YARP
Yet Another Robot Platform
ControlBoardWrapperControlLimits Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperControlLimits.h>

+ Inheritance diagram for ControlBoardWrapperControlLimits:

Public Member Functions

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...
 
- 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::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...
 

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 ControlBoardWrapperControlLimits.h.

Member Function Documentation

◆ getLimits()

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

Get the software limits for a particular axis.

Parameters
axisjoint number
pointerto store the value of the lower limit
pointerto store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 33 of file ControlBoardWrapperControlLimits.cpp.

◆ getVelLimits()

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

Get the software speed limits for a particular axis.

Parameters
axisjoint number
minpointer to store the value of the lower limit
maxpointer to store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 81 of file ControlBoardWrapperControlLimits.cpp.

◆ setLimits()

bool ControlBoardWrapperControlLimits::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
axisjoint number (why am I telling you this)
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 11 of file ControlBoardWrapperControlLimits.cpp.

◆ setVelLimits()

bool ControlBoardWrapperControlLimits::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
axisjoint number
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 59 of file ControlBoardWrapperControlLimits.cpp.


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