#include <controlBoardCouplingHandler/ControlBoardCouplingHandler.h>

Inheritance diagram for ControlBoardCouplingHandler:

Public Member Functions
	ControlBoardCouplingHandler ()=default

	ControlBoardCouplingHandler (const ControlBoardCouplingHandler &)=delete

	ControlBoardCouplingHandler (ControlBoardCouplingHandler &&)=delete

ControlBoardCouplingHandler &	operator= (const ControlBoardCouplingHandler &)=delete

ControlBoardCouplingHandler &	operator= (ControlBoardCouplingHandler &&)=delete

	~ControlBoardCouplingHandler () override=default

bool	verbose () const
	Return the value of the verbose flag.

bool	close () override
	Close the device driver by deallocating all resources and closing ports.

bool	open (yarp::os::Searchable &prop) override
	Open the device driver.

bool	detach () override
	Detach the object (you must have first called attach).

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object.

bool	resetEncoder (int j) override
	ControlBoard methods.

bool	resetEncoders () override
	Reset encoders.

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

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

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

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

bool	getEncodersTimed (double encs, double t) override
	Read the instantaneous acceleration of all axes.

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes.

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

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

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

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

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

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

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

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

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

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

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

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

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

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

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

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

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

Public Member Functions inherited from ControlBoardCouplingHandler_ParamsParser
	ControlBoardCouplingHandler_ParamsParser ()

	~ControlBoardCouplingHandler_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

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

Additional Inherited Members
Public Attributes inherited from ControlBoardCouplingHandler_ParamsParser
const std::string	m_device_classname = {"ControlBoardCouplingHandler"}

const std::string	m_device_name = {"controlBoardCouplingHandler"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_coupling_device_defaultValue = {""}

std::string	m_coupling_device = {}

Detailed Description

Definition at line 27 of file ControlBoardCouplingHandler.h.

Constructor & Destructor Documentation

◆ ControlBoardCouplingHandler() [1/3]

ControlBoardCouplingHandler::ControlBoardCouplingHandler ( )

default

◆ ControlBoardCouplingHandler() [2/3]

ControlBoardCouplingHandler::ControlBoardCouplingHandler ( const ControlBoardCouplingHandler & )

delete

◆ ControlBoardCouplingHandler() [3/3]

ControlBoardCouplingHandler::ControlBoardCouplingHandler ( ControlBoardCouplingHandler && )

delete

◆ ~ControlBoardCouplingHandler()

ControlBoardCouplingHandler::~ControlBoardCouplingHandler ( )

overridedefault

Member Function Documentation

◆ attach()

bool ControlBoardCouplingHandler::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 55 of file ControlBoardCouplingHandler.cpp.

◆ close()

bool ControlBoardCouplingHandler::close ( )

overridevirtual

Close the device driver by deallocating all resources and closing ports.

Returns: true if successful or false otherwise.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 22 of file ControlBoardCouplingHandler.cpp.

◆ detach()

bool ControlBoardCouplingHandler::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 103 of file ControlBoardCouplingHandler.cpp.

◆ getAxes()

bool ControlBoardCouplingHandler::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

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

Returns: the number of controlled axes.

Implements yarp::dev::IEncoders.

Definition at line 267 of file ControlBoardCouplingHandler.cpp.

◆ getAxisName()

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

overridevirtual

Implements yarp::dev::IAxisInfo.

Definition at line 281 of file ControlBoardCouplingHandler.cpp.

◆ getEncoder()

bool ControlBoardCouplingHandler::getEncoder	(	int	j,
		double *	v
	)

overridevirtual

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 139 of file ControlBoardCouplingHandler.cpp.

◆ getEncoderAcceleration()

bool ControlBoardCouplingHandler::getEncoderAcceleration	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

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

Implements yarp::dev::IEncoders.

Definition at line 233 of file ControlBoardCouplingHandler.cpp.

◆ getEncoderAccelerations()

bool ControlBoardCouplingHandler::getEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous 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 249 of file ControlBoardCouplingHandler.cpp.

◆ getEncoders()

bool ControlBoardCouplingHandler::getEncoders ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 153 of file ControlBoardCouplingHandler.cpp.

◆ getEncoderSpeed()

bool ControlBoardCouplingHandler::getEncoderSpeed	(	int	j,
		double *	sp
	)

overridevirtual

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 203 of file ControlBoardCouplingHandler.cpp.

◆ getEncoderSpeeds()

bool ControlBoardCouplingHandler::getEncoderSpeeds ( double * spds )

overridevirtual

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 218 of file ControlBoardCouplingHandler.cpp.

◆ getEncodersTimed()

bool ControlBoardCouplingHandler::getEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

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

Implements yarp::dev::IEncodersTimed.

Definition at line 167 of file ControlBoardCouplingHandler.cpp.

◆ getEncoderTimed()

bool ControlBoardCouplingHandler::getEncoderTimed	(	int	j,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

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

Implements yarp::dev::IEncodersTimed.

Definition at line 187 of file ControlBoardCouplingHandler.cpp.

◆ getJointType()

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

overridevirtual

Reimplemented from yarp::dev::IAxisInfo.

Definition at line 291 of file ControlBoardCouplingHandler.cpp.

◆ open()

bool ControlBoardCouplingHandler::open ( yarp::os::Searchable & prop )

overridevirtual

Open the device driver.

Parameters

prop	is a Searchable object which contains the parameters. Allowed parameters are described in the class documentation.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 27 of file ControlBoardCouplingHandler.cpp.

◆ operator=() [1/2]

ControlBoardCouplingHandler & ControlBoardCouplingHandler::operator= ( const ControlBoardCouplingHandler & )

delete

◆ operator=() [2/2]

ControlBoardCouplingHandler & ControlBoardCouplingHandler::operator= ( ControlBoardCouplingHandler && )

delete

◆ resetEncoder()

bool ControlBoardCouplingHandler::resetEncoder ( int j )

overridevirtual

ControlBoard methods.

Implements yarp::dev::IEncoders.

Definition at line 119 of file ControlBoardCouplingHandler.cpp.

◆ resetEncoders()

bool ControlBoardCouplingHandler::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 124 of file ControlBoardCouplingHandler.cpp.

◆ setEncoder()

bool ControlBoardCouplingHandler::setEncoder	(	int	j,
		double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 129 of file ControlBoardCouplingHandler.cpp.

◆ setEncoders()

bool ControlBoardCouplingHandler::setEncoders ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 134 of file ControlBoardCouplingHandler.cpp.

◆ verbose()

bool ControlBoardCouplingHandler::verbose ( ) const

inline

Return the value of the verbose flag.

Returns: the verbose flag.

Definition at line 73 of file ControlBoardCouplingHandler.h.

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

src/devices/controlBoardCouplingHandler/ControlBoardCouplingHandler.h
src/devices/controlBoardCouplingHandler/ControlBoardCouplingHandler.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ControlBoardCouplingHandler() [1/3]

◆ ControlBoardCouplingHandler() [2/3]

◆ ControlBoardCouplingHandler() [3/3]

◆ ~ControlBoardCouplingHandler()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ getAxes()

◆ getAxisName()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getJointType()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ resetEncoder()

◆ resetEncoders()

◆ setEncoder()

◆ setEncoders()

◆ verbose()