YARP
Yet Another Robot Platform
ImplementImpedanceControl.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_IMPLEMENTIMPEDANCECONTROL_H
7#define YARP_DEV_IMPLEMENTIMPEDANCECONTROL_H
8
10#include <yarp/dev/api.h>
11
12namespace yarp::dev {
13class ImplementImpedanceControl;
14}
15
17{
18protected:
20 void *helper;
21
28 bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw);
29
34 bool uninitialize ();
35
36public:
37 /* Constructor.
38 * @param y is the pointer to the class instance inheriting from this
39 * implementation.
40 */
42
47
48 bool getAxes(int *ax) override;
49 bool getImpedance(int j, double *stiffness, double *damping) override;
50 bool setImpedance(int j, double stiffness, double damping) override;
51 bool setImpedanceOffset(int j, double offset) override;
52 bool getImpedanceOffset(int j, double* offset) override;
53 bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
54
55};
56
57#endif // YARP_DEV_IMPLEMENTIMPEDANCECONTROL_H
Interface for control boards implementing impedance control.
Interface for control boards implementing impedance control.
bool uninitialize()
Clean up internal data and memory.
bool getImpedance(int j, double *stiffness, double *damping) override
Get current impedance gains (stiffness,damping,offset) for a specific joint.
bool getImpedanceOffset(int j, double *offset) override
Get current force Offset for a specific joint.
bool initialize(int size, const int *amap, const double *enc, const double *zos, const double *nw)
Initialize the internal data and alloc memory.
ImplementImpedanceControl(yarp::dev::IImpedanceControlRaw *y)
yarp::dev::IImpedanceControlRaw * iImpedanceRaw
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.
bool getAxes(int *ax) override
Get the number of controlled axes.
bool setImpedanceOffset(int j, double offset) override
Set current force Offset for a specific joint.
bool setImpedance(int j, double stiffness, double damping) override
Set current impedance gains (stiffness,damping) for a specific joint.
For streams capable of holding different kinds of content, check what they actually have.
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_dev_API
Definition: api.h:18