YARP
Yet Another Robot Platform
ControlBoardWrapperVelocityControl.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_CONTROLBOARDWRAPPERVELOCITYCONTROL_H
7 #define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERVELOCITYCONTROL_H
8 
10 
12 
13 
15  virtual public ControlBoardWrapperCommon,
17 {
18 public:
19  inline bool getAxes(int* ax) override { return ControlBoardWrapperCommon::getAxes(ax); }
20  bool velocityMove(int j, double v) override;
21  bool velocityMove(const double* v) override;
22  bool velocityMove(const int n_joints, const int* joints, const double* spds) override;
23  bool getRefVelocity(const int joint, double* vel) override;
24  bool getRefVelocities(double* vels) override;
25  bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
26  inline bool setRefAcceleration(int j, double acc) override { return ControlBoardWrapperCommon::setRefAcceleration(j, acc); }
27  inline bool setRefAccelerations(const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(accs); }
28  inline bool setRefAccelerations(const int n_joints, const int* joints, const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(n_joints, joints, accs); }
29  inline bool getRefAcceleration(int j, double* acc) override { return ControlBoardWrapperCommon::getRefAcceleration(j, acc); }
30  inline bool getRefAccelerations(double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(accs); }
31  inline bool getRefAccelerations(const int n_joints, const int* joints, double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(n_joints, joints, accs); }
32  inline bool stop(int j) override { return ControlBoardWrapperCommon::stop(j); }
33  inline bool stop() override { return ControlBoardWrapperCommon::stop(); }
34  inline bool stop(const int n_joint, const int* joints) override { return ControlBoardWrapperCommon::stop(n_joint, joints); }
35 };
36 
37 #endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERVELOCITYCONTROL_H
bool getRefAcceleration(int j, double *acc)
bool setRefAcceleration(int j, double acc)
bool setRefAccelerations(const double *accs)
bool getRefVelocity(const int joint, double *vel) override
Get the last reference speed set by velocityMove for single joint.
bool getRefVelocities(double *vels) override
Get the last reference speed set by velocityMove for all joints.
bool setRefAccelerations(const int n_joints, const int *joints, const double *accs) override
Set reference acceleration for a subset of joints.
bool stop() override
Stop motion, multiple joints.
bool getRefAccelerations(const int n_joints, const int *joints, double *accs) override
Get reference acceleration for a subset of joints.
bool velocityMove(int j, double v) override
Start motion at a given speed, single joint.
bool getRefAccelerations(double *accs) override
Get reference acceleration of all joints.
bool setRefAccelerations(const double *accs) override
Set reference acceleration on all joints.
bool setRefAcceleration(int j, double acc) override
Set reference acceleration for a joint.
bool stop(int j) override
Stop motion, single joint.
bool getAxes(int *ax) override
Get the number of controlled axes.
bool getRefAcceleration(int j, double *acc) override
Get reference acceleration for a joint.
bool stop(const int n_joint, const int *joints) override
Stop motion for a subset of joints.
Interface for control boards implementing velocity control.