YARP
Yet Another Robot Platform
ControlBoardWrapperPositionControl.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 #ifndef YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERPOSITIONCONTROL_H
7 #define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERPOSITIONCONTROL_H
8 
10 
12 
13 
15  virtual public ControlBoardWrapperCommon,
17 {
18 public:
19  inline bool getAxes(int* ax) override
20  {
22  }
23  bool positionMove(int j, double ref) override;
24  bool positionMove(const double* refs) override;
25  bool positionMove(const int n_joints, const int* joints, const double* refs) override;
26  bool getTargetPosition(const int joint, double* ref) override;
27  bool getTargetPositions(double* refs) override;
28  bool getTargetPositions(const int n_joint, const int* joints, double* refs) override;
29  bool relativeMove(int j, double delta) override;
30  bool relativeMove(const double* deltas) override;
31  bool relativeMove(const int n_joints, const int* joints, const double* deltas) override;
32  bool checkMotionDone(int j, bool* flag) override;
33  bool checkMotionDone(bool* flag) override;
34  bool checkMotionDone(const int n_joints, const int* joints, bool* flags) override;
35  bool setRefSpeed(int j, double sp) override;
36  bool setRefSpeeds(const double* spds) override;
37  bool setRefSpeeds(const int n_joints, const int* joints, const double* spds) override;
38  inline bool setRefAcceleration(int j, double acc) override { return ControlBoardWrapperCommon::setRefAcceleration(j, acc); }
39  inline bool setRefAccelerations(const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(accs); }
40  inline bool setRefAccelerations(const int n_joints, const int* joints, const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(n_joints, joints, accs); }
41  bool getRefSpeed(int j, double* ref) override;
42  bool getRefSpeeds(double* spds) override;
43  bool getRefSpeeds(const int n_joints, const int* joints, double* spds) override;
44  inline bool getRefAcceleration(int j, double* acc) override { return ControlBoardWrapperCommon::getRefAcceleration(j, acc); }
45  inline bool getRefAccelerations(double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(accs); }
46  inline bool getRefAccelerations(const int n_joints, const int* joints, double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(n_joints, joints, accs); }
47  inline bool stop(int j) override { return ControlBoardWrapperCommon::stop(j); }
48  inline bool stop() override { return ControlBoardWrapperCommon::stop(); }
49  inline bool stop(const int n_joints, const int* joints) override { return ControlBoardWrapperCommon::stop(n_joints, joints); }
50 };
51 
52 #endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERPOSITIONCONTROL_H
bool getRefAcceleration(int j, double *acc)
bool setRefAcceleration(int j, double acc)
bool setRefAccelerations(const double *accs)
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
bool getTargetPositions(double *refs) override
Get the last position reference for all axes.
bool stop(const int n_joints, const int *joints) override
Stop motion for subset of joints.
bool getRefSpeeds(double *spds) override
Get reference speed of all joints.
bool getRefAccelerations(const int n_joints, const int *joints, double *accs) override
Get reference acceleration for a joint.
bool stop(int j) override
Stop motion, single joint.
bool getRefSpeed(int j, double *ref) override
Get reference speed for a joint.
bool getTargetPosition(const int joint, double *ref) override
Get the last position reference for the specified axis.
bool getAxes(int *ax) override
Get the number of controlled axes.
bool checkMotionDone(int j, bool *flag) override
Check if the current trajectory is terminated.
bool positionMove(int j, double ref) override
Set new reference point for a single axis.
bool relativeMove(int j, double delta) override
Set relative position.
bool setRefAccelerations(const int n_joints, const int *joints, const double *accs) override
Set reference acceleration on all joints.
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
bool stop() override
Stop motion, multiple joints.
bool setRefSpeeds(const double *spds) override
Set reference speed on all joints.
bool setRefAccelerations(const double *accs) override
Set reference acceleration on all joints.
bool getRefAccelerations(double *accs) override
Get reference acceleration of all joints.
bool setRefSpeed(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Interface for a generic control board device implementing position control.