the list
joints	list of joints controlled
refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1899 of file RemoteControlBoard.cpp.

◆ positionMove() [3/3]

bool yarp::dev::RemoteControlBoard::positionMove ( const double * refs )

inlineoverridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1908 of file RemoteControlBoard.cpp.

◆ quitCalibrate()

bool yarp::dev::RemoteControlBoard::quitCalibrate ( )

inlineoverridevirtual

quitCalibrate: interrupt the calibration procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3128 of file RemoteControlBoard.cpp.

◆ quitPark()

bool yarp::dev::RemoteControlBoard::quitPark ( )

inlineoverridevirtual

quitPark: interrupt the park procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3142 of file RemoteControlBoard.cpp.

◆ relativeMove() [1/3]

bool yarp::dev::RemoteControlBoard::relativeMove	(	int	j,
		double	delta
	)

inlineoverridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1961 of file RemoteControlBoard.cpp.

◆ relativeMove() [2/3]

bool yarp::dev::RemoteControlBoard::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

inlineoverridevirtual

Set relative position for a subset of joints.

Parameters

n_joint	number of joints specified in the list
joints	pointer to the array of joint numbers
refs	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1971 of file RemoteControlBoard.cpp.

◆ relativeMove() [3/3]

bool yarp::dev::RemoteControlBoard::relativeMove ( const double * deltas )

inlineoverridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1980 of file RemoteControlBoard.cpp.

◆ resetEncoder()

bool yarp::dev::RemoteControlBoard::resetEncoder ( int j )

inlineoverridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	is the axis number

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 1430 of file RemoteControlBoard.cpp.

◆ resetEncoders()

bool yarp::dev::RemoteControlBoard::resetEncoders ( )

inlineoverridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1438 of file RemoteControlBoard.cpp.

◆ resetMotorEncoder()

bool yarp::dev::RemoteControlBoard::resetMotorEncoder ( int j )

inlineoverridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	is the axis number

Returns: true/false on success/failure

Implements yarp::dev::IMotorEncoders.

Definition at line 1670 of file RemoteControlBoard.cpp.

◆ resetMotorEncoders()

bool yarp::dev::RemoteControlBoard::resetMotorEncoders ( )

inlineoverridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1678 of file RemoteControlBoard.cpp.

◆ resetPid()

bool yarp::dev::RemoteControlBoard::resetPid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

inlineoverridevirtual

Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1355 of file RemoteControlBoard.cpp.

◆ setCalibrationParameters()

bool yarp::dev::RemoteControlBoard::setCalibrationParameters	(	int	axis,
		const CalibrationParameters &	params
	)

inlineoverridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2454 of file RemoteControlBoard.cpp.

◆ setControlMode()

bool yarp::dev::RemoteControlBoard::setControlMode	(	const int	j,
		const int	mode
	)

inlineoverridevirtual

Set the current control mode.

Parameters

j	joint number
mode	a vocab of the desired control mode for joint j.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2736 of file RemoteControlBoard.cpp.

◆ setControlModes() [1/2]

bool yarp::dev::RemoteControlBoard::setControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

inlineoverridevirtual

Set the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2750 of file RemoteControlBoard.cpp.

◆ setControlModes() [2/2]

bool yarp::dev::RemoteControlBoard::setControlModes ( int * modes )

inlineoverridevirtual

Set the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the desired control modes of the joints.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2771 of file RemoteControlBoard.cpp.

◆ setEncoder()

bool yarp::dev::RemoteControlBoard::setEncoder	(	int	j,
		double	val
	)

inlineoverridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 1448 of file RemoteControlBoard.cpp.

◆ setEncoders()

bool yarp::dev::RemoteControlBoard::setEncoders ( const double * vals )

inlineoverridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1457 of file RemoteControlBoard.cpp.

◆ setImpedance()

bool yarp::dev::RemoteControlBoard::setImpedance	(	int	j,
		double	stiffness,
		double	damping
	)

inlineoverridevirtual

Set current impedance gains (stiffness,damping) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2643 of file RemoteControlBoard.cpp.

◆ setImpedanceOffset()

bool yarp::dev::RemoteControlBoard::setImpedanceOffset	(	int	j,
		double	offset
	)

inlineoverridevirtual

Set current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2659 of file RemoteControlBoard.cpp.

◆ setInteractionMode()

bool yarp::dev::RemoteControlBoard::setInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

inlineoverridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

axis	joint number
mode	the desired interaction mode

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2920 of file RemoteControlBoard.cpp.

◆ setInteractionModes() [1/2]

bool yarp::dev::RemoteControlBoard::setInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

inlineoverridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 2935 of file RemoteControlBoard.cpp.

◆ setInteractionModes() [2/2]

bool yarp::dev::RemoteControlBoard::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

inlineoverridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters

mode	array with the desired interaction mode for all joints, length is the total number of joints for the part

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 2958 of file RemoteControlBoard.cpp.

◆ setLimits()

bool yarp::dev::RemoteControlBoard::setLimits	(	int	axis,
		double	min,
		double	max
	)

inlineoverridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 2388 of file RemoteControlBoard.cpp.

◆ setMaxCurrent()

bool yarp::dev::RemoteControlBoard::setMaxCurrent	(	int	j,
		double	v
	)

inlineoverridevirtual

Set the maximum electric current going to a given motor.

The behavior of the board/amplifier when this limit is reached depends on the implementation.

Parameters

m	motor number
v	the new value

Returns: probably true, might return false in bad time

Implements yarp::dev::IAmplifierControl.

Definition at line 2259 of file RemoteControlBoard.cpp.

◆ setMotorEncoder()

bool yarp::dev::RemoteControlBoard::setMotorEncoder	(	int	j,
		const double	val
	)

inlineoverridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false on success/failure

Implements yarp::dev::IMotorEncoders.

Definition at line 1688 of file RemoteControlBoard.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool yarp::dev::RemoteControlBoard::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

inlineoverridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor encoder number
cpr	new parameter

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1698 of file RemoteControlBoard.cpp.

◆ setMotorEncoders()

bool yarp::dev::RemoteControlBoard::setMotorEncoders ( const double * vals )

inlineoverridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1717 of file RemoteControlBoard.cpp.

◆ setMotorTorqueParams()

bool yarp::dev::RemoteControlBoard::setMotorTorqueParams	(	int	j,
		const MotorTorqueParameters	params
	)

inlineoverridevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2537 of file RemoteControlBoard.cpp.

◆ setNominalCurrent()

bool yarp::dev::RemoteControlBoard::setNominalCurrent	(	int	m,
		const double	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2298 of file RemoteControlBoard.cpp.

◆ setPeakCurrent()

bool yarp::dev::RemoteControlBoard::setPeakCurrent	(	int	m,
		const double	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2327 of file RemoteControlBoard.cpp.

◆ setPid()

bool yarp::dev::RemoteControlBoard::setPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		const Pid &	pid
	)

inlineoverridevirtual

Set new pid value for a joint axis.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	new pid value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1200 of file RemoteControlBoard.cpp.

◆ setPidErrorLimit()

bool yarp::dev::RemoteControlBoard::setPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

inlineoverridevirtual

Set the error limit for the controller on a specifi joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1258 of file RemoteControlBoard.cpp.

◆ setPidErrorLimits()

bool yarp::dev::RemoteControlBoard::setPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		const double *	limits
	)

inlineoverridevirtual

Get the error limit for the controller on all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the vector with the new limits

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1262 of file RemoteControlBoard.cpp.

◆ setPidOffset()

bool yarp::dev::RemoteControlBoard::setPidOffset	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

inlineoverridevirtual

Set offset value for a given controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
v	the offset to be added to the output of the pid controller

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1418 of file RemoteControlBoard.cpp.

◆ setPidReference()

bool yarp::dev::RemoteControlBoard::setPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

inlineoverridevirtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	new reference point

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1249 of file RemoteControlBoard.cpp.

◆ setPidReferences()

bool yarp::dev::RemoteControlBoard::setPidReferences	(	const PidControlTypeEnum &	pidtype,
		const double *	refs
	)

inlineoverridevirtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	pointer to the vector that contains the new reference points.

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1254 of file RemoteControlBoard.cpp.

◆ setPids()

bool yarp::dev::RemoteControlBoard::setPids	(	const PidControlTypeEnum &	pidtype,
		const Pid *	pids
	)

inlineoverridevirtual

Set new pid value on multiple axes.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	pointer to a vector of pids

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1222 of file RemoteControlBoard.cpp.

◆ setPosition()

bool yarp::dev::RemoteControlBoard::setPosition	(	int	j,
		double	ref
	)

inlineoverridevirtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2791 of file RemoteControlBoard.cpp.

◆ setPositions() [1/2]

bool yarp::dev::RemoteControlBoard::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

inlineoverridevirtual

Set new reference point for all axes.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
refs	array, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2804 of file RemoteControlBoard.cpp.

◆ setPositions() [2/2]

bool yarp::dev::RemoteControlBoard::setPositions ( const double * refs )

inlineoverridevirtual

Set new position for a set of axis.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2820 of file RemoteControlBoard.cpp.

◆ setPWMLimit()

bool yarp::dev::RemoteControlBoard::setPWMLimit	(	int	m,
		const double	val
	)

inlineoverridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2363 of file RemoteControlBoard.cpp.

◆ setRefAcceleration()

bool yarp::dev::RemoteControlBoard::setRefAcceleration	(	int	j,
		double	acc
	)

inlineoverridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2050 of file RemoteControlBoard.cpp.

◆ setRefAccelerations() [1/2]

bool yarp::dev::RemoteControlBoard::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

inlineoverridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2060 of file RemoteControlBoard.cpp.

◆ setRefAccelerations() [2/2]

bool yarp::dev::RemoteControlBoard::setRefAccelerations ( const double * accs )

inlineoverridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2070 of file RemoteControlBoard.cpp.

◆ setRefCurrent()

bool yarp::dev::RemoteControlBoard::setRefCurrent	(	int	m,
		double	curr
	)

inlineoverridevirtual

Set the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3179 of file RemoteControlBoard.cpp.

◆ setRefCurrents() [1/2]

bool yarp::dev::RemoteControlBoard::setRefCurrents ( const double * currs )

inlineoverridevirtual

Set the reference value of the currents for all motors.

Parameters

currs the array containing the reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3166 of file RemoteControlBoard.cpp.

◆ setRefCurrents() [2/2]

bool yarp::dev::RemoteControlBoard::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

inlineoverridevirtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array containing the list of motor numbers
currs	pointer to the array specifying the new current references

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 3193 of file RemoteControlBoard.cpp.

◆ setRefDutyCycle()

bool yarp::dev::RemoteControlBoard::setRefDutyCycle	(	int	m,
		double	ref
	)

inlineoverridevirtual

Sets the reference dutycycle to a single motor.

Parameters

m	motor number
ref	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3250 of file RemoteControlBoard.cpp.

◆ setRefDutyCycles()

bool yarp::dev::RemoteControlBoard::setRefDutyCycles ( const double * refs )

inlineoverridevirtual

Sets the reference dutycycle for all the motors.

Parameters

refs	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 3268 of file RemoteControlBoard.cpp.

◆ setRefSpeed()

bool yarp::dev::RemoteControlBoard::setRefSpeed	(	int	j,
		double	sp
	)

inlineoverridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2019 of file RemoteControlBoard.cpp.

◆ setRefSpeeds() [1/2]

bool yarp::dev::RemoteControlBoard::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2029 of file RemoteControlBoard.cpp.

◆ setRefSpeeds() [2/2]

bool yarp::dev::RemoteControlBoard::setRefSpeeds ( const double * spds )

inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2039 of file RemoteControlBoard.cpp.

◆ setRefTorque()

bool yarp::dev::RemoteControlBoard::setRefTorque	(	int	j,
		double	t
	)

inlineoverridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2500 of file RemoteControlBoard.cpp.

◆ setRefTorques() [1/2]

bool yarp::dev::RemoteControlBoard::setRefTorques ( const double * t )

inlineoverridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2483 of file RemoteControlBoard.cpp.

◆ setRefTorques() [2/2]

bool yarp::dev::RemoteControlBoard::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

inlineoverridevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2518 of file RemoteControlBoard.cpp.

◆ setRemoteVariable()

bool yarp::dev::RemoteControlBoard::setRemoteVariable	(	std::string	key,
		const yarp::os::Bottle &	val
	)

inlineoverridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1605 of file RemoteControlBoard.cpp.

◆ setTemperatureLimit()

bool yarp::dev::RemoteControlBoard::setTemperatureLimit	(	int	m,
		const double	temp
	)

inlineoverridevirtual

Set the temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the temperature limit to be set

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1652 of file RemoteControlBoard.cpp.

◆ setVelLimits()

bool yarp::dev::RemoteControlBoard::setVelLimits	(	int	axis,
		double	min,
		double	max
	)

inlineoverridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 2403 of file RemoteControlBoard.cpp.

◆ stop() [1/3]

bool yarp::dev::RemoteControlBoard::stop ( int j )

inlineoverridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2140 of file RemoteControlBoard.cpp.

◆ stop() [2/3]

bool yarp::dev::RemoteControlBoard::stop	(	const int	len,
		const int *	val1
	)

inlineoverridevirtual

Stop motion for subset of joints.

Parameters

len	size of joint list
val1	list of joints

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2149 of file RemoteControlBoard.cpp.

◆ stop() [3/3]

bool yarp::dev::RemoteControlBoard::stop ( )

inlineoverridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2169 of file RemoteControlBoard.cpp.

◆ velocityMove() [1/3]

bool yarp::dev::RemoteControlBoard::velocityMove	(	int	j,
		double	v
	)

inlineoverridevirtual

Set new reference speed for a single axis.

Parameters

j	joint number
v	specifies the new ref speed

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 2180 of file RemoteControlBoard.cpp.

◆ velocityMove() [2/3]

bool yarp::dev::RemoteControlBoard::velocityMove ( const double * v )

inlineoverridevirtual

Set a new reference speed for all axes.

Parameters

v	is a vector of double representing the requested speed.

Returns: true/false on success/failure.

Implements yarp::dev::IVelocityControl.

Definition at line 2198 of file RemoteControlBoard.cpp.

◆ velocityMove() [3/3]

bool yarp::dev::RemoteControlBoard::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

inlineoverridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer to the array containing the new speed values, one value for each joint, the size of the array is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 spds 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 2850 of file RemoteControlBoard.cpp.

The documentation for this class was generated from the following file:

src/libYARP_dev/src/devices/RemoteControlBoard/RemoteControlBoard.cpp

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

◆ RemoteControlBoard()

◆ ~RemoteControlBoard()

Member Function Documentation

◆ abortCalibration()

◆ abortPark()

◆ calibrateAxisWithParams()

◆ calibrateRobot()

◆ calibrateSingleJoint()

◆ calibrateWholePart()

◆ calibrationDone()

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ checkProtocolVersion()

◆ close()

◆ disableAmp()

◆ disablePid()

◆ enableAmp()

◆ enablePid()

◆ getAmpStatus() [1/2]

◆ getAmpStatus() [2/2]

◆ getAxes()

◆ getAxisName()

◆ getControlMode()

◆ getControlModes() [1/2]

◆ getControlModes() [2/2]

◆ getCurrent()

◆ getCurrentImpedanceLimit()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getDutyCycle()

◆ getDutyCycles()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getGearboxRatio() [1/2]

◆ getGearboxRatio() [2/2]

◆ getImpedance()

◆ getImpedanceOffset()

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ getJointType()

◆ getLastInputStamp()

◆ getLimits()

◆ getMaxCurrent()

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getMotorTorqueParams()

◆ getNominalCurrent()

◆ getNumberOfMotorEncoders()

◆ getNumberOfMotors()

◆ getPeakCurrent()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()

◆ getPidOutputs()

◆ getPidReference()

◆ getPidReferences()

◆ getPids()

◆ getPowerSupplyVoltage()