YARP
Yet Another Robot Platform
ControlBoardWrapperControlCalibration Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperControlCalibration.h>

+ Inheritance diagram for ControlBoardWrapperControlCalibration:

Public Member Functions

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
 
- Public Member Functions inherited from ControlBoardWrapperCommon
bool getAxes (int *ax)
 
bool setRefAcceleration (int j, double acc)
 
bool setRefAccelerations (const double *accs)
 
bool setRefAccelerations (const int n_joints, const int *joints, const double *accs)
 
bool getRefAcceleration (int j, double *acc)
 
bool getRefAccelerations (double *accs)
 
bool getRefAccelerations (const int n_joints, const int *joints, double *accs)
 
bool stop (int j)
 
bool stop ()
 
bool stop (const int n_joint, const int *joints)
 
bool getNumberOfMotors (int *num)
 
bool getCurrent (int m, double *curr)
 
bool getCurrents (double *currs)
 
void printError (const std::string &func_name, const std::string &info, bool result)
 
- Public Member Functions inherited from yarp::dev::IControlCalibration
 IControlCalibration ()
 
virtual ~IControlCalibration ()
 Destructor. 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)
 

Additional Inherited Members

- Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice device
 
size_t controlledJoints {0}
 
std::string partName
 
std::mutex rpcDataMutex
 
MultiJointData rpcData
 
std::mutex timeMutex
 
yarp::os::Stamp time
 

Detailed Description

Definition at line 13 of file ControlBoardWrapperControlCalibration.h.

Member Function Documentation

◆ abortCalibration()

bool ControlBoardWrapperControlCalibration::abortCalibration ( )
overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 74 of file ControlBoardWrapperControlCalibration.cpp.

◆ abortPark()

bool ControlBoardWrapperControlCalibration::abortPark ( )
overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 67 of file ControlBoardWrapperControlCalibration.cpp.

◆ calibrateAxisWithParams()

bool ControlBoardWrapperControlCalibration::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 12 of file ControlBoardWrapperControlCalibration.cpp.

◆ calibrationDone()

bool ControlBoardWrapperControlCalibration::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 44 of file ControlBoardWrapperControlCalibration.cpp.

◆ setCalibrationParameters()

bool ControlBoardWrapperControlCalibration::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 31 of file ControlBoardWrapperControlCalibration.cpp.


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