controlboardremapper : device that takes a list of axes from multiple controlboards and expose them as a single controlboard. More...

#include <ControlBoardRemapper/ControlBoardRemapper.h>

Inheritance diagram for ControlBoardRemapper:

Public Member Functions
	ControlBoardRemapper ()=default

	ControlBoardRemapper (const ControlBoardRemapper &)=delete

	ControlBoardRemapper (ControlBoardRemapper &&)=delete

ControlBoardRemapper &	operator= (const ControlBoardRemapper &)=delete

ControlBoardRemapper &	operator= (ControlBoardRemapper &&)=delete

	~ControlBoardRemapper () override=default

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

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

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

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

bool	attachAll (const yarp::dev::PolyDriverList &l) override
	Attach to a list of objects. More...

bool	setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &p) override
	ControlBoard methods. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid. 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 double *refs) override
	Set new reference point for all axes. More...

bool	positionMove (const int n_joints, const int joints, const double refs) override
	Set new reference point for a subset of joints. 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 double *deltas) override
	Set relative position, all joints. More...

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

bool	checkMotionDone (int j, 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	checkMotionDone (const int n_joints, const int joints, bool flags) 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 double *spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const int n_joints, const int joints, 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 double *accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const int n_joints, const int joints, 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 (double *spds) override
	Get reference speed of all joints. More...

bool	getRefSpeeds (const int n_joints, const int joints, 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 (double *accs) override
	Get reference acceleration of all joints. More...

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

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

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

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

bool	getLastJointFault (int j, int &fault, std::string &message) override

bool	velocityMove (int j, double v) override
	Start motion at a given speed, single joint. More...

bool	velocityMove (const double *v) override
	Start motion at a given speed, multiple joints. 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	getEncoders (double *encs) override
	Read the position of all axes. More...

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

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

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

bool	resetMotorEncoder (int m) override
	Reset motor encoder, single motor. More...

bool	resetMotorEncoders () override
	Reset motor encoders. 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	setMotorEncoder (int m, const double val) override
	Set the value of the motor encoder for a given motor. More...

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

bool	getMotorEncoder (int m, double *v) override
	Read the value of a motor encoder. More...

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

bool	getMotorEncodersTimed (double encs, double t) override
	Read the instantaneous position of all motor encoders. More...

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder. More...

bool	getMotorEncoderSpeed (int m, double *sp) override
	Read the istantaneous speed of a motor encoder. More...

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

bool	getMotorEncoderAcceleration (int m, double *acc) override
	Read the instantaneous acceleration of a motor encoder. More...

bool	getMotorEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all motor encoders. 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

bool	getAmpStatus (int j, int *v) override

bool	setMaxCurrent (int j, double v) override

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 j, 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 j, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setVelLimits (int j, 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 j, double min, double max) override
	Get the software speed limits for a particular axis. 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	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...

yarp::dev::IRemoteCalibrator *	getCalibratorDevice () override
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice 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	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 yarp::dev::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	abortPark () override

bool	abortCalibration () 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...

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

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

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

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

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

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

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

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

bool	setImpedance (int j, double stiff, double damp) 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	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 stiff, double damp) 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	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 (int *modes) override
	Get the current control mode (multiple joints). 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	setControlMode (const int j, const int mode) override
	Set the current control mode. More...

bool	setControlModes (const int n_joints, 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_joints, const int joints, const double dpos) 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...

yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

bool	velocityMove (const int n_joints, 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 j, 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 j, 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	setRefDutyCycle (int m, double ref) override
	Sets the reference dutycycle to a single motor. More...

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

bool	getRefDutyCycle (int m, 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 m, double *val) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

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

bool	getCurrent (int m, double *curr) override

bool	getCurrents (double *currs) override

bool	getCurrentRange (int m, 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	setRefCurrents (const double *currs) override
	Set the reference value of the currents for all motors. More...

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

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

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

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

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

	~DeviceDriver () override

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

bool	close () override
	Close the DeviceDriver. More...

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

virtual void	setId (const std::string &id)
	Set the id for this device. 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	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

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

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

virtual bool	setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid)=0
	Set new pid value for a joint axis. More...

virtual bool	setPids (const PidControlTypeEnum &pidtype, const Pid *pids)=0
	Set new pid value on multiple axes. More...

virtual bool	setPidReference (const PidControlTypeEnum &pidtype, int j, double ref)=0
	Set the controller reference for a given axis. More...

virtual bool	setPidReferences (const PidControlTypeEnum &pidtype, const double *refs)=0
	Set the controller reference, multiple axes. More...

virtual bool	setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit)=0
	Set the error limit for the controller on a specifi joint. More...

virtual bool	setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits)=0
	Get the error limit for the controller on all joints. More...

virtual bool	getPidError (const PidControlTypeEnum &pidtype, int j, double *err)=0
	Get the current error for a joint. More...

virtual bool	getPidErrors (const PidControlTypeEnum &pidtype, double *errs)=0
	Get the error of all joints. More...

virtual bool	getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out)=0
	Get the output of the controller (e.g. More...

virtual bool	getPidOutputs (const PidControlTypeEnum &pidtype, double *outs)=0
	Get the output of the controllers (e.g. More...

virtual bool	getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid)=0
	Get current pid value for a specific joint. More...

virtual bool	getPids (const PidControlTypeEnum &pidtype, Pid *pids)=0
	Get current pid value for a specific joint. More...

virtual bool	getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref)=0
	Get the current reference of the pid controller for a specific joint. More...

virtual bool	getPidReferences (const PidControlTypeEnum &pidtype, double *refs)=0
	Get the current reference of all pid controllers. More...

virtual bool	getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *limit)=0
	Get the error limit for the controller on a specific joint. More...

virtual bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits)=0
	Get the error limit for all controllers. More...

virtual bool	resetPid (const PidControlTypeEnum &pidtype, int j)=0
	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...

virtual bool	disablePid (const PidControlTypeEnum &pidtype, int j)=0
	Disable the pid computation for a joint. More...

virtual bool	enablePid (const PidControlTypeEnum &pidtype, int j)=0
	Enable the pid computation for a joint. More...

virtual bool	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v)=0
	Set offset value for a given controller. More...

virtual bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled)=0
	Get the current status (enabled/disabled) of the pid. More...

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	positionMove (int j, double ref)=0
	Set new reference point for a single axis. More...

virtual bool	positionMove (const double *refs)=0
	Set new reference point for all axes. More...

virtual bool	relativeMove (int j, double delta)=0
	Set relative position. More...

virtual bool	relativeMove (const double *deltas)=0
	Set relative position, all joints. More...

virtual bool	checkMotionDone (int j, bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	checkMotionDone (bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeed (int j, double sp)=0
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

virtual bool	setRefSpeeds (const double *spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAcceleration (int j, double acc)=0
	Set reference acceleration for a joint. More...

virtual bool	setRefAccelerations (const double *accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeed (int j, double *ref)=0
	Get reference speed for a joint. More...

virtual bool	getRefSpeeds (double *spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAcceleration (int j, double *acc)=0
	Get reference acceleration for a joint. More...

virtual bool	getRefAccelerations (double *accs)=0
	Get reference acceleration of all joints. More...

virtual bool	stop (int j)=0
	Stop motion, single joint. More...

virtual bool	stop ()=0
	Stop motion, multiple joints. More...

virtual bool	positionMove (const int n_joint, const int joints, const double refs)=0
	Set new reference point for a subset of joints. More...

virtual bool	relativeMove (const int n_joint, const int joints, const double deltas)=0
	Set relative position for a subset of joints. More...

virtual bool	checkMotionDone (const int n_joint, const int joints, bool flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeeds (const int n_joint, const int joints, const double spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAccelerations (const int n_joint, const int joints, const double accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeeds (const int n_joint, const int joints, double spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAccelerations (const int n_joint, const int joints, double accs)=0
	Get reference acceleration for a joint. More...

virtual bool	stop (const int n_joint, const int *joints)=0
	Stop motion for subset of joints. More...

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

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

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

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	setPosition (int j, double ref)=0
	Set new position for a single axis. More...

virtual bool	setPositions (const int n_joint, const int joints, const double refs)=0
	Set new reference point for all axes. More...

virtual bool	setPositions (const double *refs)=0
	Set new position for a set of axis. More...

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

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

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

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

virtual bool	getAxes (int *axes)=0
	Get the number of controlled axes. More...

virtual bool	velocityMove (int j, double sp)=0
	Start motion at a given speed, single joint. More...

virtual bool	velocityMove (const double *sp)=0
	Start motion at a given speed, multiple joints. More...

virtual bool	setRefAcceleration (int j, double acc)=0
	Set reference acceleration for a joint. More...

virtual bool	setRefAccelerations (const double *accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefAcceleration (int j, double *acc)=0
	Get reference acceleration for a joint. More...

virtual bool	getRefAccelerations (double *accs)=0
	Get reference acceleration of all joints. More...

virtual bool	stop (int j)=0
	Stop motion, single joint. More...

virtual bool	stop ()=0
	Stop motion, multiple joints. More...

virtual bool	velocityMove (const int n_joint, const int joints, const double spds)=0
	Start motion at a given speed for a subset of joints. More...

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

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

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

virtual bool	setRefAccelerations (const int n_joint, const int joints, const double accs)=0
	Set reference acceleration for a subset of joints. More...

virtual bool	getRefAccelerations (const int n_joint, const int joints, double accs)=0
	Get reference acceleration for a subset of joints. More...

virtual bool	stop (const int n_joint, const int *joints)=0
	Stop motion for a subset of joints. More...

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

virtual bool	getNumberOfMotors (int *number)=0
	Retrieves the number of controlled motors from the current physical interface. More...

virtual bool	setRefDutyCycle (int m, double ref)=0
	Sets the reference dutycycle to a single motor. More...

virtual bool	setRefDutyCycles (const double *refs)=0
	Sets the reference dutycycle for all the motors. More...

virtual bool	getRefDutyCycle (int m, double *ref)=0
	Gets the last reference sent using the setRefDutyCycle function. More...

virtual bool	getRefDutyCycles (double *refs)=0
	Gets the last reference sent using the setRefDutyCycles function. More...

virtual bool	getDutyCycle (int m, double *val)=0
	Gets the current dutycycle of the output of the amplifier (i.e. More...

virtual bool	getDutyCycles (double *vals)=0
	Gets the current dutycycle of the output of the amplifier (i.e. More...

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

virtual bool	getNumberOfMotors (int *ax)=0
	Retrieves the number of controlled axes from the current physical interface. More...

virtual bool	getCurrent (int m, double *curr)=0
	Get the instantaneous current measurement for a single motor. More...

virtual bool	getCurrents (double *currs)=0
	Get the instantaneous current measurement for all motors. More...

virtual bool	getCurrentRange (int m, double min, double max)=0
	Get the full scale of the current measurement for a given motor (e.g. More...

virtual bool	getCurrentRanges (double min, double max)=0
	Get the full scale of the current measurements for all motors motor (e.g. More...

virtual bool	setRefCurrents (const double *currs)=0
	Set the reference value of the currents for all motors. More...

virtual bool	setRefCurrent (int m, double curr)=0
	Set the reference value of the current for a single motor. More...

virtual bool	setRefCurrents (const int n_motor, const int motors, const double currs)=0
	Set the reference value of the current for a group of motors. More...

virtual bool	getRefCurrents (double *currs)=0
	Get the reference value of the currents for all motors. More...

virtual bool	getRefCurrent (int m, double *curr)=0
	Get the reference value of the current for a single motor. More...

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

virtual bool	getEncodersTimed (double encs, double time)=0
	Read the instantaneous acceleration of all axes. More...

virtual bool	getEncoderTimed (int j, double encs, double time)=0
	Read the instantaneous acceleration of all axes. More...

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	resetEncoder (int j)=0
	Reset encoder, single joint. More...

virtual bool	resetEncoders ()=0
	Reset encoders. More...

virtual bool	setEncoder (int j, double val)=0
	Set the value of the encoder for a given joint. More...

virtual bool	setEncoders (const double *vals)=0
	Set the value of all encoders. More...

virtual bool	getEncoder (int j, double *v)=0
	Read the value of an encoder. More...

virtual bool	getEncoders (double *encs)=0
	Read the position of all axes. More...

virtual bool	getEncoderSpeed (int j, double *sp)=0
	Read the istantaneous speed of an axis. More...

virtual bool	getEncoderSpeeds (double *spds)=0
	Read the instantaneous speed of all axes. More...

virtual bool	getEncoderAcceleration (int j, double *spds)=0
	Read the instantaneous acceleration of an axis. More...

virtual bool	getEncoderAccelerations (double *accs)=0
	Read the instantaneous acceleration of all axes. More...

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

virtual bool	getNumberOfMotors (int *num)=0
	Get the number of available motors. More...

virtual bool	getTemperature (int m, double *val)=0
	Get temperature of a motor. More...

virtual bool	getTemperatures (double *vals)=0
	Get temperature of all the motors. More...

virtual bool	getTemperatureLimit (int m, double *temp)=0
	Retreives the current temperature limit for a specific motor. More...

virtual bool	setTemperatureLimit (int m, const double temp)=0
	Set the temperature limit for a specific motor. More...

virtual bool	getGearboxRatio (int m, double *val)
	Get the gearbox ratio for a specific motor. 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::IMotorEncoders
virtual	~IMotorEncoders ()
	Destructor. More...

virtual bool	getNumberOfMotorEncoders (int *num)=0
	Get the number of available motor encoders. More...

virtual bool	resetMotorEncoder (int m)=0
	Reset motor encoder, single motor. More...

virtual bool	resetMotorEncoders ()=0
	Reset motor encoders. More...

virtual bool	setMotorEncoderCountsPerRevolution (int m, const double cpr)=0
	Sets number of counts per revolution for motor encoder m. More...

virtual bool	getMotorEncoderCountsPerRevolution (int m, double *cpr)=0
	Gets number of counts per revolution for motor encoder m. More...

virtual bool	setMotorEncoder (int m, const double val)=0
	Set the value of the motor encoder for a given motor. More...

virtual bool	setMotorEncoders (const double *vals)=0
	Set the value of all motor encoders. More...

virtual bool	getMotorEncoder (int m, double *v)=0
	Read the value of a motor encoder. More...

virtual bool	getMotorEncoders (double *encs)=0
	Read the position of all motor encoders. More...

virtual bool	getMotorEncodersTimed (double encs, double time)=0
	Read the instantaneous position of all motor encoders. More...

virtual bool	getMotorEncoderTimed (int m, double encs, double time)=0
	Read the instantaneous position of a motor encoder. More...

virtual bool	getMotorEncoderSpeed (int m, double *sp)=0
	Read the istantaneous speed of a motor encoder. More...

virtual bool	getMotorEncoderSpeeds (double *spds)=0
	Read the instantaneous speed of all motor encoders. More...

virtual bool	getMotorEncoderAcceleration (int m, double *acc)=0
	Read the instantaneous acceleration of a motor encoder. More...

virtual bool	getMotorEncoderAccelerations (double *accs)=0
	Read the instantaneous acceleration of all motor encoders. More...

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

virtual bool	enableAmp (int j)=0
	Enable the amplifier on a specific joint. More...

virtual bool	disableAmp (int j)=0
	Disable the amplifier on a specific joint. More...

virtual bool	getAmpStatus (int *st)=0

virtual bool	getAmpStatus (int j, int *v)=0

virtual bool	getCurrents (double *vals)=0

virtual bool	getCurrent (int j, double *val)=0

virtual bool	getMaxCurrent (int j, double *v)=0
	Returns the maximum electric current allowed for a given motor. More...

virtual bool	setMaxCurrent (int j, double v)=0

virtual bool	getNominalCurrent (int m, double *val)

virtual bool	setNominalCurrent (int m, const double val)

virtual bool	getPeakCurrent (int m, double *val)

virtual bool	setPeakCurrent (int m, const double val)

virtual bool	getPWM (int j, double *val)

virtual bool	getPWMLimit (int j, double *val)

virtual bool	setPWMLimit (int j, const double val)

virtual bool	getPowerSupplyVoltage (int j, double *val)

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

virtual bool	setLimits (int axis, double min, double max)=0
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

virtual bool	getLimits (int axis, double min, double max)=0
	Get the software limits for a particular axis. More...

virtual bool	setVelLimits (int axis, double min, double max)=0
	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...

virtual bool	getVelLimits (int axis, double min, double max)=0
	Get the software speed limits for a particular axis. 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 ()=default

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

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

virtual bool	calibrateSingleJoint (int j)=0
	calibrateSingleJoint: call the calibration procedure for the single joint More...

virtual bool	calibrateWholePart ()=0
	calibrateWholePart: call the procedure for calibrating the whole device More...

virtual bool	homingSingleJoint (int j)=0
	homingSingleJoint: call the homing procedure for a single joint More...

virtual bool	homingWholePart ()=0
	homingWholePart: call the homing procedure for a the whole part/device More...

virtual bool	parkSingleJoint (int j, bool _wait=true)=0
	parkSingleJoint(): start the parking procedure for the single joint More...

virtual bool	parkWholePart ()=0
	parkWholePart: start the parking procedure for the whole part More...

virtual bool	quitCalibrate ()=0
	quitCalibrate: interrupt the calibration procedure More...

virtual bool	quitPark ()=0
	quitPark: interrupt the park procedure More...

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

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3)=0
	Start calibration, this method is very often platform specific. More...

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

virtual bool	calibrationDone (int j)=0
	Check if the calibration is terminated, on a particular joint. More...

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

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

virtual bool	park (bool wait=true)

virtual bool	abortCalibration ()

virtual bool	abortPark ()

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	getRefTorques (double *t)=0
	Get the reference value of the torque for all joints. More...

virtual bool	getRefTorque (int j, double *t)=0
	Get the reference value of the torque for a given joint. More...

virtual bool	setRefTorques (const double *t)=0
	Set the reference value of the torque for all joints. More...

virtual bool	setRefTorque (int j, double t)=0
	Set the reference value of the torque for a given joint. More...

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

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

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

virtual bool	getTorque (int j, double *t)=0
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

virtual bool	getTorques (double *t)=0
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

virtual bool	getTorqueRange (int j, double min, double max)=0
	Get the full scale of the torque sensor of a given joint. More...

virtual bool	getTorqueRanges (double min, double max)=0
	Get the full scale of the torque sensors of all joints. More...

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	getImpedance (int j, double stiffness, double damping)=0
	Get current impedance gains (stiffness,damping,offset) for a specific joint. More...

virtual bool	setImpedance (int j, double stiffness, double damping)=0
	Set current impedance gains (stiffness,damping) for a specific joint. More...

virtual bool	setImpedanceOffset (int j, double offset)=0
	Set current force Offset for a specific joint. More...

virtual bool	getImpedanceOffset (int j, double *offset)=0
	Get current force Offset for a specific joint. More...

virtual bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp)=0
	Get the current impedandance limits for a specific joint. More...

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

virtual bool	getControlMode (int j, int *mode)=0
	Get the current control mode. More...

virtual bool	getControlModes (int *modes)=0
	Get the current control mode (multiple joints). More...

virtual bool	getControlModes (const int n_joint, const int joints, int modes)=0
	Get the current control mode for a subset of axes. More...

virtual bool	setControlMode (const int j, const int mode)=0
	Set the current control mode. More...

virtual bool	setControlModes (const int n_joint, const int joints, int modes)=0
	Set the current control mode for a subset of axes. More...

virtual bool	setControlModes (int *modes)=0
	Set the current control mode (multiple joints). More...

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

virtual bool	attachAll (const PolyDriverList &drivers)=0
	Attach to a list of objects. More...

virtual bool	detachAll ()=0
	Detach the object (you must have first called attach). More...

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	getAxisName (int axis, std::string &name)=0

virtual bool	getJointType (int axis, yarp::dev::JointTypeEnum &type)

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

virtual yarp::os::Stamp	getLastInputStamp ()=0
	Return the time stamp relative to the last acquisition. More...

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

virtual bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode)=0
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

virtual bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes)=0
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

virtual bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes)=0
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

virtual bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode)=0
	Set the interaction mode of the robot, values can be stiff or compliant. More...

virtual bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes)=0
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

virtual bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes)=0
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

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

virtual bool	getRemoteVariable (std::string key, yarp::os::Bottle &val)=0

virtual bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val)=0

virtual bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys)=0

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

virtual bool	getLastJointFault (int j, int &fault, std::string &message)=0

Detailed Description

controlboardremapper : device that takes a list of axes from multiple controlboards and expose them as a single controlboard.

YARP device name
`controlboardremapper`

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
axesNames	-	vector of strings	-	-	Yes	Ordered list of the axes that are part of the remapped device.

The axes are then mapped to the wrapped controlboard in the attachAll method, using the values returned by the getAxisName method of the controlboard. If different axes in two attached controlboard have the same name, the behaviour of this device is undefined.

Configuration file using .ini format.

 device controlboardremapper
 axesNames (joint1 joint2 joint3)
 
...

For compatibility with the controlBoard_nws_yarp, the networks keyword can also be used to select the desired joints. For more information on the syntax of the networks, see the controlBoard_nws_yarp class.

networks (net_larm net_lhand)
joints 16
net_larm    0 3  0 3
net_lhand   4 6  0 2

Definition at line 69 of file ControlBoardRemapper.h.

Constructor & Destructor Documentation

◆ ControlBoardRemapper() [1/3]

ControlBoardRemapper::ControlBoardRemapper ( )

default

◆ ControlBoardRemapper() [2/3]

ControlBoardRemapper::ControlBoardRemapper ( const ControlBoardRemapper & )

delete

◆ ControlBoardRemapper() [3/3]

ControlBoardRemapper::ControlBoardRemapper ( ControlBoardRemapper && )

delete

◆ ~ControlBoardRemapper()

ControlBoardRemapper::~ControlBoardRemapper ( )

overridedefault

Member Function Documentation

◆ abortCalibration()

bool ControlBoardRemapper::abortCalibration ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3165 of file ControlBoardRemapper.cpp.

◆ abortPark()

bool ControlBoardRemapper::abortPark ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3159 of file ControlBoardRemapper.cpp.

◆ attachAll()

bool ControlBoardRemapper::attachAll ( const yarp::dev::PolyDriverList & drivers )

overridevirtual

Attach to a list of objects.

Parameters

drivers the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 232 of file ControlBoardRemapper.cpp.

◆ calibrateAxisWithParams()

bool ControlBoardRemapper::calibrateAxisWithParams	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3
	)

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 3110 of file ControlBoardRemapper.cpp.

◆ calibrateSingleJoint()

bool ControlBoardRemapper::calibrateSingleJoint ( int j )

overridevirtual

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 2912 of file ControlBoardRemapper.cpp.

◆ calibrateWholePart()

bool ControlBoardRemapper::calibrateWholePart ( )

overridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2938 of file ControlBoardRemapper.cpp.

◆ calibrationDone()

bool ControlBoardRemapper::calibrationDone ( int j )

overridevirtual

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

Non blocking.

Returns: true/false

Implements yarp::dev::IControlCalibration.

Definition at line 3139 of file ControlBoardRemapper.cpp.

◆ checkMotionDone() [1/3]

bool ControlBoardRemapper::checkMotionDone ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 1211 of file ControlBoardRemapper.cpp.

◆ checkMotionDone() [2/3]

bool ControlBoardRemapper::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	pointer to return value (logical "and" of all set of joints)

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 1243 of file ControlBoardRemapper.cpp.

◆ checkMotionDone() [3/3]

bool ControlBoardRemapper::checkMotionDone	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 1191 of file ControlBoardRemapper.cpp.

◆ close()

bool ControlBoardRemapper::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.

Reimplemented in RemoteControlBoardRemapper.

Definition at line 23 of file ControlBoardRemapper.cpp.

◆ detachAll()

bool ControlBoardRemapper::detachAll ( )

overridevirtual

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

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 462 of file ControlBoardRemapper.cpp.

◆ disableAmp()

bool ControlBoardRemapper::disableAmp ( int j )

overridevirtual

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 2564 of file ControlBoardRemapper.cpp.

◆ disablePid()

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

overridevirtual

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 924 of file ControlBoardRemapper.cpp.

◆ enableAmp()

bool ControlBoardRemapper::enableAmp ( int j )

overridevirtual

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 2544 of file ControlBoardRemapper.cpp.

◆ enablePid()

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

overridevirtual

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 939 of file ControlBoardRemapper.cpp.

◆ getAmpStatus() [1/2]

bool ControlBoardRemapper::getAmpStatus ( int * st )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2569 of file ControlBoardRemapper.cpp.

◆ getAmpStatus() [2/2]

bool ControlBoardRemapper::getAmpStatus	(	int	j,
		int *	v
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2599 of file ControlBoardRemapper.cpp.

◆ getAxes()

bool ControlBoardRemapper::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

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

Parameters

ax	storage to return param

Returns: true/false.

Implements yarp::dev::IAxisInfo.

Definition at line 980 of file ControlBoardRemapper.cpp.

◆ getAxisName()

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

overridevirtual

Implements yarp::dev::IAxisInfo.

Definition at line 3173 of file ControlBoardRemapper.cpp.

◆ getCalibratorDevice()

IRemoteCalibrator * ControlBoardRemapper::getCalibratorDevice ( )

overridevirtual

getCalibratorDevice: return the pointer stored with the setCalibratorDevice

Returns: yarp::dev::IRemotizableCalibrator pointer or NULL if not valid.

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 2902 of file ControlBoardRemapper.cpp.

◆ getControlMode()

bool ControlBoardRemapper::getControlMode	(	int	j,
		int *	mode
	)

overridevirtual

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 3568 of file ControlBoardRemapper.cpp.

◆ getControlModes() [1/2]

bool ControlBoardRemapper::getControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

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 3613 of file ControlBoardRemapper.cpp.

◆ getControlModes() [2/2]

bool ControlBoardRemapper::getControlModes ( int * modes )

overridevirtual

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 3582 of file ControlBoardRemapper.cpp.

◆ getCurrent()

bool ControlBoardRemapper::getCurrent	(	int	m,
		double *	curr
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 4280 of file ControlBoardRemapper.cpp.

◆ getCurrentImpedanceLimit()

bool ControlBoardRemapper::getCurrentImpedanceLimit	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)

overridevirtual

Get the current impedandance limits for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3548 of file ControlBoardRemapper.cpp.

◆ getCurrentRange()

bool ControlBoardRemapper::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

overridevirtual

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 4327 of file ControlBoardRemapper.cpp.

◆ getCurrentRanges()

bool ControlBoardRemapper::getCurrentRanges	(	double *	min,
		double *	max
	)

overridevirtual

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 4344 of file ControlBoardRemapper.cpp.

◆ getCurrents()

bool ControlBoardRemapper::getCurrents ( double * currs )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 4297 of file ControlBoardRemapper.cpp.

◆ getDutyCycle()

bool ControlBoardRemapper::getDutyCycle	(	int	m,
		double *	val
	)

overridevirtual

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 4233 of file ControlBoardRemapper.cpp.

◆ getDutyCycles()

bool ControlBoardRemapper::getDutyCycles ( double * vals )

overridevirtual

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 4250 of file ControlBoardRemapper.cpp.

◆ getEncoder()

bool ControlBoardRemapper::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 1786 of file ControlBoardRemapper.cpp.

◆ getEncoderAcceleration()

bool ControlBoardRemapper::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 1933 of file ControlBoardRemapper.cpp.

◆ getEncoderAccelerations()

bool ControlBoardRemapper::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 1953 of file ControlBoardRemapper.cpp.

◆ getEncoders()

bool ControlBoardRemapper::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 1806 of file ControlBoardRemapper.cpp.

◆ getEncoderSpeed()

bool ControlBoardRemapper::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 1884 of file ControlBoardRemapper.cpp.

◆ getEncoderSpeeds()

bool ControlBoardRemapper::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 1904 of file ControlBoardRemapper.cpp.

◆ getEncodersTimed()

bool ControlBoardRemapper::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 1835 of file ControlBoardRemapper.cpp.

◆ getEncoderTimed()

bool ControlBoardRemapper::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 1864 of file ControlBoardRemapper.cpp.

◆ getGearboxRatio()

bool ControlBoardRemapper::getGearboxRatio	(	int	m,
		double *	val
	)

overridevirtual

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 2075 of file ControlBoardRemapper.cpp.

◆ getImpedance()

bool ControlBoardRemapper::getImpedance	(	int	j,
		double *	stiffness,
		double *	damping
	)

overridevirtual

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

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3508 of file ControlBoardRemapper.cpp.

◆ getImpedanceOffset()

bool ControlBoardRemapper::getImpedanceOffset	(	int	j,
		double *	offset
	)

overridevirtual

Get current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3528 of file ControlBoardRemapper.cpp.

◆ getInteractionMode()

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

overridevirtual

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 3996 of file ControlBoardRemapper.cpp.

◆ getInteractionModes() [1/2]

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

overridevirtual

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 4016 of file ControlBoardRemapper.cpp.

◆ getInteractionModes() [2/2]

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

overridevirtual

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 4049 of file ControlBoardRemapper.cpp.

◆ getJointType()

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

overridevirtual

Reimplemented from yarp::dev::IAxisInfo.

Definition at line 3193 of file ControlBoardRemapper.cpp.

◆ getLastInputStamp()

yarp::os::Stamp ControlBoardRemapper::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 3765 of file ControlBoardRemapper.cpp.

◆ getLastJointFault()

bool ControlBoardRemapper::getLastJointFault	(	int	j,
		int &	fault,
		std::string &	message
	)

overridevirtual

Implements yarp::dev::IJointFault.

Definition at line 1627 of file ControlBoardRemapper.cpp.

◆ getLimits()

bool ControlBoardRemapper::getLimits	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

Get the software limits for a particular axis.

Parameters

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

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 2841 of file ControlBoardRemapper.cpp.

◆ getMaxCurrent()

bool ControlBoardRemapper::getMaxCurrent	(	int	j,
		double *	v
	)

overridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 2639 of file ControlBoardRemapper.cpp.

◆ getMotorEncoder()

bool ControlBoardRemapper::getMotorEncoder	(	int	m,
		double *	v
	)

overridevirtual

Read the value of a motor encoder.

Parameters

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

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2344 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderAcceleration()

bool ControlBoardRemapper::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters

m	motor number
acc	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2486 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderAccelerations()

bool ControlBoardRemapper::getMotorEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2506 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool ControlBoardRemapper::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2324 of file ControlBoardRemapper.cpp.

◆ getMotorEncoders()

bool ControlBoardRemapper::getMotorEncoders ( double * encs )

overridevirtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2364 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderSpeed()

bool ControlBoardRemapper::getMotorEncoderSpeed	(	int	m,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2437 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderSpeeds()

bool ControlBoardRemapper::getMotorEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2457 of file ControlBoardRemapper.cpp.

◆ getMotorEncodersTimed()

bool ControlBoardRemapper::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

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

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2388 of file ControlBoardRemapper.cpp.

◆ getMotorEncoderTimed()

bool ControlBoardRemapper::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 2417 of file ControlBoardRemapper.cpp.

◆ getMotorTorqueParams()

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

overridevirtual

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 3329 of file ControlBoardRemapper.cpp.

◆ getNominalCurrent()

bool ControlBoardRemapper::getNominalCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2659 of file ControlBoardRemapper.cpp.

◆ getNumberOfMotorEncoders()

bool ControlBoardRemapper::getNumberOfMotorEncoders ( int * num )

overridevirtual

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 2537 of file ControlBoardRemapper.cpp.

◆ getNumberOfMotors()

bool ControlBoardRemapper::getNumberOfMotors ( int * ax )

overridevirtual

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 1983 of file ControlBoardRemapper.cpp.

◆ getPeakCurrent()

bool ControlBoardRemapper::getPeakCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2679 of file ControlBoardRemapper.cpp.

◆ getPid()

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

overridevirtual

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 759 of file ControlBoardRemapper.cpp.

◆ getPidError()

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

overridevirtual

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 645 of file ControlBoardRemapper.cpp.

◆ getPidErrorLimit()

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

overridevirtual

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 855 of file ControlBoardRemapper.cpp.

◆ getPidErrorLimits()

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

overridevirtual

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 874 of file ControlBoardRemapper.cpp.

◆ getPidErrors()

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

overridevirtual

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 665 of file ControlBoardRemapper.cpp.

◆ getPidOutput()

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

overridevirtual

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 693 of file ControlBoardRemapper.cpp.

◆ getPidOutputs()

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

overridevirtual

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 712 of file ControlBoardRemapper.cpp.

◆ getPidReference()

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

overridevirtual

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 807 of file ControlBoardRemapper.cpp.

◆ getPidReferences()

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

overridevirtual

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 826 of file ControlBoardRemapper.cpp.

◆ getPids()

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

overridevirtual

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 778 of file ControlBoardRemapper.cpp.

◆ getPowerSupplyVoltage()

bool ControlBoardRemapper::getPowerSupplyVoltage	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2798 of file ControlBoardRemapper.cpp.

◆ getPWM()

bool ControlBoardRemapper::getPWM	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2739 of file ControlBoardRemapper.cpp.

◆ getPWMLimit()

bool ControlBoardRemapper::getPWMLimit	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2758 of file ControlBoardRemapper.cpp.

◆ getRefAcceleration()

bool ControlBoardRemapper::getRefAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

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 1482 of file ControlBoardRemapper.cpp.

◆ getRefAccelerations() [1/2]

bool ControlBoardRemapper::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

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 1532 of file ControlBoardRemapper.cpp.

◆ getRefAccelerations() [2/2]

bool ControlBoardRemapper::getRefAccelerations ( double * accs )

overridevirtual

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 1502 of file ControlBoardRemapper.cpp.

◆ getRefCurrent()

bool ControlBoardRemapper::getRefCurrent	(	int	m,
		double *	curr
	)

overridevirtual

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 4437 of file ControlBoardRemapper.cpp.

◆ getRefCurrents()

bool ControlBoardRemapper::getRefCurrents ( double * currs )

overridevirtual

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 4454 of file ControlBoardRemapper.cpp.

◆ getRefDutyCycle()

bool ControlBoardRemapper::getRefDutyCycle	(	int	m,
		double *	ref
	)

overridevirtual

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 4186 of file ControlBoardRemapper.cpp.

◆ getRefDutyCycles()

bool ControlBoardRemapper::getRefDutyCycles ( double * refs )

overridevirtual

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 4203 of file ControlBoardRemapper.cpp.

◆ getRefPosition()

bool ControlBoardRemapper::getRefPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

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 3803 of file ControlBoardRemapper.cpp.

◆ getRefPositions() [1/2]

bool ControlBoardRemapper::getRefPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

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 3855 of file ControlBoardRemapper.cpp.

◆ getRefPositions() [2/2]

bool ControlBoardRemapper::getRefPositions ( double * refs )

overridevirtual

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 3824 of file ControlBoardRemapper.cpp.

◆ getRefSpeed()

bool ControlBoardRemapper::getRefSpeed	(	int	j,
		double *	ref
	)

overridevirtual

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 1398 of file ControlBoardRemapper.cpp.

◆ getRefSpeeds() [1/2]

bool ControlBoardRemapper::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

overridevirtual

Get reference speed of all joints.

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

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1449 of file ControlBoardRemapper.cpp.

◆ getRefSpeeds() [2/2]

bool ControlBoardRemapper::getRefSpeeds ( double * spds )

overridevirtual

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 1418 of file ControlBoardRemapper.cpp.

◆ getRefTorque()

bool ControlBoardRemapper::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

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 3242 of file ControlBoardRemapper.cpp.

◆ getRefTorques()

bool ControlBoardRemapper::getRefTorques ( double * t )

overridevirtual

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 3213 of file ControlBoardRemapper.cpp.

◆ getRefVelocities() [1/2]

bool ControlBoardRemapper::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

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 3963 of file ControlBoardRemapper.cpp.

◆ getRefVelocities() [2/2]

bool ControlBoardRemapper::getRefVelocities ( double * vels )

overridevirtual

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 3933 of file ControlBoardRemapper.cpp.

◆ getRefVelocity()

bool ControlBoardRemapper::getRefVelocity	(	const int	joint,
		double *	vel
	)

overridevirtual

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 3911 of file ControlBoardRemapper.cpp.

◆ getRemoteVariable()

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

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2116 of file ControlBoardRemapper.cpp.

◆ getRemoteVariablesList()

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

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2183 of file ControlBoardRemapper.cpp.

◆ getTargetPosition()

bool ControlBoardRemapper::getTargetPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

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 1046 of file ControlBoardRemapper.cpp.

◆ getTargetPositions() [1/2]

bool ControlBoardRemapper::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

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 1098 of file ControlBoardRemapper.cpp.

◆ getTargetPositions() [2/2]

bool ControlBoardRemapper::getTargetPositions ( double * refs )

overridevirtual

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 1067 of file ControlBoardRemapper.cpp.

◆ getTemperature()

bool ControlBoardRemapper::getTemperature	(	int	m,
		double *	val
	)

overridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1989 of file ControlBoardRemapper.cpp.

◆ getTemperatureLimit()

bool ControlBoardRemapper::getTemperatureLimit	(	int	m,
		double *	temp
	)

overridevirtual

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 2035 of file ControlBoardRemapper.cpp.

◆ getTemperatures()

bool ControlBoardRemapper::getTemperatures ( double * vals )

overridevirtual

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 2009 of file ControlBoardRemapper.cpp.

◆ getTorque()

bool ControlBoardRemapper::getTorque	(	int	j,
		double *	t
	)

overridevirtual

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 3409 of file ControlBoardRemapper.cpp.

◆ getTorqueRange()

bool ControlBoardRemapper::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

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 3459 of file ControlBoardRemapper.cpp.

◆ getTorqueRanges()

bool ControlBoardRemapper::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

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 3479 of file ControlBoardRemapper.cpp.

◆ getTorques()

bool ControlBoardRemapper::getTorques ( double * t )

overridevirtual

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 3429 of file ControlBoardRemapper.cpp.

◆ getVelLimits()

bool ControlBoardRemapper::getVelLimits	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

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 2881 of file ControlBoardRemapper.cpp.

◆ homingSingleJoint()

bool ControlBoardRemapper::homingSingleJoint ( int j )

overridevirtual

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 2964 of file ControlBoardRemapper.cpp.

◆ homingWholePart()

bool ControlBoardRemapper::homingWholePart ( )

overridevirtual

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 2990 of file ControlBoardRemapper.cpp.

◆ isCalibratorDevicePresent()

bool ControlBoardRemapper::isCalibratorDevicePresent ( bool * isCalib )

overridevirtual

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 2907 of file ControlBoardRemapper.cpp.

◆ isPidEnabled()

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

overridevirtual

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 959 of file ControlBoardRemapper.cpp.

◆ open()

bool ControlBoardRemapper::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.

Reimplemented in RemoteControlBoardRemapper.

Definition at line 28 of file ControlBoardRemapper.cpp.

◆ operator=() [1/2]

ControlBoardRemapper & ControlBoardRemapper::operator= ( const ControlBoardRemapper & )

delete

◆ operator=() [2/2]

ControlBoardRemapper & ControlBoardRemapper::operator= ( ControlBoardRemapper && )

delete

◆ parkSingleJoint()

bool ControlBoardRemapper::parkSingleJoint	(	int	j,
		bool	_wait = `true`
	)

overridevirtual

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

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3009 of file ControlBoardRemapper.cpp.

◆ parkWholePart()

bool ControlBoardRemapper::parkWholePart ( )

overridevirtual

parkWholePart: start the parking procedure for the whole part

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3035 of file ControlBoardRemapper.cpp.

◆ positionMove() [1/3]

bool ControlBoardRemapper::positionMove ( const double * refs )

overridevirtual

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 1006 of file ControlBoardRemapper.cpp.

◆ positionMove() [2/3]

bool ControlBoardRemapper::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of joints.

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1026 of file ControlBoardRemapper.cpp.

◆ positionMove() [3/3]

bool ControlBoardRemapper::positionMove	(	int	j,
		double	ref
	)

overridevirtual

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 986 of file ControlBoardRemapper.cpp.

◆ quitCalibrate()

bool ControlBoardRemapper::quitCalibrate ( )

overridevirtual

quitCalibrate: interrupt the calibration procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3056 of file ControlBoardRemapper.cpp.

◆ quitPark()

bool ControlBoardRemapper::quitPark ( )

overridevirtual

quitPark: interrupt the park procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3082 of file ControlBoardRemapper.cpp.

◆ relativeMove() [1/3]

bool ControlBoardRemapper::relativeMove ( const double * deltas )

overridevirtual

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 1151 of file ControlBoardRemapper.cpp.

◆ relativeMove() [2/3]

bool ControlBoardRemapper::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1171 of file ControlBoardRemapper.cpp.

◆ relativeMove() [3/3]

bool ControlBoardRemapper::relativeMove	(	int	j,
		double	delta
	)

overridevirtual

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 1131 of file ControlBoardRemapper.cpp.

◆ resetEncoder()

bool ControlBoardRemapper::resetEncoder ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1690 of file ControlBoardRemapper.cpp.

◆ resetEncoders()

bool ControlBoardRemapper::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1709 of file ControlBoardRemapper.cpp.

◆ resetMotorEncoder()

bool ControlBoardRemapper::resetMotorEncoder ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2205 of file ControlBoardRemapper.cpp.

◆ resetMotorEncoders()

bool ControlBoardRemapper::resetMotorEncoders ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2225 of file ControlBoardRemapper.cpp.

◆ resetPid()

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

overridevirtual

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 904 of file ControlBoardRemapper.cpp.

◆ setCalibrationParameters()

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

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3124 of file ControlBoardRemapper.cpp.

◆ setControlMode()

bool ControlBoardRemapper::setControlMode	(	const int	j,
		const int	mode
	)

overridevirtual

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 3646 of file ControlBoardRemapper.cpp.

◆ setControlModes() [1/2]

bool ControlBoardRemapper::setControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

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 3665 of file ControlBoardRemapper.cpp.

◆ setControlModes() [2/2]

bool ControlBoardRemapper::setControlModes ( int * modes )

overridevirtual

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 3685 of file ControlBoardRemapper.cpp.

◆ setEncoder()

bool ControlBoardRemapper::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 1737 of file ControlBoardRemapper.cpp.

◆ setEncoders()

bool ControlBoardRemapper::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 1757 of file ControlBoardRemapper.cpp.

◆ setGearboxRatio()

bool ControlBoardRemapper::setGearboxRatio	(	int	m,
		const double	val
	)

overridevirtual

Set the gearbox ratio for a specific motor.

Parameters

m	motor number
gearbox	ratio to be set

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 2095 of file ControlBoardRemapper.cpp.

◆ setImpedance()

bool ControlBoardRemapper::setImpedance	(	int	j,
		double	stiffness,
		double	damping
	)

overridevirtual

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

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3369 of file ControlBoardRemapper.cpp.

◆ setImpedanceOffset()

bool ControlBoardRemapper::setImpedanceOffset	(	int	j,
		double	offset
	)

overridevirtual

Set current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3389 of file ControlBoardRemapper.cpp.

◆ setInteractionMode()

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

overridevirtual

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 4079 of file ControlBoardRemapper.cpp.

◆ setInteractionModes() [1/2]

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

overridevirtual

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 4099 of file ControlBoardRemapper.cpp.

◆ setInteractionModes() [2/2]

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

overridevirtual

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 4119 of file ControlBoardRemapper.cpp.

◆ setLimits()

bool ControlBoardRemapper::setLimits	(	int	axis,
		double	min,
		double	max
	)

overridevirtual

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 (why am I telling you this)
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 2821 of file ControlBoardRemapper.cpp.

◆ setMaxCurrent()

bool ControlBoardRemapper::setMaxCurrent	(	int	j,
		double	v
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2619 of file ControlBoardRemapper.cpp.

◆ setMotorEncoder()

bool ControlBoardRemapper::setMotorEncoder	(	int	m,
		const double	val
	)

overridevirtual

Set the value of the motor encoder for a given motor.

Parameters

m	motor number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2254 of file ControlBoardRemapper.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool ControlBoardRemapper::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2304 of file ControlBoardRemapper.cpp.

◆ setMotorEncoders()

bool ControlBoardRemapper::setMotorEncoders ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2274 of file ControlBoardRemapper.cpp.

◆ setMotorTorqueParams()

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

overridevirtual

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 3349 of file ControlBoardRemapper.cpp.

◆ setNominalCurrent()

bool ControlBoardRemapper::setNominalCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2719 of file ControlBoardRemapper.cpp.

◆ setPeakCurrent()

bool ControlBoardRemapper::setPeakCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2699 of file ControlBoardRemapper.cpp.

◆ setPid()

bool ControlBoardRemapper::setPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		const yarp::dev::Pid &	p
	)

overridevirtual

ControlBoard methods.

Implements yarp::dev::IPidControl.

Definition at line 500 of file ControlBoardRemapper.cpp.

◆ setPidErrorLimit()

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

overridevirtual

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 597 of file ControlBoardRemapper.cpp.

◆ setPidErrorLimits()

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

overridevirtual

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 616 of file ControlBoardRemapper.cpp.

◆ setPidOffset()

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

overridevirtual

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 740 of file ControlBoardRemapper.cpp.

◆ setPidReference()

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

overridevirtual

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 548 of file ControlBoardRemapper.cpp.

◆ setPidReferences()

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

overridevirtual

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 568 of file ControlBoardRemapper.cpp.

◆ setPids()

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

overridevirtual

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 519 of file ControlBoardRemapper.cpp.

◆ setPosition()

bool ControlBoardRemapper::setPosition	(	int	j,
		double	ref
	)

overridevirtual

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 3705 of file ControlBoardRemapper.cpp.

◆ setPositions() [1/2]

bool ControlBoardRemapper::setPositions ( const double * refs )

overridevirtual

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 3745 of file ControlBoardRemapper.cpp.

◆ setPositions() [2/2]

bool ControlBoardRemapper::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

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 3725 of file ControlBoardRemapper.cpp.

◆ setPWMLimit()

bool ControlBoardRemapper::setPWMLimit	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 2778 of file ControlBoardRemapper.cpp.

◆ setRefAcceleration()

bool ControlBoardRemapper::setRefAcceleration	(	int	j,
		double	acc
	)

overridevirtual

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 1338 of file ControlBoardRemapper.cpp.

◆ setRefAccelerations() [1/2]

bool ControlBoardRemapper::setRefAccelerations ( const double * accs )

overridevirtual

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 1358 of file ControlBoardRemapper.cpp.

◆ setRefAccelerations() [2/2]

bool ControlBoardRemapper::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

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 1378 of file ControlBoardRemapper.cpp.

◆ setRefCurrent()

bool ControlBoardRemapper::setRefCurrent	(	int	m,
		double	curr
	)

overridevirtual

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 4374 of file ControlBoardRemapper.cpp.

◆ setRefCurrents() [1/2]

bool ControlBoardRemapper::setRefCurrents ( const double * currs )

overridevirtual

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 4417 of file ControlBoardRemapper.cpp.

◆ setRefCurrents() [2/2]

bool ControlBoardRemapper::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

overridevirtual

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 4391 of file ControlBoardRemapper.cpp.

◆ setRefDutyCycle()

bool ControlBoardRemapper::setRefDutyCycle	(	int	m,
		double	ref
	)

overridevirtual

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 4139 of file ControlBoardRemapper.cpp.

◆ setRefDutyCycles()

bool ControlBoardRemapper::setRefDutyCycles ( const double * refs )

overridevirtual

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 4156 of file ControlBoardRemapper.cpp.

◆ setRefSpeed()

bool ControlBoardRemapper::setRefSpeed	(	int	j,
		double	sp
	)

overridevirtual

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 1278 of file ControlBoardRemapper.cpp.

◆ setRefSpeeds() [1/2]

bool ControlBoardRemapper::setRefSpeeds ( const double * spds )

overridevirtual

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 1298 of file ControlBoardRemapper.cpp.

◆ setRefSpeeds() [2/2]

bool ControlBoardRemapper::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

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 1318 of file ControlBoardRemapper.cpp.

◆ setRefTorque()

bool ControlBoardRemapper::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

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 3291 of file ControlBoardRemapper.cpp.

◆ setRefTorques() [1/2]

bool ControlBoardRemapper::setRefTorques ( const double * t )

overridevirtual

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 3261 of file ControlBoardRemapper.cpp.

◆ setRefTorques() [2/2]

bool ControlBoardRemapper::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

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 3309 of file ControlBoardRemapper.cpp.

◆ setRemoteVariable()

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

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2150 of file ControlBoardRemapper.cpp.

◆ setTemperatureLimit()

bool ControlBoardRemapper::setTemperatureLimit	(	int	m,
		const double	temp
	)

overridevirtual

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 2055 of file ControlBoardRemapper.cpp.

◆ setVelLimits()

bool ControlBoardRemapper::setVelLimits	(	int	axis,
		double	min,
		double	max
	)

overridevirtual

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 2861 of file ControlBoardRemapper.cpp.

◆ stop() [1/3]

bool ControlBoardRemapper::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1585 of file ControlBoardRemapper.cpp.

◆ stop() [2/3]

bool ControlBoardRemapper::stop	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1605 of file ControlBoardRemapper.cpp.

◆ stop() [3/3]

bool ControlBoardRemapper::stop ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1565 of file ControlBoardRemapper.cpp.

◆ velocityMove() [1/3]

bool ControlBoardRemapper::velocityMove ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 1669 of file ControlBoardRemapper.cpp.

◆ velocityMove() [2/3]

bool ControlBoardRemapper::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

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 3891 of file ControlBoardRemapper.cpp.

◆ velocityMove() [3/3]

bool ControlBoardRemapper::velocityMove	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 1649 of file ControlBoardRemapper.cpp.

◆ verbose()

bool ControlBoardRemapper::verbose ( ) const

inline

Return the value of the verbose flag.

Returns: the verbose flag.

Definition at line 186 of file ControlBoardRemapper.h.

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

src/devices/ControlBoardRemapper/ControlBoardRemapper.h
src/devices/ControlBoardRemapper/ControlBoardRemapper.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ControlBoardRemapper() [1/3]

◆ ControlBoardRemapper() [2/3]

◆ ControlBoardRemapper() [3/3]

◆ ~ControlBoardRemapper()

Member Function Documentation

◆ abortCalibration()

◆ abortPark()

◆ attachAll()

◆ calibrateAxisWithParams()

◆ calibrateSingleJoint()

◆ calibrateWholePart()

◆ calibrationDone()

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ detachAll()

◆ disableAmp()

◆ disablePid()

◆ enableAmp()

◆ enablePid()

◆ getAmpStatus() [1/2]

◆ getAmpStatus() [2/2]

◆ getAxes()

◆ getAxisName()

◆ getCalibratorDevice()

◆ getControlMode()

◆ getControlModes() [1/2]

◆ getControlModes() [2/2]

◆ getCurrent()

◆ getCurrentImpedanceLimit()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getDutyCycle()

◆ getDutyCycles()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getGearboxRatio()

◆ getImpedance()

◆ getImpedanceOffset()

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ getJointType()

◆ getLastInputStamp()

◆ getLastJointFault()

◆ getLimits()

◆ getMaxCurrent()

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getMotorTorqueParams()

◆ getNominalCurrent()

◆ getNumberOfMotorEncoders()

◆ getNumberOfMotors()

◆ getPeakCurrent()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()

◆ getPidOutputs()

◆ getPidReference()