YARP
Yet Another Robot Platform
ControlBoardWrapperRemoteCalibrator Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperRemoteCalibrator.h>

+ Inheritance diagram for ControlBoardWrapperRemoteCalibrator:

Public Member Functions

bool isCalibratorDevicePresent (bool *isCalib) override
 isCalibratorDevicePresent: check if a calibrator device has been set More...
 
yarp::dev::IRemoteCalibratorgetCalibratorDevice () 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...
 
- 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::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::IRemoteCalibratorgetCalibratorDevice ()
 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...
 

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 14 of file ControlBoardWrapperRemoteCalibrator.h.

Member Function Documentation

◆ calibrateSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::calibrateSingleJoint ( int  j)
overridevirtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters
jjoint to be calibrated
Returns
true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 26 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ calibrateWholePart()

bool ControlBoardWrapperRemoteCalibrator::calibrateWholePart ( )
overridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns
true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 36 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ getCalibratorDevice()

IRemoteCalibrator * ControlBoardWrapperRemoteCalibrator::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 14 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ homingSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::homingSingleJoint ( int  j)
overridevirtual

homingSingleJoint: call the homing procedure for a single joint

Parameters
jjoint to be calibrated
Returns
true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 46 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ homingWholePart()

bool ControlBoardWrapperRemoteCalibrator::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 56 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ isCalibratorDevicePresent()

bool ControlBoardWrapperRemoteCalibrator::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 20 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ parkSingleJoint()

bool ControlBoardWrapperRemoteCalibrator::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 66 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ parkWholePart()

bool ControlBoardWrapperRemoteCalibrator::parkWholePart ( )
overridevirtual

parkWholePart: start the parking procedure for the whole part

Returns
true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 76 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ quitCalibrate()

bool ControlBoardWrapperRemoteCalibrator::quitCalibrate ( )
overridevirtual

quitCalibrate: interrupt the calibration procedure

Returns
true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 86 of file ControlBoardWrapperRemoteCalibrator.cpp.

◆ quitPark()

bool ControlBoardWrapperRemoteCalibrator::quitPark ( )
overridevirtual

quitPark: interrupt the park procedure

Returns
true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 96 of file ControlBoardWrapperRemoteCalibrator.cpp.


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