#include <ControlBoardWrapper/ControlBoardWrapperEncodersTimed.h>
Public Member Functions | |
bool | getAxes (int *ax) override |
Get the number of controlled axes. 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 | 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 | 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... | |
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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) |
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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... | |
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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... | |
Additional Inherited Members | |
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WrappedDevice | device |
size_t | controlledJoints {0} |
std::string | partName |
std::mutex | rpcDataMutex |
MultiJointData | rpcData |
std::mutex | timeMutex |
yarp::os::Stamp | time |
Definition at line 13 of file ControlBoardWrapperEncodersTimed.h.
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inlineoverridevirtual |
Get the number of controlled axes.
This command asks the number of controlled axes for the current physical interface.
Implements yarp::dev::IEncoders.
Definition at line 18 of file ControlBoardWrapperEncodersTimed.h.
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overridevirtual |
Read the value of an encoder.
j | encoder number |
v | pointer to storage for the return value |
Implements yarp::dev::IEncoders.
Definition at line 102 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the instantaneous acceleration of an axis.
j | axis number |
spds | pointer to the array that will contain the output |
Implements yarp::dev::IEncoders.
Definition at line 258 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the instantaneous acceleration of all axes.
accs | pointer to the array that will contain the output |
Implements yarp::dev::IEncoders.
Definition at line 282 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the position of all axes.
encs | pointer to the array that will contain the output |
Implements yarp::dev::IEncoders.
Definition at line 126 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the istantaneous speed of an axis.
j | axis number |
sp | pointer to storage for the output |
Implements yarp::dev::IEncoders.
Definition at line 207 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the instantaneous speed of all axes.
spds | pointer to storage for the output values |
Implements yarp::dev::IEncoders.
Definition at line 231 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the instantaneous acceleration of all axes.
encs | pointer to the array that will contain the output |
time | pointer to the array that will contain individual timestamps |
Implements yarp::dev::IEncodersTimed.
Definition at line 153 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Read the instantaneous acceleration of all axes.
j | axis index |
encs | encoder value (pointer to) |
time | corresponding timestamp (pointer to) |
Implements yarp::dev::IEncodersTimed.
Definition at line 183 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Reset encoder, single joint.
Set the encoder value to zero
j | encoder number |
Implements yarp::dev::IEncoders.
Definition at line 10 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Reset encoders.
Set the encoders value to zero
Implements yarp::dev::IEncoders.
Definition at line 33 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Set the value of the encoder for a given joint.
j | encoder number |
val | new value |
Implements yarp::dev::IEncoders.
Definition at line 56 of file ControlBoardWrapperEncodersTimed.cpp.
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overridevirtual |
Set the value of all encoders.
vals | pointer to the new values |
Implements yarp::dev::IEncoders.
Definition at line 79 of file ControlBoardWrapperEncodersTimed.cpp.