#include <ControlBoardWrapper/ControlBoardWrapperPositionControl.h>
Public Member Functions | |
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... | |
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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 | ~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... | |
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 14 of file ControlBoardWrapperPositionControl.h.
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overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
flag | is a pointer to return value ("and" of all joints) |
Implements yarp::dev::IPositionControl.
Definition at line 304 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
joints | pointer to the array of joint numbers |
flag | pointer to return value (logical "and" of all set of joints) |
Implements yarp::dev::IPositionControl.
Definition at line 343 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
j | is the axis number |
flag | is a pointer to return value |
Implements yarp::dev::IPositionControl.
Definition at line 279 of file ControlBoardWrapperPositionControl.cpp.
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inlineoverridevirtual |
Get the number of controlled axes.
This command asks the number of controlled axes for the current physical interface.
ax | pointer to storage |
Implements yarp::dev::IPositionControl.
Definition at line 19 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
j | joint number |
acc | pointer to storage for the return value |
Implements yarp::dev::IPositionControl.
Definition at line 44 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
joints | pointer to the array of joint numbers |
accs | pointer to the array that will store the acceleration values |
Implements yarp::dev::IPositionControl.
Definition at line 46 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Get reference acceleration of all joints.
These are the values used during the interpolation of the trajectory.
accs | pointer to the array that will store the acceleration values. |
Implements yarp::dev::IPositionControl.
Definition at line 45 of file ControlBoardWrapperPositionControl.h.
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overridevirtual |
Get reference speed for a joint.
Returns the speed used to generate the trajectory profile.
j | joint number |
ref | pointer to storage for the return value |
Implements yarp::dev::IPositionControl.
Definition at line 470 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
joints | pointer to the array of joint numbers |
spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControl.
Definition at line 522 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControl.
Definition at line 495 of file ControlBoardWrapperPositionControl.cpp.
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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
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControl.
Definition at line 104 of file ControlBoardWrapperPositionControl.cpp.
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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
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControl.
Definition at line 157 of file ControlBoardWrapperPositionControl.cpp.
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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
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControl.
Definition at line 130 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set new reference point for all axes.
refs | array, new reference points. |
Implements yarp::dev::IPositionControl.
Definition at line 35 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set new reference point for a subset of joints.
joints | pointer to the array of joint numbers |
refs | pointer to the array specifying the new reference points |
Implements yarp::dev::IPositionControl.
Definition at line 74 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set new reference point for a single axis.
j | joint number |
ref | specifies the new ref point |
Implements yarp::dev::IPositionControl.
Definition at line 11 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set relative position, all joints.
deltas | pointer to the relative commands |
Implements yarp::dev::IPositionControl.
Definition at line 226 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set relative position for a subset of joints.
joints | pointer to the array of joint numbers |
deltas | pointer to the array of relative commands |
Implements yarp::dev::IPositionControl.
Definition at line 249 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set relative position.
The command is relative to the current position of the axis.
j | joint axis number |
delta | relative command |
Implements yarp::dev::IPositionControl.
Definition at line 202 of file ControlBoardWrapperPositionControl.cpp.
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inlineoverridevirtual |
Set reference acceleration for a joint.
This value is used during the trajectory generation.
j | joint number |
acc | acceleration value |
Implements yarp::dev::IPositionControl.
Definition at line 38 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Set reference acceleration on all joints.
This is the valure that is used during the generation of the trajectory.
accs | pointer to the array of acceleration values |
Implements yarp::dev::IPositionControl.
Definition at line 39 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Set reference acceleration on all joints.
This is the valure that is used during the generation of the trajectory.
joints | pointer to the array of joint numbers |
accs | pointer to the array with acceleration values |
Implements yarp::dev::IPositionControl.
Definition at line 40 of file ControlBoardWrapperPositionControl.h.
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overridevirtual |
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
j | joint number |
sp | speed value |
Implements yarp::dev::IPositionControl.
Definition at line 380 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set reference speed on all joints.
These values are used during the interpolation of the trajectory.
spds | pointer to the array of speed values. |
Implements yarp::dev::IPositionControl.
Definition at line 403 of file ControlBoardWrapperPositionControl.cpp.
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overridevirtual |
Set reference speed on all joints.
These values are used during the interpolation of the trajectory.
joints | pointer to the array of joint numbers |
spds | pointer to the array with speed values. |
Implements yarp::dev::IPositionControl.
Definition at line 440 of file ControlBoardWrapperPositionControl.cpp.
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inlineoverridevirtual |
Stop motion, multiple joints.
Implements yarp::dev::IPositionControl.
Definition at line 48 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Stop motion for subset of joints.
joints | pointer to the array of joint numbers |
Implements yarp::dev::IPositionControl.
Definition at line 49 of file ControlBoardWrapperPositionControl.h.
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inlineoverridevirtual |
Stop motion, single joint.
j | joint number |
Implements yarp::dev::IPositionControl.
Definition at line 47 of file ControlBoardWrapperPositionControl.h.