fakeMotionControl: The aim of this device is to mimic the expected behavior of a real motion control device to help testing the high level software. More...

#include <fake/fakeMotionControl/FakeMotionControl.h>

Inheritance diagram for FakeMotionControl:

Public Member Functions
	FakeMotionControl ()

	~FakeMotionControl ()

bool	open (yarp::os::Searchable &par) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	fromConfig (yarp::os::Searchable &config)

virtual bool	initialised ()

bool	alloc (int njoints)
	Allocated buffers.

void	resizeBuffers ()
	Resize previously allocated buffers.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

bool	setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override
	Set new pid value for a joint axis.

bool	setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override
	Set new pid value on multiple axes.

bool	setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis.

bool	setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes.

bool	setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specific joint.

bool	setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints.

bool	getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint.

bool	getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints.

bool	getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g.

bool	getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g.

bool	getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override
	Get current pid value for a specific joint.

bool	getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
	Get current pid value for a specific joint.

bool	getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint.

bool	getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers.

bool	getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
	Get the error limit for the controller on a specific joint.

bool	getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
	Get the error limit for all controllers.

bool	resetPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

bool	disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint.

bool	enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint.

bool	setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
	Set an offset value on the ourput of pid controller.

bool	isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid controller.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	positionMoveRaw (int j, double ref) override
	Set new reference point for a single axis.

bool	positionMoveRaw (const double *refs) override
	Set new reference point for all axes.

bool	relativeMoveRaw (int j, double delta) override
	Set relative position.

bool	relativeMoveRaw (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDoneRaw (bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDoneRaw (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeedRaw (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

bool	setRefSpeedsRaw (const double *spds) override
	Set reference speed on all joints.

bool	setRefAccelerationRaw (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerationsRaw (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefSpeedRaw (int j, double *ref) override
	Get reference speed for a joint.

bool	getRefSpeedsRaw (double *spds) override
	Get reference speed of all joints.

bool	getRefAccelerationRaw (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerationsRaw (double *accs) override
	Get reference acceleration of all joints.

bool	stopRaw (int j) override
	Stop motion, single joint.

bool	stopRaw () override
	Stop motion, multiple joints.

bool	positionMoveRaw (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

bool	relativeMoveRaw (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints.

bool	checkMotionDoneRaw (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated.

bool	setRefSpeedsRaw (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefAccelerationsRaw (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	getRefSpeedsRaw (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefAccelerationsRaw (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	stopRaw (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

bool	getTargetPositionRaw (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getTargetPositionsRaw (double *refs) override
	Get the last position reference for all axes.

bool	getTargetPositionsRaw (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

bool	velocityMoveRaw (int j, double sp) override
	Start motion at a given speed, single joint.

bool	velocityMoveRaw (const double *sp) override
	Start motion at a given speed, multiple joints.

bool	getLastJointFaultRaw (int j, int &fault, std::string &message) override

bool	setCalibrationParametersRaw (int axis, const yarp::dev::CalibrationParameters &params) override
	Start calibration, this method is very often platform specific.

bool	calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
	Start calibration, this method is very often platform specific.

bool	calibrationDoneRaw (int j) override
	Check if the calibration is terminated, on a particular joint.

bool	getControlModeRaw (int j, int *v) override

bool	getControlModesRaw (int *v) override

bool	getControlModesRaw (const int n_joint, const int joints, int modes) override

bool	setControlModeRaw (const int j, const int mode) override

bool	setControlModesRaw (const int n_joint, const int joints, int modes) override

bool	setControlModesRaw (int *modes) override

bool	resetEncoderRaw (int j) override
	Reset encoder, single joint.

bool	resetEncodersRaw () override
	Reset encoders.

bool	setEncoderRaw (int j, double val) override
	Set the value of the encoder for a given joint.

bool	setEncodersRaw (const double *vals) override
	Set the value of all encoders.

bool	getEncoderRaw (int j, double *v) override
	Read the value of an encoder.

bool	getEncodersRaw (double *encs) override
	Read the position of all axes.

bool	getEncoderSpeedRaw (int j, double *sp) override
	Read the instantaneous speed of an axis.

bool	getEncoderSpeedsRaw (double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerationRaw (int j, double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerationsRaw (double *accs) override
	Read the instantaneous acceleration of all axes.

bool	getEncodersTimedRaw (double encs, double stamps) override
	Read the instantaneous acceleration of all axes.

bool	getEncoderTimedRaw (int j, double encs, double stamp) override
	Read the instantaneous acceleration of all axes.

bool	getNumberOfMotorEncodersRaw (int *num) override
	Get the number of available motor encoders.

bool	resetMotorEncoderRaw (int m) override
	Reset motor encoder, single motor.

bool	resetMotorEncodersRaw () override
	Reset motor encoders.

bool	setMotorEncoderRaw (int m, const double val) override
	Set the value of the motor encoder for a given motor.

bool	setMotorEncodersRaw (const double *vals) override
	Set the value of all motor encoders.

bool	getMotorEncoderRaw (int m, double *v) override
	Read the value of a motor encoder.

bool	getMotorEncodersRaw (double *encs) override
	Read the position of all motor encoders.

bool	getMotorEncoderSpeedRaw (int m, double *sp) override
	Read the istantaneous speed of a motor encoder.

bool	getMotorEncoderSpeedsRaw (double *spds) override
	Read the instantaneous speed of all motor encoders.

bool	getMotorEncoderAccelerationRaw (int m, double *spds) override
	Read the instantaneous acceleration of a motor encoder.

bool	getMotorEncoderAccelerationsRaw (double *accs) override
	Read the instantaneous acceleration of all motor encoders.

bool	getMotorEncodersTimedRaw (double encs, double stamps) override
	Read the instantaneous position of all motor encoders.

bool	getMotorEncoderTimedRaw (int m, double encs, double stamp) override
	Read the instantaneous position of a motor encoder.

bool	getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override
	Gets number of counts per revolution for motor encoder m.

bool	setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m.

bool	getAxisNameRaw (int axis, std::string &name) override

bool	getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override

virtual bool	getRotorEncoderResolutionRaw (int m, double &rotres)

virtual bool	getJointEncoderResolutionRaw (int m, double &jntres)

virtual bool	getJointEncoderTypeRaw (int j, int &type)

virtual bool	getRotorEncoderTypeRaw (int j, int &type)

virtual bool	getKinematicMJRaw (int j, double &rotres)

virtual bool	getHasTempSensorsRaw (int j, int &ret)

virtual bool	getHasHallSensorRaw (int j, int &ret)

virtual bool	getHasRotorEncoderRaw (int j, int &ret)

virtual bool	getHasRotorEncoderIndexRaw (int j, int &ret)

virtual bool	getMotorPolesRaw (int j, int &poles)

virtual bool	getRotorIndexOffsetRaw (int j, double &rotorOffset)

virtual bool	getTorqueControlFilterType (int j, int &type)

bool	enableAmpRaw (int j) override
	Enable the amplifier on a specific joint.

bool	disableAmpRaw (int j) override
	Disable the amplifier on a specific joint.

bool	getCurrentsRaw (double *vals) override

bool	getCurrentRaw (int j, double *val) override

bool	getNominalCurrentRaw (int m, double *val) override

bool	setNominalCurrentRaw (int m, const double val) override

bool	setMaxCurrentRaw (int j, double val) override

bool	getMaxCurrentRaw (int j, double *val) override
	Returns the maximum electric current allowed for a given motor.

bool	getPeakCurrentRaw (int m, double *val) override

bool	setPeakCurrentRaw (int m, const double val) override

bool	getAmpStatusRaw (int *st) override

bool	getAmpStatusRaw (int j, int *st) override

bool	getPWMRaw (int j, double *val) override

bool	getPWMLimitRaw (int j, double *val) override

bool	setPWMLimitRaw (int j, const double val) override

bool	getPowerSupplyVoltageRaw (int j, double *val) override

bool	setLimitsRaw (int axis, 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.

bool	getLimitsRaw (int axis, double min, double max) override
	Get the software limits for a particular axis.

bool	setVelLimitsRaw (int axis, 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.

bool	getVelLimitsRaw (int axis, double min, double max) override
	Get the software speed limits for a particular axis.

bool	getTorqueRaw (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

bool	getTorquesRaw (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors).

bool	getTorqueRangeRaw (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint.

bool	getTorqueRangesRaw (double min, double max) override
	Get the full scale of the torque sensors of all joints.

bool	setRefTorquesRaw (const double *t) override
	Set the reference value of the torque for all joints.

bool	setRefTorqueRaw (int j, double t) override
	Set the reference value of the torque for a given joint.

bool	setRefTorquesRaw (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints.

bool	getRefTorquesRaw (double *t) override
	Get the reference value of the torque for all joints.

bool	getRefTorqueRaw (int j, double *t) override
	Set the reference value of the torque for a given joint.

bool	getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override
	Get the motor parameters.

bool	setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override
	Set the motor parameters.

bool	velocityMoveRaw (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints.

bool	getRefVelocityRaw (const int joint, double *ref) override
	Get the last reference speed set by velocityMove for single joint.

bool	getRefVelocitiesRaw (double *refs) override
	Get the last reference speed set by velocityMove for all joints.

bool	getRefVelocitiesRaw (const int n_joint, const int joints, double refs) override
	Get the last reference speed set by velocityMove for a group of joints.

bool	getImpedanceRaw (int j, double stiffness, double damping) override
	Get current impedance parameters (stiffness,damping,offset) for a specific joint.

bool	setImpedanceRaw (int j, double stiffness, double damping) override
	Set current impedance parameters (stiffness,damping) for a specific joint.

bool	setImpedanceOffsetRaw (int j, double offset) override
	Set current force Offset for a specific joint.

bool	getImpedanceOffsetRaw (int j, double *offset) override
	Get current force Offset for a specific joint.

bool	getCurrentImpedanceLimitRaw (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint.

bool	setPositionRaw (int j, double ref) override
	Set new position for a single axis.

bool	setPositionsRaw (const int n_joint, const int joints, const double refs) override
	Set new reference point for all axes.

bool	setPositionsRaw (const double *refs) override
	Set new position for a set of axes.

bool	getRefPositionRaw (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getRefPositionsRaw (double *refs) override
	Get the last position reference for all axes.

bool	getRefPositionsRaw (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

bool	getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant.

bool	getInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

bool	setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override
	Set the interaction mode of the robot, values can be stiff or compliant.

bool	setInteractionModesRaw (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

bool	getNumberOfMotorsRaw (int *num) override
	Get the number of available motors.

bool	getTemperatureRaw (int m, double *val) override
	Get temperature of a motor.

bool	getTemperaturesRaw (double *vals) override
	Get temperature of all the motors.

bool	getTemperatureLimitRaw (int m, double *temp) override
	Retreives the current temperature limit for a specific motor.

bool	setTemperatureLimitRaw (int m, const double temp) override
	Set the temperature limit for a specific motor.

bool	getGearboxRatioRaw (int m, double *gearbox) override
	Get the gearbox ratio for a specific motor.

bool	setGearboxRatioRaw (int m, const double val) override
	Set the gearbox ratio for a specific motor.

bool	setRefDutyCycleRaw (int j, double v) override
	Sets the reference dutycycle of a single motor.

bool	setRefDutyCyclesRaw (const double *v) override
	Sets the reference dutycycle for all motors.

bool	getRefDutyCycleRaw (int j, double *v) override
	Gets the last reference sent using the setRefDutyCycleRaw function.

bool	getRefDutyCyclesRaw (double *v) override
	Gets the last reference sent using the setRefDutyCyclesRaw function.

bool	getDutyCycleRaw (int j, double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e.

bool	getDutyCyclesRaw (double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e.

bool	getCurrentRangeRaw (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g.

bool	getCurrentRangesRaw (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g.

bool	setRefCurrentsRaw (const double *t) override
	Set the reference value of the currents for all motors.

bool	setRefCurrentRaw (int j, double t) override
	Set the reference value of the current for a single motor.

bool	setRefCurrentsRaw (const int n_joint, const int joints, const double t) override
	Set the reference value of the current for a group of motors.

bool	getRefCurrentsRaw (double *t) override
	Get the reference value of the currents for all motors.

bool	getRefCurrentRaw (int j, double *t) override
	Get the reference value of the current for a single motor.

yarp::dev::VAS_status	getVirtualAnalogSensorStatusRaw (int ch) override
	Check the status of a given channel.

int	getVirtualAnalogSensorChannelsRaw () override
	Get the number of channels of the virtual sensor.

bool	updateVirtualAnalogSensorMeasureRaw (yarp::sig::Vector &measure) override
	Set a vector of torque values for virtual sensor.

bool	updateVirtualAnalogSensorMeasureRaw (int ch, double &measure) override

void	run () override
	Loop function.

Public Member Functions inherited from FakeMotionControl_ParamsParser
	FakeMotionControl_ParamsParser ()

	~FakeMotionControl_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::IPidControlRaw
virtual	~IPidControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IControlCalibrationRaw
	IControlCalibrationRaw ()

virtual	~IControlCalibrationRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IAmplifierControlRaw
virtual	~IAmplifierControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IEncodersTimedRaw
virtual	~IEncodersTimedRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IEncodersRaw
virtual	~IEncodersRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMotorEncodersRaw
virtual	~IMotorEncodersRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMotorRaw
virtual	~IMotorRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IPositionControlRaw
virtual	~IPositionControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IVelocityControlRaw
virtual	~IVelocityControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IControlModeRaw
virtual	~IControlModeRaw ()

Public Member Functions inherited from yarp::dev::IControlLimitsRaw
virtual	~IControlLimitsRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IPositionDirectRaw
virtual	~IPositionDirectRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::ITorqueControlRaw
virtual	~ITorqueControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::ICurrentControlRaw
virtual	~ICurrentControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IPWMControlRaw
virtual	~IPWMControlRaw ()

Public Member Functions inherited from yarp::dev::IImpedanceControlRaw
virtual	~IImpedanceControlRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IInteractionModeRaw
virtual	~IInteractionModeRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IAxisInfoRaw
virtual	~IAxisInfoRaw ()
	Destructor.

Public Member Functions inherited from yarp::dev::IVirtualAnalogSensorRaw
virtual	~IVirtualAnalogSensorRaw ()

Public Member Functions inherited from yarp::dev::IJointFaultRaw
virtual	~IJointFaultRaw ()

Public Member Functions inherited from yarp::dev::ImplementControlCalibration
	ImplementControlCalibration (yarp::dev::IControlCalibrationRaw *y)

virtual	~ImplementControlCalibration ()
	Destructor.

bool	calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override
	Start calibration, this method is very often platform specific.

bool	setCalibrationParameters (int axis, const CalibrationParameters &params) override
	Start calibration, this method is very often platform specific.

bool	calibrationDone (int j) override
	Check if the calibration is terminated, on a particular joint.

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor.

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot.

virtual bool	calibrateRobot ()
	Calibrate robot by using an external calibrator.

virtual bool	park (bool wait=true)

virtual bool	abortCalibration ()

virtual bool	abortPark ()

Public Member Functions inherited from yarp::dev::ImplementAmplifierControl
	ImplementAmplifierControl (yarp::dev::IAmplifierControlRaw *y)

virtual	~ImplementAmplifierControl ()
	Destructor.

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint.

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint.

bool	getAmpStatus (int *st) override

bool	getAmpStatus (int j, int *st) override

bool	getCurrents (double *vals) override

bool	getCurrent (int j, double *val) override

bool	setMaxCurrent (int j, double v) override

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor.

bool	getNominalCurrent (int m, double *val) override

bool	setNominalCurrent (int m, const double val) override

bool	getPeakCurrent (int m, double *val) override

bool	setPeakCurrent (int m, const double val) override

bool	getPWM (int j, double *val) override

bool	getPWMLimit (int j, double *val) override

bool	setPWMLimit (int j, const double val) override

bool	getPowerSupplyVoltage (int j, double *val) override

Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual	~IAmplifierControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementPidControl
	ImplementPidControl (yarp::dev::IPidControlRaw *y)

virtual	~ImplementPidControl ()

bool	setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
	Set new pid value for a joint axis.

bool	setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override
	Set new pid value on multiple axes.

bool	setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis.

bool	setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes.

bool	setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specifi joint.

bool	setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints.

bool	getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint.

bool	getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints.

bool	getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g.

bool	getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g.

bool	getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
	Get current pid value for a specific joint.

bool	getPids (const PidControlTypeEnum &pidtype, Pid *pids) override
	Get current pid value for a specific joint.

bool	getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint.

bool	getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers.

bool	getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the error limit for the controller on a specific joint.

bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *refs) override
	Get the error limit for all controllers.

bool	resetPid (const PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

bool	enablePid (const PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint.

bool	disablePid (const PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint.

bool	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller.

bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid.

void	b ()

Public Member Functions inherited from yarp::dev::IPidControl
virtual	~IPidControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementEncodersTimed
	ImplementEncodersTimed (yarp::dev::IEncodersTimedRaw *y)

virtual	~ImplementEncodersTimed ()

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	resetEncoder (int j) override
	Reset encoder, single joint.

bool	resetEncoders () override
	Reset encoders.

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint.

bool	setEncoders (const double *vals) override
	Set the value of all encoders.

bool	getEncoder (int j, double *v) override
	Read the value of an encoder.

bool	getEncodersTimed (double encs, double time) override
	Read the instantaneous acceleration of all axes.

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes.

bool	getEncoders (double *encs) override
	Read the position of all axes.

bool	getEncoderSpeed (int j, double *spds) override
	Read the istantaneous speed of an axis.

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes.

bool	getEncoderAcceleration (int j, double *spds) override
	Read the instantaneous acceleration of an axis.

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes.

Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual	~IEncodersTimed ()
	Destructor.

Public Member Functions inherited from yarp::dev::IEncoders
virtual	~IEncoders ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementPositionControl
	ImplementPositionControl (yarp::dev::IPositionControlRaw *y)
	Constructor.

virtual	~ImplementPositionControl ()
	Destructor.

bool	getAxes (int *axis) override
	Get the number of controlled axes.

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis.

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

bool	positionMove (const double *refs) override
	Set new reference point for all axes.

bool	relativeMove (int j, double delta) override
	Set relative position.

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints.

bool	relativeMove (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints.

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint.

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints.

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

bool	stop () override
	Stop motion, multiple joints.

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes.

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

Public Member Functions inherited from yarp::dev::IPositionControl
virtual	~IPositionControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementVelocityControl
	ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y)
	Constructor.

virtual	~ImplementVelocityControl ()
	Destructor.

bool	getAxes (int *axes) override
	Get the number of controlled axes.

bool	velocityMove (int j, double sp) override
	Start motion at a given speed, single joint.

bool	velocityMove (const double *sp) override
	Start motion at a given speed, multiple joints.

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop () override
	Stop motion, multiple joints.

bool	velocityMove (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints.

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint.

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints.

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration for a subset of joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a subset of joints.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for a subset of joints.

Public Member Functions inherited from yarp::dev::IVelocityControl
virtual	~IVelocityControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementControlMode
bool	initialize (int k, const int *amap)

bool	uninitialize ()

	ImplementControlMode (IControlModeRaw *v)

	~ImplementControlMode ()

bool	getControlMode (int j, int *f) override
	Get the current control mode.

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints).

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes.

bool	setControlMode (const int j, const int mode) override
	Set the current control mode.

bool	setControlModes (const int n_joint, const int joints, int modes) override
	Set the current control mode for a subset of axes.

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints).

Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

Public Member Functions inherited from yarp::dev::ImplementImpedanceControl
	ImplementImpedanceControl (yarp::dev::IImpedanceControlRaw *y)

virtual	~ImplementImpedanceControl ()
	Destructor.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	getImpedance (int j, double stiffness, double damping) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint.

bool	setImpedance (int j, double stiffness, double damping) override
	Set current impedance gains (stiffness,damping) for a specific joint.

bool	setImpedanceOffset (int j, double offset) override
	Set current force Offset for a specific joint.

bool	getImpedanceOffset (int j, double *offset) override
	Get current force Offset for a specific joint.

bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint.

Public Member Functions inherited from yarp::dev::IImpedanceControl
virtual	~IImpedanceControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementJointFault
	ImplementJointFault (yarp::dev::IJointFaultRaw *y)

virtual	~ImplementJointFault ()
	Destructor.

bool	getLastJointFault (int j, int &fault, std::string &message) override

Public Member Functions inherited from yarp::dev::IJointFault
virtual	~IJointFault ()

Public Member Functions inherited from yarp::dev::ImplementMotorEncoders
	ImplementMotorEncoders (yarp::dev::IMotorEncodersRaw *y)

virtual	~ImplementMotorEncoders ()

bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders.

bool	resetMotorEncoder (int m) override
	Reset motor encoder, single motor.

bool	resetMotorEncoders () override
	Reset motor encoders.

bool	setMotorEncoder (int m, const double val) override
	Set the value of the motor encoder for a given motor.

bool	setMotorEncoders (const double *vals) override
	Set the value of all motor encoders.

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m.

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	Gets number of counts per revolution for motor encoder m.

bool	getMotorEncoder (int m, double *v) override
	Read the value of a motor encoder.

bool	getMotorEncodersTimed (double encs, double time) override
	Read the instantaneous position of all motor encoders.

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder.

bool	getMotorEncoders (double *encs) override
	Read the position of all motor encoders.

bool	getMotorEncoderSpeed (int m, double *spds) override
	Read the istantaneous speed of a motor encoder.

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all motor encoders.

bool	getMotorEncoderAcceleration (int m, double *spds) override
	Read the instantaneous acceleration of a motor encoder.

bool	getMotorEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all motor encoders.

Public Member Functions inherited from yarp::dev::IMotorEncoders
virtual	~IMotorEncoders ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementTorqueControl
	ImplementTorqueControl (yarp::dev::ITorqueControlRaw *y)

virtual	~ImplementTorqueControl ()
	Destructor.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	getRefTorque (int j, double *) override
	Get the reference value of the torque for a given joint.

bool	getRefTorques (double *t) override
	Get the reference value of the torque for all joints.

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints.

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint.

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints.

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors).

bool	getTorque (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint.

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints.

Public Member Functions inherited from yarp::dev::ITorqueControl
virtual	~ITorqueControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementControlLimits
	ImplementControlLimits (yarp::dev::IControlLimitsRaw *y)
	Constructor.

virtual	~ImplementControlLimits ()
	Destructor.

bool	setLimits (int axis, 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.

bool	getLimits (int axis, double min, double max) override
	Get the software limits for a particular axis.

bool	setVelLimits (int axis, 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.

bool	getVelLimits (int axis, double min, double max) override
	Get the software speed limits for a particular axis.

Public Member Functions inherited from yarp::dev::IControlLimits
virtual	~IControlLimits ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementPositionDirect
	ImplementPositionDirect (yarp::dev::IPositionDirectRaw *y)
	Constructor.

virtual	~ImplementPositionDirect ()
	Destructor.

bool	getAxes (int *axes) override
	Get the number of controlled axes.

bool	setPosition (int j, double ref) override
	Set new position for a single axis.

bool	setPositions (const int n_joint, const int joints, const double refs) override
	Set new reference point for all axes.

bool	setPositions (const double *refs) override
	Set new position for a set of axis.

bool	getRefPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis.

bool	getRefPositions (double *refs) override
	Get the last position reference for all axes.

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes.

Public Member Functions inherited from yarp::dev::IPositionDirect
virtual	~IPositionDirect ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementInteractionMode
	ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p)
	Constructor.

virtual	~ImplementInteractionMode ()
	Destructor.

bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant.

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant.

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Public Member Functions inherited from yarp::dev::IInteractionMode
virtual	~IInteractionMode ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementCurrentControl
	ImplementCurrentControl (yarp::dev::ICurrentControlRaw *y)

virtual	~ImplementCurrentControl ()
	Destructor.

bool	getNumberOfMotors (int *ax) override
	Retrieves the number of controlled axes from the current physical interface.

bool	getRefCurrent (int j, double *) override
	Get the reference value of the current for a single motor.

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors.

bool	setRefCurrents (const double *t) override
	Set the reference value of the currents for all motors.

bool	setRefCurrent (int j, double t) override
	Set the reference value of the current for a single motor.

bool	setRefCurrents (const int n_joint, const int joints, const double t) override
	Set the reference value of the current for a group of motors.

bool	getCurrents (double *t) override
	Get the instantaneous current measurement for all motors.

bool	getCurrent (int j, double *t) override
	Get the instantaneous current measurement for a single motor.

bool	getCurrentRange (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g.

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g.

Public Member Functions inherited from yarp::dev::ICurrentControl
virtual	~ICurrentControl ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementPWMControl
bool	initialize (int k, const int amap, const double dutyToPWM)

bool	uninitialize ()

	ImplementPWMControl (IPWMControlRaw *v)

	~ImplementPWMControl ()

bool	getNumberOfMotors (int *ax) override
	Retrieves the number of controlled motors from the current physical interface.

bool	setRefDutyCycle (int j, double v) override
	Sets the reference dutycycle to a single motor.

bool	setRefDutyCycles (const double *v) override
	Sets the reference dutycycle for all the motors.

bool	getRefDutyCycle (int j, double *v) override
	Gets the last reference sent using the setRefDutyCycle function.

bool	getRefDutyCycles (double *v) override
	Gets the last reference sent using the setRefDutyCycles function.

bool	getDutyCycle (int j, double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e.

bool	getDutyCycles (double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e.

Public Member Functions inherited from yarp::dev::IPWMControl
virtual	~IPWMControl ()

Public Member Functions inherited from yarp::dev::ImplementMotor
	ImplementMotor (yarp::dev::IMotorRaw *y)

virtual	~ImplementMotor ()

bool	getNumberOfMotors (int *num) override
	Get the number of available motors.

bool	getTemperature (int m, double *val) override
	Get temperature of a motor.

bool	getTemperatures (double *vals) override
	Get temperature of all the motors.

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor.

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor.

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor.

bool	setGearboxRatio (int m, const double val) override
	Set the gearbox ratio for a specific motor.

Public Member Functions inherited from yarp::dev::IMotor
virtual	~IMotor ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementAxisInfo
	ImplementAxisInfo (yarp::dev::IAxisInfoRaw *y)

virtual	~ImplementAxisInfo ()

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	getAxisName (int axis, std::string &name) override

bool	getJointType (int axis, yarp::dev::JointTypeEnum &type) override

Public Member Functions inherited from yarp::dev::IAxisInfo
virtual	~IAxisInfo ()
	Destructor.

Public Member Functions inherited from yarp::dev::ImplementVirtualAnalogSensor
bool	initialize (int k, const int amap, const double userToRaw)

bool	uninitialize ()

	ImplementVirtualAnalogSensor (IVirtualAnalogSensorRaw *virt)

	~ImplementVirtualAnalogSensor ()

VAS_status	getVirtualAnalogSensorStatus (int ch) override
	Check the status of a given channel.

int	getVirtualAnalogSensorChannels () override
	Get the number of channels of the virtual sensor.

bool	updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure) override
	Set a vector of torque values for virtual sensor.

bool	updateVirtualAnalogSensorMeasure (int ch, double &measure) override

Public Member Functions inherited from yarp::dev::IVirtualAnalogSensor
virtual	~IVirtualAnalogSensor ()

Additional Inherited Members
Public Attributes inherited from FakeMotionControl_ParamsParser
const std::string	m_device_classname = {"FakeMotionControl"}

const std::string	m_device_name = {"fakeMotionControl"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_GENERAL_Joints_defaultValue = {"1"}

const std::string	m_GENERAL_AxisMap_defaultValue = {""}

const std::string	m_GENERAL_AxisName_defaultValue = {""}

const std::string	m_GENERAL_AxisType_defaultValue = {""}

const std::string	m_GENERAL_ampsToSensor_defaultValue = {""}

const std::string	m_GENERAL_fullscalePWM_defaultValue = {""}

const std::string	m_GENERAL_Encoder_defaultValue = {""}

const std::string	m_LIMITS_Max_defaultValue = {""}

const std::string	m_LIMITS_Min_defaultValue = {""}

int	m_GENERAL_Joints = {1}

std::vector< int >	m_GENERAL_AxisMap = {}

std::vector< std::string >	m_GENERAL_AxisName = {}

std::vector< std::string >	m_GENERAL_AxisType = {}

std::vector< double >	m_GENERAL_ampsToSensor = {}

std::vector< double >	m_GENERAL_fullscalePWM = {}

std::vector< int >	m_GENERAL_Encoder = {}

std::vector< double >	m_LIMITS_Max = {}

std::vector< double >	m_LIMITS_Min = {}

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Protected Member Functions inherited from yarp::dev::ImplementControlCalibration
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementAmplifierControl
bool	initialize (int size, const int amap, const double enc, const double zos, const double ampereFactor=NULL, const double *voltFactor=NULL)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementPidControl
bool	initialize (int size, const int amap, const double enc, const double zos, const double newtons, const double amps, const double dutys)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

bool	setConversionUnits (const PidControlTypeEnum &pidtype, const PidFeedbackUnitsEnum fbk_conv_units, const PidOutputUnitsEnum out_conv_units)

Protected Member Functions inherited from yarp::dev::ImplementEncodersTimed
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementPositionControl
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementVelocityControl
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementImpedanceControl
bool	initialize (int size, const int amap, const double enc, const double zos, const double nw)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementJointFault
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementMotorEncoders
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementTorqueControl
bool	initialize (int size, const int amap, const double enc, const double zos, const double nw, const double amps, const double dutys, const double bemfs, const double ktaus)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementControlLimits
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementPositionDirect
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementInteractionMode
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory, smaller version.

bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementCurrentControl
bool	initialize (int size, const int amap, const double ampsToSens)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementMotor
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Member Functions inherited from yarp::dev::ImplementAxisInfo
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes inherited from yarp::dev::ImplementControlCalibration
IControlCalibrationRaw *	iCalibrate

void *	helper

double *	temp

Protected Attributes inherited from yarp::dev::ImplementAmplifierControl
IAmplifierControlRaw *	iAmplifier

void *	helper

double *	dTemp

int *	iTemp

Protected Attributes inherited from yarp::dev::ImplementPidControl
IPidControlRaw *	iPid

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::Pid > *	pidBuffManager

Protected Attributes inherited from yarp::dev::ImplementEncodersTimed
IEncodersTimedRaw *	iEncoders

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	buffManager

Protected Attributes inherited from yarp::dev::ImplementPositionControl
IPositionControlRaw *	iPosition

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager< bool > *	boolBuffManager

Protected Attributes inherited from yarp::dev::ImplementVelocityControl
IVelocityControlRaw *	iVelocity

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementImpedanceControl
yarp::dev::IImpedanceControlRaw *	iImpedanceRaw

void *	helper

Protected Attributes inherited from yarp::dev::ImplementJointFault
yarp::dev::IJointFaultRaw *	raw

void *	helper

Protected Attributes inherited from yarp::dev::ImplementMotorEncoders
IMotorEncodersRaw *	iMotorEncoders

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	buffManager

Protected Attributes inherited from yarp::dev::ImplementTorqueControl
yarp::dev::ITorqueControlRaw *	iTorqueRaw

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementControlLimits
IControlLimitsRaw *	iLimits2

void *	helper

Protected Attributes inherited from yarp::dev::ImplementPositionDirect
IPositionDirectRaw *	iPDirect

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementInteractionMode
yarp::dev::IInteractionModeRaw *	iInteraction

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::InteractionModeEnum > *	imodeBuffManager

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

Protected Attributes inherited from yarp::dev::ImplementCurrentControl
yarp::dev::ICurrentControlRaw *	iCurrentRaw

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementMotor
IMotorRaw *	imotor

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Protected Attributes inherited from yarp::dev::ImplementAxisInfo
IAxisInfoRaw *	iinfo

void *	helper

double *	temp1

double *	temp2

Detailed Description

fakeMotionControl: The aim of this device is to mimic the expected behavior of a real motion control device to help testing the high level software.

This device is implementing last version of interfaces and it is compatible with controlBoard_nws_yarp device.

Parameters required by this device are shown in class: FakeMotionControl_ParamsParser

WIP - Some interfaces could be not implemented.

Definition at line 86 of file FakeMotionControl.h.

Constructor & Destructor Documentation

◆ FakeMotionControl()

FakeMotionControl::FakeMotionControl ( )

Definition at line 377 of file FakeMotionControl.cpp.

◆ ~FakeMotionControl()

FakeMotionControl::~FakeMotionControl ( )

Definition at line 476 of file FakeMotionControl.cpp.

Member Function Documentation

◆ alloc()

bool FakeMotionControl::alloc ( int njoints )

Allocated buffers.

Definition at line 197 of file FakeMotionControl.cpp.

◆ calibrateAxisWithParamsRaw()

bool FakeMotionControl::calibrateAxisWithParamsRaw	(	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::IControlCalibrationRaw.

Definition at line 1168 of file FakeMotionControl.cpp.

◆ calibrationDoneRaw()

bool FakeMotionControl::calibrationDoneRaw ( int j )

overridevirtual

Check if the calibration is terminated, on a particular joint.

Non blocking.

Returns: true/false

Implements yarp::dev::IControlCalibrationRaw.

Definition at line 1174 of file FakeMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool FakeMotionControl::checkMotionDoneRaw ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 1278 of file FakeMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

bool FakeMotionControl::checkMotionDoneRaw	(	const int	n_joint,
		const int *	joints,
		bool *	flags
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControlRaw.

Definition at line 1437 of file FakeMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

bool FakeMotionControl::checkMotionDoneRaw	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 1268 of file FakeMotionControl.cpp.

◆ close()

bool FakeMotionControl::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 730 of file FakeMotionControl.cpp.

◆ disableAmpRaw()

bool FakeMotionControl::disableAmpRaw ( int j )

overridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1830 of file FakeMotionControl.cpp.

◆ disablePidRaw()

bool FakeMotionControl::disablePidRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1005 of file FakeMotionControl.cpp.

◆ enableAmpRaw()

bool FakeMotionControl::enableAmpRaw ( int j )

overridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1825 of file FakeMotionControl.cpp.

◆ enablePidRaw()

bool FakeMotionControl::enablePidRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1027 of file FakeMotionControl.cpp.

◆ fromConfig()

bool FakeMotionControl::fromConfig ( yarp::os::Searchable & config )

Definition at line 590 of file FakeMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool FakeMotionControl::getAmpStatusRaw ( int * st )

overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1871 of file FakeMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool FakeMotionControl::getAmpStatusRaw	(	int	j,
		int *	st
	)

overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1865 of file FakeMotionControl.cpp.

◆ getAxes()

bool FakeMotionControl::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns: the number of controlled axes.

Implements yarp::dev::IEncodersRaw.

Definition at line 1183 of file FakeMotionControl.cpp.

◆ getAxisNameRaw()

bool FakeMotionControl::getAxisNameRaw	(	int	axis,
		std::string &	name
	)

overridevirtual

Implements yarp::dev::IAxisInfoRaw.

Definition at line 2014 of file FakeMotionControl.cpp.

◆ getControlModeRaw()

bool FakeMotionControl::getControlModeRaw	(	int	j,
		int *	v
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1531 of file FakeMotionControl.cpp.

◆ getControlModesRaw() [1/2]

bool FakeMotionControl::getControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1552 of file FakeMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool FakeMotionControl::getControlModesRaw ( int * v )

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1542 of file FakeMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

bool FakeMotionControl::getCurrentImpedanceLimitRaw	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)

overridevirtual

Get the current impedandance limits for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2148 of file FakeMotionControl.cpp.

◆ getCurrentRangeRaw()

bool FakeMotionControl::getCurrentRangeRaw	(	int	m,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2497 of file FakeMotionControl.cpp.

◆ getCurrentRangesRaw()

bool FakeMotionControl::getCurrentRangesRaw	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2505 of file FakeMotionControl.cpp.

◆ getCurrentRaw()

bool FakeMotionControl::getCurrentRaw	(	int	j,
		double *	val
	)

overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1835 of file FakeMotionControl.cpp.

◆ getCurrentsRaw()

bool FakeMotionControl::getCurrentsRaw ( double * vals )

overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1842 of file FakeMotionControl.cpp.

◆ getDutyCycleRaw()

bool FakeMotionControl::getDutyCycleRaw	(	int	m,
		double *	val
	)

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters

m	motor number
val	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2470 of file FakeMotionControl.cpp.

◆ getDutyCyclesRaw()

bool FakeMotionControl::getDutyCyclesRaw ( double * vals )

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters

vals	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2476 of file FakeMotionControl.cpp.

◆ getEncoderAccelerationRaw()

bool FakeMotionControl::getEncoderAccelerationRaw	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implements yarp::dev::IEncodersRaw.

Definition at line 1672 of file FakeMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool FakeMotionControl::getEncoderAccelerationsRaw ( double * accs )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersRaw.

Definition at line 1680 of file FakeMotionControl.cpp.

◆ getEncoderRaw()

bool FakeMotionControl::getEncoderRaw	(	int	j,
		double *	v
	)

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncodersRaw.

Definition at line 1632 of file FakeMotionControl.cpp.

◆ getEncoderSpeedRaw()

bool FakeMotionControl::getEncoderSpeedRaw	(	int	j,
		double *	sp
	)

overridevirtual

Read the instantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IEncodersRaw.

Definition at line 1655 of file FakeMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool FakeMotionControl::getEncoderSpeedsRaw ( double * spds )

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncodersRaw.

Definition at line 1662 of file FakeMotionControl.cpp.

◆ getEncodersRaw()

bool FakeMotionControl::getEncodersRaw ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncodersRaw.

Definition at line 1643 of file FakeMotionControl.cpp.

◆ getEncodersTimedRaw()

bool FakeMotionControl::getEncodersTimedRaw	(	double *	encs,
		double *	stamps
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
stamps	pointer to the array that will contain individual timestamps

Returns: return true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 1692 of file FakeMotionControl.cpp.

◆ getEncoderTimedRaw()

bool FakeMotionControl::getEncoderTimedRaw	(	int	j,
		double *	encs,
		double *	stamp
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value
stamp	corresponding timestamp

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 1703 of file FakeMotionControl.cpp.

◆ getGearboxRatioRaw()

bool FakeMotionControl::getGearboxRatioRaw	(	int	m,
		double *	val
	)

overridevirtual

Get the gearbox ratio for a specific motor.

Parameters

m	motor number
val	retrieved gearbox ratio

Returns: true/false

Reimplemented from yarp::dev::IMotorRaw.

Definition at line 1944 of file FakeMotionControl.cpp.

◆ getHasHallSensorRaw()

bool FakeMotionControl::getHasHallSensorRaw	(	int	j,
		int &	ret
	)

virtual

Definition at line 1989 of file FakeMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

bool FakeMotionControl::getHasRotorEncoderIndexRaw	(	int	j,
		int &	ret
	)

virtual

Definition at line 1999 of file FakeMotionControl.cpp.

◆ getHasRotorEncoderRaw()

bool FakeMotionControl::getHasRotorEncoderRaw	(	int	j,
		int &	ret
	)

virtual

Definition at line 1994 of file FakeMotionControl.cpp.

◆ getHasTempSensorsRaw()

bool FakeMotionControl::getHasTempSensorsRaw	(	int	j,
		int &	ret
	)

virtual

Definition at line 1984 of file FakeMotionControl.cpp.

◆ getImpedanceOffsetRaw()

bool FakeMotionControl::getImpedanceOffsetRaw	(	int	j,
		double *	offset
	)

overridevirtual

Get current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2143 of file FakeMotionControl.cpp.

◆ getImpedanceRaw()

bool FakeMotionControl::getImpedanceRaw	(	int	j,
		double *	stiffness,
		double *	damping
	)

overridevirtual

Get current impedance parameters (stiffness,damping,offset) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2128 of file FakeMotionControl.cpp.

◆ getInteractionModeRaw()

bool FakeMotionControl::getInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

overridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters

axis	joint number
mode	contains the requested information about interaction mode of the joint

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2340 of file FakeMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

bool FakeMotionControl::getInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2349 of file FakeMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

bool FakeMotionControl::getInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters

mode	array containing the requested information about interaction mode, one value for each joint.

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2360 of file FakeMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

bool FakeMotionControl::getJointEncoderResolutionRaw	(	int	m,
		double &	jntres
	)

virtual

Definition at line 1964 of file FakeMotionControl.cpp.

◆ getJointEncoderTypeRaw()

bool FakeMotionControl::getJointEncoderTypeRaw	(	int	j,
		int &	type
	)

virtual

Definition at line 1969 of file FakeMotionControl.cpp.

◆ getJointTypeRaw()

bool FakeMotionControl::getJointTypeRaw	(	int	axis,
		yarp::dev::JointTypeEnum &	type
	)

overridevirtual

Reimplemented from yarp::dev::IAxisInfoRaw.

Definition at line 2028 of file FakeMotionControl.cpp.

◆ getKinematicMJRaw()

bool FakeMotionControl::getKinematicMJRaw	(	int	j,
		double &	rotres
	)

virtual

Definition at line 1979 of file FakeMotionControl.cpp.

◆ getLastJointFaultRaw()

bool FakeMotionControl::getLastJointFaultRaw	(	int	j,
		int &	fault,
		std::string &	message
	)

overridevirtual

Implements yarp::dev::IJointFaultRaw.

Definition at line 2583 of file FakeMotionControl.cpp.

◆ getLimitsRaw()

bool FakeMotionControl::getLimitsRaw	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
pointer	to store the value of the lower limit
pointer	to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 1937 of file FakeMotionControl.cpp.

◆ getMaxCurrentRaw()

bool FakeMotionControl::getMaxCurrentRaw	(	int	j,
		double *	v
	)

overridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1859 of file FakeMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

bool FakeMotionControl::getMotorEncoderAccelerationRaw	(	int	m,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters

m	motor number
acc	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1784 of file FakeMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool FakeMotionControl::getMotorEncoderAccelerationsRaw ( double * accs )

overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1790 of file FakeMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw	(	int	m,
		double *	cpr
	)

overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1736 of file FakeMotionControl.cpp.

◆ getMotorEncoderRaw()

bool FakeMotionControl::getMotorEncoderRaw	(	int	m,
		double *	v
	)

overridevirtual

Read the value of a motor encoder.

Parameters

m	motor encoder number
v	pointer to storage for the return value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1751 of file FakeMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

bool FakeMotionControl::getMotorEncoderSpeedRaw	(	int	m,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1768 of file FakeMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool FakeMotionControl::getMotorEncoderSpeedsRaw ( double * spds )

overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1774 of file FakeMotionControl.cpp.

◆ getMotorEncodersRaw()

bool FakeMotionControl::getMotorEncodersRaw ( double * encs )

overridevirtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1757 of file FakeMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

bool FakeMotionControl::getMotorEncodersTimedRaw	(	double *	encs,
		double *	stamps
	)

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1800 of file FakeMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

bool FakeMotionControl::getMotorEncoderTimedRaw	(	int	m,
		double *	encs,
		double *	stamp
	)

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1812 of file FakeMotionControl.cpp.

◆ getMotorPolesRaw()

bool FakeMotionControl::getMotorPolesRaw	(	int	j,
		int &	poles
	)

virtual

Definition at line 2004 of file FakeMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

bool FakeMotionControl::getMotorTorqueParamsRaw	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

overridevirtual

Get the motor parameters.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2153 of file FakeMotionControl.cpp.

◆ getNominalCurrentRaw()

bool FakeMotionControl::getNominalCurrentRaw	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1893 of file FakeMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool FakeMotionControl::getNumberOfMotorEncodersRaw ( int * num )

overridevirtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1715 of file FakeMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool FakeMotionControl::getNumberOfMotorsRaw ( int * num )

overridevirtual

Get the number of available motors.

Parameters

num	retrieved number of available motors

Returns: true/false

Implements yarp::dev::IMotorRaw.

Definition at line 2405 of file FakeMotionControl.cpp.

◆ getPeakCurrentRaw()

bool FakeMotionControl::getPeakCurrentRaw	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1881 of file FakeMotionControl.cpp.

◆ getPidErrorLimitRaw()

bool FakeMotionControl::getPidErrorLimitRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

overridevirtual

Get the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	pointer to storage

Returns: success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 968 of file FakeMotionControl.cpp.

◆ getPidErrorLimitsRaw()

bool FakeMotionControl::getPidErrorLimitsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	limits
	)

overridevirtual

Get the error limit for all controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the array that will store the output

Returns: success or failure

Implements yarp::dev::IPidControlRaw.

Definition at line 990 of file FakeMotionControl.cpp.

◆ getPidErrorRaw()

bool FakeMotionControl::getPidErrorRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

overridevirtual

Get the current error for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
err	pointer to the storage for the return value

Returns: true/false on success failure

Implements yarp::dev::IPidControlRaw.

Definition at line 865 of file FakeMotionControl.cpp.

◆ getPidErrorsRaw()

bool FakeMotionControl::getPidErrorsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	errs
	)

overridevirtual

Get the error of all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
errs	pointer to the vector that will store the errors

Implements yarp::dev::IPidControlRaw.

Definition at line 887 of file FakeMotionControl.cpp.

◆ getPidOutputRaw()

bool FakeMotionControl::getPidOutputRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

overridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
out	pointer to storage for return value

Returns: success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1094 of file FakeMotionControl.cpp.

◆ getPidOutputsRaw()

bool FakeMotionControl::getPidOutputsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	outs
	)

overridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
outs	pinter to the vector that will store the output values

Implements yarp::dev::IPidControlRaw.

Definition at line 1117 of file FakeMotionControl.cpp.

◆ getPidRaw()

bool FakeMotionControl::getPidRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		yarp::dev::Pid *	pid
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	pointer to storage for the return value.

Returns: success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 897 of file FakeMotionControl.cpp.

◆ getPidReferenceRaw()

bool FakeMotionControl::getPidReferenceRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

overridevirtual

Get the current reference of the pid controller for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	pointer to storage for return value

Returns: reference value

Implements yarp::dev::IPidControlRaw.

Definition at line 933 of file FakeMotionControl.cpp.

◆ getPidReferencesRaw()

bool FakeMotionControl::getPidReferencesRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	refs
	)

overridevirtual

Get the current reference of all pid controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	vector that will store the output.

Implements yarp::dev::IPidControlRaw.

Definition at line 955 of file FakeMotionControl.cpp.

◆ getPidsRaw()

bool FakeMotionControl::getPidsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		yarp::dev::Pid *	pids
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	vector that will store the values of the pids.

Returns: success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 920 of file FakeMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

bool FakeMotionControl::getPowerSupplyVoltageRaw	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1923 of file FakeMotionControl.cpp.

◆ getPWMLimitRaw()

bool FakeMotionControl::getPWMLimitRaw	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1911 of file FakeMotionControl.cpp.

◆ getPWMRaw()

bool FakeMotionControl::getPWMRaw	(	int	j,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1905 of file FakeMotionControl.cpp.

◆ getRefAccelerationRaw()

bool FakeMotionControl::getRefAccelerationRaw	(	int	j,
		double *	acc
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1371 of file FakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool FakeMotionControl::getRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1498 of file FakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool FakeMotionControl::getRefAccelerationsRaw ( double * accs )

overridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1377 of file FakeMotionControl.cpp.

◆ getRefCurrentRaw()

bool FakeMotionControl::getRefCurrentRaw	(	int	m,
		double *	curr
	)

overridevirtual

Get the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2552 of file FakeMotionControl.cpp.

◆ getRefCurrentsRaw()

bool FakeMotionControl::getRefCurrentsRaw ( double * currs )

overridevirtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2543 of file FakeMotionControl.cpp.

◆ getRefDutyCycleRaw()

bool FakeMotionControl::getRefDutyCycleRaw	(	int	m,
		double *	ref
	)

overridevirtual

Gets the last reference sent using the setRefDutyCycleRaw function.

Parameters

m	motor number
ref	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2455 of file FakeMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool FakeMotionControl::getRefDutyCyclesRaw ( double * refs )

overridevirtual

Gets the last reference sent using the setRefDutyCyclesRaw function.

Parameters

refs	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2461 of file FakeMotionControl.cpp.

◆ getRefPositionRaw()

bool FakeMotionControl::getRefPositionRaw	(	const int	joint,
		double *	ref
	)

overridevirtual

Get the last position reference for the specified axis.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2300 of file FakeMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

bool FakeMotionControl::getRefPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

Get the last position reference for the specified group of axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2328 of file FakeMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool FakeMotionControl::getRefPositionsRaw ( double * refs )

overridevirtual

Get the last position reference for all axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2318 of file FakeMotionControl.cpp.

◆ getRefSpeedRaw()

bool FakeMotionControl::getRefSpeedRaw	(	int	j,
		double *	ref
	)

overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1359 of file FakeMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

bool FakeMotionControl::getRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1484 of file FakeMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool FakeMotionControl::getRefSpeedsRaw ( double * spds )

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControlRaw.

Definition at line 1365 of file FakeMotionControl.cpp.

◆ getRefTorqueRaw()

bool FakeMotionControl::getRefTorqueRaw	(	int	j,
		double *	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2120 of file FakeMotionControl.cpp.

◆ getRefTorquesRaw()

bool FakeMotionControl::getRefTorquesRaw ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2111 of file FakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool FakeMotionControl::getRefVelocitiesRaw	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2290 of file FakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool FakeMotionControl::getRefVelocitiesRaw ( double * vels )

overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2280 of file FakeMotionControl.cpp.

◆ getRefVelocityRaw()

bool FakeMotionControl::getRefVelocityRaw	(	const int	joint,
		double *	vel
	)

overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2274 of file FakeMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

bool FakeMotionControl::getRotorEncoderResolutionRaw	(	int	m,
		double &	rotres
	)

virtual

Definition at line 1959 of file FakeMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

bool FakeMotionControl::getRotorEncoderTypeRaw	(	int	j,
		int &	type
	)

virtual

Definition at line 1974 of file FakeMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

bool FakeMotionControl::getRotorIndexOffsetRaw	(	int	j,
		double &	rotorOffset
	)

virtual

Definition at line 2009 of file FakeMotionControl.cpp.

◆ getTargetPositionRaw()

bool FakeMotionControl::getTargetPositionRaw	(	const int	joint,
		double *	ref
	)

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2236 of file FakeMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

bool FakeMotionControl::getTargetPositionsRaw	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2264 of file FakeMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool FakeMotionControl::getTargetPositionsRaw ( double * refs )

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2255 of file FakeMotionControl.cpp.

◆ getTemperatureLimitRaw()

bool FakeMotionControl::getTemperatureLimitRaw	(	int	m,
		double *	temp
	)

overridevirtual

Retreives the current temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the current temperature limit.

Returns: true/false

Implements yarp::dev::IMotorRaw.

Definition at line 2427 of file FakeMotionControl.cpp.

◆ getTemperatureRaw()

bool FakeMotionControl::getTemperatureRaw	(	int	m,
		double *	val
	)

overridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotorRaw.

Definition at line 2411 of file FakeMotionControl.cpp.

◆ getTemperaturesRaw()

bool FakeMotionControl::getTemperaturesRaw ( double * vals )

overridevirtual

Get temperature of all the motors.

Parameters

vals	pointer to an array containing all motor temperatures

Returns: true/false

Implements yarp::dev::IMotorRaw.

Definition at line 2417 of file FakeMotionControl.cpp.

◆ getTorqueControlFilterType()

bool FakeMotionControl::getTorqueControlFilterType	(	int	j,
		int &	type
	)

virtual

Definition at line 1954 of file FakeMotionControl.cpp.

◆ getTorqueRangeRaw()

bool FakeMotionControl::getTorqueRangeRaw	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2071 of file FakeMotionControl.cpp.

◆ getTorqueRangesRaw()

bool FakeMotionControl::getTorqueRangesRaw	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2076 of file FakeMotionControl.cpp.

◆ getTorqueRaw()

bool FakeMotionControl::getTorqueRaw	(	int	j,
		double *	t
	)

overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number

Returns: torque value; true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2056 of file FakeMotionControl.cpp.

◆ getTorquesRaw()

bool FakeMotionControl::getTorquesRaw ( double * t )

overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2062 of file FakeMotionControl.cpp.

◆ getVelLimitsRaw()

bool FakeMotionControl::getVelLimitsRaw	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2047 of file FakeMotionControl.cpp.

◆ getVirtualAnalogSensorChannelsRaw()

int FakeMotionControl::getVirtualAnalogSensorChannelsRaw ( )

overridevirtual

Get the number of channels of the virtual sensor.

Returns: number of channels (0 in case of errors).

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 2563 of file FakeMotionControl.cpp.

◆ getVirtualAnalogSensorStatusRaw()

yarp::dev::VAS_status FakeMotionControl::getVirtualAnalogSensorStatusRaw ( int ch )

overridevirtual

Check the status of a given channel.

Parameters

ch	channel number.

Returns: VAS_status type.

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 2558 of file FakeMotionControl.cpp.

◆ initialised()

bool FakeMotionControl::initialised ( )

virtual

Definition at line 482 of file FakeMotionControl.cpp.

◆ isPidEnabledRaw()

bool FakeMotionControl::isPidEnabledRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

overridevirtual

Get the current status (enabled/disabled) of the pid controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
enabled	the current status of the pid controller.

Returns: true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1072 of file FakeMotionControl.cpp.

◆ open()

bool FakeMotionControl::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 512 of file FakeMotionControl.cpp.

◆ positionMoveRaw() [1/3]

bool FakeMotionControl::positionMoveRaw ( const double * refs )

overridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1215 of file FakeMotionControl.cpp.

◆ positionMoveRaw() [2/3]

bool FakeMotionControl::positionMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1404 of file FakeMotionControl.cpp.

◆ positionMoveRaw() [3/3]

bool FakeMotionControl::positionMoveRaw	(	int	j,
		double	ref
	)

overridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1190 of file FakeMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool FakeMotionControl::relativeMoveRaw ( const double * deltas )

overridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1253 of file FakeMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

bool FakeMotionControl::relativeMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1423 of file FakeMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

bool FakeMotionControl::relativeMoveRaw	(	int	j,
		double	delta
	)

overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1229 of file FakeMotionControl.cpp.

◆ resetEncoderRaw()

bool FakeMotionControl::resetEncoderRaw ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 1622 of file FakeMotionControl.cpp.

◆ resetEncodersRaw()

bool FakeMotionControl::resetEncodersRaw ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 1627 of file FakeMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool FakeMotionControl::resetMotorEncoderRaw ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1741 of file FakeMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool FakeMotionControl::resetMotorEncodersRaw ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1746 of file FakeMotionControl.cpp.

◆ resetPidRaw()

bool FakeMotionControl::resetPidRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1000 of file FakeMotionControl.cpp.

◆ resizeBuffers()

void FakeMotionControl::resizeBuffers ( )

Resize previously allocated buffers.

Definition at line 157 of file FakeMotionControl.cpp.

◆ run()

void FakeMotionControl::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 34 of file FakeMotionControl.cpp.

◆ setCalibrationParametersRaw()

bool FakeMotionControl::setCalibrationParametersRaw	(	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::IControlCalibrationRaw.

Definition at line 1162 of file FakeMotionControl.cpp.

◆ setControlModeRaw()

bool FakeMotionControl::setControlModeRaw	(	const int	j,
		const int	mode
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1562 of file FakeMotionControl.cpp.

◆ setControlModesRaw() [1/2]

bool FakeMotionControl::setControlModesRaw	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1581 of file FakeMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool FakeMotionControl::setControlModesRaw ( int * modes )

overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 1595 of file FakeMotionControl.cpp.

◆ setEncoderRaw()

bool FakeMotionControl::setEncoderRaw	(	int	j,
		double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 1612 of file FakeMotionControl.cpp.

◆ setEncodersRaw()

bool FakeMotionControl::setEncodersRaw ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 1617 of file FakeMotionControl.cpp.

◆ setGearboxRatioRaw()

bool FakeMotionControl::setGearboxRatioRaw	(	int	m,
		const double	val
	)

overridevirtual

Set the gearbox ratio for a specific motor.

Parameters

m	motor number
gearbox	ratio to be set

Returns: true/false

Reimplemented from yarp::dev::IMotorRaw.

Definition at line 1949 of file FakeMotionControl.cpp.

◆ setImpedanceOffsetRaw()

bool FakeMotionControl::setImpedanceOffsetRaw	(	int	j,
		double	offset
	)

overridevirtual

Set current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2138 of file FakeMotionControl.cpp.

◆ setImpedanceRaw()

bool FakeMotionControl::setImpedanceRaw	(	int	j,
		double	stiffness,
		double	damping
	)

overridevirtual

Set current impedance parameters (stiffness,damping) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2133 of file FakeMotionControl.cpp.

◆ setInteractionModeRaw()

bool FakeMotionControl::setInteractionModeRaw	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

overridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

axis	joint number
mode	the desired interaction mode

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2372 of file FakeMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

bool FakeMotionControl::setInteractionModesRaw	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2384 of file FakeMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

bool FakeMotionControl::setInteractionModesRaw ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters

mode	array with the desired interaction mode for all joints, length is the total number of joints for the part

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2394 of file FakeMotionControl.cpp.

◆ setLimitsRaw()

bool FakeMotionControl::setLimitsRaw	(	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

axis	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimitsRaw.

Definition at line 1931 of file FakeMotionControl.cpp.

◆ setMaxCurrentRaw()

bool FakeMotionControl::setMaxCurrentRaw	(	int	j,
		double	val
	)

overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 1853 of file FakeMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

bool FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw	(	int	m,
		const double	cpr
	)

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1731 of file FakeMotionControl.cpp.

◆ setMotorEncoderRaw()

bool FakeMotionControl::setMotorEncoderRaw	(	int	m,
		const double	val
	)

overridevirtual

Set the value of the motor encoder for a given motor.

Parameters

m	motor number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1721 of file FakeMotionControl.cpp.

◆ setMotorEncodersRaw()

bool FakeMotionControl::setMotorEncodersRaw ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 1726 of file FakeMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

bool FakeMotionControl::setMotorTorqueParamsRaw	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

overridevirtual

Set the motor parameters.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2176 of file FakeMotionControl.cpp.

◆ setNominalCurrentRaw()

bool FakeMotionControl::setNominalCurrentRaw	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1899 of file FakeMotionControl.cpp.

◆ setPeakCurrentRaw()

bool FakeMotionControl::setPeakCurrentRaw	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1887 of file FakeMotionControl.cpp.

◆ setPidErrorLimitRaw()

bool FakeMotionControl::setPidErrorLimitRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

overridevirtual

Set the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 833 of file FakeMotionControl.cpp.

◆ setPidErrorLimitsRaw()

bool FakeMotionControl::setPidErrorLimitsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	limits
	)

overridevirtual

Get the error limit for the controller on all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the vector with the new limits

Returns: true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 855 of file FakeMotionControl.cpp.

◆ setPidOffsetRaw()

bool FakeMotionControl::setPidOffsetRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

overridevirtual

Set an offset value on the ourput of pid controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
v	the offset to be added to the output of the pid controller

Returns: true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1049 of file FakeMotionControl.cpp.

◆ setPidRaw()

bool FakeMotionControl::setPidRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		const yarp::dev::Pid &	pid
	)

overridevirtual

Set new pid value for a joint axis.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	new pid value

Returns: true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 768 of file FakeMotionControl.cpp.

◆ setPidReferenceRaw()

bool FakeMotionControl::setPidReferenceRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

overridevirtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	new reference point

Returns: true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 801 of file FakeMotionControl.cpp.

◆ setPidReferencesRaw()

bool FakeMotionControl::setPidReferencesRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	refs
	)

overridevirtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	pointer to the vector that contains the new reference points.

Returns: true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 823 of file FakeMotionControl.cpp.

◆ setPidsRaw()

bool FakeMotionControl::setPidsRaw	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const yarp::dev::Pid *	pids
	)

overridevirtual

Set new pid value on multiple axes.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	pointer to a vector of pids

Returns: true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 791 of file FakeMotionControl.cpp.

◆ setPositionRaw()

bool FakeMotionControl::setPositionRaw	(	int	j,
		double	ref
	)

overridevirtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2211 of file FakeMotionControl.cpp.

◆ setPositionsRaw() [1/2]

bool FakeMotionControl::setPositionsRaw ( const double * refs )

overridevirtual

Set new position for a set of axes.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2226 of file FakeMotionControl.cpp.

◆ setPositionsRaw() [2/2]

bool FakeMotionControl::setPositionsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for all axes.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
refs	array, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2217 of file FakeMotionControl.cpp.

◆ setPWMLimitRaw()

bool FakeMotionControl::setPWMLimitRaw	(	int	j,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 1917 of file FakeMotionControl.cpp.

◆ setRefAccelerationRaw()

bool FakeMotionControl::setRefAccelerationRaw	(	int	j,
		double	acc
	)

overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1316 of file FakeMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool FakeMotionControl::setRefAccelerationsRaw ( const double * accs )

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1337 of file FakeMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool FakeMotionControl::setRefAccelerationsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1470 of file FakeMotionControl.cpp.

◆ setRefCurrentRaw()

bool FakeMotionControl::setRefCurrentRaw	(	int	m,
		double	curr
	)

overridevirtual

Set the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2526 of file FakeMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

bool FakeMotionControl::setRefCurrentsRaw ( const double * currs )

overridevirtual

Set the reference value of the currents for all motors.

Parameters

currs the array containt the reference current values

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2516 of file FakeMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

bool FakeMotionControl::setRefCurrentsRaw	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

overridevirtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array of motor numbers
refs	pointer to the array specifying the new current reference

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 2533 of file FakeMotionControl.cpp.

◆ setRefDutyCycleRaw()

bool FakeMotionControl::setRefDutyCycleRaw	(	int	m,
		double	ref
	)

overridevirtual

Sets the reference dutycycle of a single motor.

Parameters

m	motor number
ref	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2438 of file FakeMotionControl.cpp.

◆ setRefDutyCyclesRaw()

bool FakeMotionControl::setRefDutyCyclesRaw ( const double * refs )

overridevirtual

Sets the reference dutycycle for all motors.

Parameters

refs	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 2446 of file FakeMotionControl.cpp.

◆ setRefSpeedRaw()

bool FakeMotionControl::setRefSpeedRaw	(	int	j,
		double	sp
	)

overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1296 of file FakeMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

bool FakeMotionControl::setRefSpeedsRaw ( const double * spds )

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1305 of file FakeMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

bool FakeMotionControl::setRefSpeedsRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1456 of file FakeMotionControl.cpp.

◆ setRefTorqueRaw()

bool FakeMotionControl::setRefTorqueRaw	(	int	j,
		double	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2090 of file FakeMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool FakeMotionControl::setRefTorquesRaw ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2081 of file FakeMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

bool FakeMotionControl::setRefTorquesRaw	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2106 of file FakeMotionControl.cpp.

◆ setTemperatureLimitRaw()

bool FakeMotionControl::setTemperatureLimitRaw	(	int	m,
		const double	temp
	)

overridevirtual

Set the temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the temperature limit to be set

Returns: true/false

Implements yarp::dev::IMotorRaw.

Definition at line 2432 of file FakeMotionControl.cpp.

◆ setVelLimitsRaw()

bool FakeMotionControl::setVelLimitsRaw	(	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

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2042 of file FakeMotionControl.cpp.

◆ stopRaw() [1/3]

bool FakeMotionControl::stopRaw ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1389 of file FakeMotionControl.cpp.

◆ stopRaw() [2/3]

bool FakeMotionControl::stopRaw	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1512 of file FakeMotionControl.cpp.

◆ stopRaw() [3/3]

bool FakeMotionControl::stopRaw ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1383 of file FakeMotionControl.cpp.

◆ threadInit()

bool FakeMotionControl::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 487 of file FakeMotionControl.cpp.

◆ threadRelease()

void FakeMotionControl::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 508 of file FakeMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasureRaw() [1/2]

bool FakeMotionControl::updateVirtualAnalogSensorMeasureRaw	(	int	ch,
		double &	measure
	)

overridevirtual

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 2577 of file FakeMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasureRaw() [2/2]

bool FakeMotionControl::updateVirtualAnalogSensorMeasureRaw ( yarp::sig::Vector & measure )

overridevirtual

Set a vector of torque values for virtual sensor.

Parameters

measure a vector containing the sensor's last readings.

Returns: true if ok, false otherwise.

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 2568 of file FakeMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

bool FakeMotionControl::velocityMoveRaw ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 1147 of file FakeMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

bool FakeMotionControl::velocityMoveRaw	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	pointer to the array of joint numbers
spds	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 2200 of file FakeMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

bool FakeMotionControl::velocityMoveRaw	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 1131 of file FakeMotionControl.cpp.

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

src/devices/fake/fakeMotionControl/FakeMotionControl.h
src/devices/fake/fakeMotionControl/FakeMotionControl.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeMotionControl()

◆ ~FakeMotionControl()

Member Function Documentation

◆ alloc()

◆ calibrateAxisWithParamsRaw()

◆ calibrationDoneRaw()

◆ checkMotionDoneRaw() [1/3]

◆ checkMotionDoneRaw() [2/3]

◆ checkMotionDoneRaw() [3/3]

◆ close()

◆ disableAmpRaw()

◆ disablePidRaw()

◆ enableAmpRaw()

◆ enablePidRaw()

◆ fromConfig()

◆ getAmpStatusRaw() [1/2]

◆ getAmpStatusRaw() [2/2]

◆ getAxes()

◆ getAxisNameRaw()

◆ getControlModeRaw()

◆ getControlModesRaw() [1/2]

◆ getControlModesRaw() [2/2]

◆ getCurrentImpedanceLimitRaw()

◆ getCurrentRangeRaw()

◆ getCurrentRangesRaw()

◆ getCurrentRaw()

◆ getCurrentsRaw()

◆ getDutyCycleRaw()

◆ getDutyCyclesRaw()

◆ getEncoderAccelerationRaw()

◆ getEncoderAccelerationsRaw()

◆ getEncoderRaw()

◆ getEncoderSpeedRaw()

◆ getEncoderSpeedsRaw()

◆ getEncodersRaw()

◆ getEncodersTimedRaw()

◆ getEncoderTimedRaw()

◆ getGearboxRatioRaw()

◆ getHasHallSensorRaw()

◆ getHasRotorEncoderIndexRaw()

◆ getHasRotorEncoderRaw()

◆ getHasTempSensorsRaw()

◆ getImpedanceOffsetRaw()

◆ getImpedanceRaw()

◆ getInteractionModeRaw()

◆ getInteractionModesRaw() [1/2]

◆ getInteractionModesRaw() [2/2]

◆ getJointEncoderResolutionRaw()

◆ getJointEncoderTypeRaw()

◆ getJointTypeRaw()

◆ getKinematicMJRaw()

◆ getLastJointFaultRaw()

◆ getLimitsRaw()

◆ getMaxCurrentRaw()

◆ getMotorEncoderAccelerationRaw()

◆ getMotorEncoderAccelerationsRaw()

◆ getMotorEncoderCountsPerRevolutionRaw()

◆ getMotorEncoderRaw()

◆ getMotorEncoderSpeedRaw()

◆ getMotorEncoderSpeedsRaw()

◆ getMotorEncodersRaw()

◆ getMotorEncodersTimedRaw()

◆ getMotorEncoderTimedRaw()

◆ getMotorPolesRaw()

◆ getMotorTorqueParamsRaw()

◆ getNominalCurrentRaw()

◆ getNumberOfMotorEncodersRaw()

◆ getNumberOfMotorsRaw()

◆ getPeakCurrentRaw()

◆ getPidErrorLimitRaw()

◆ getPidErrorLimitsRaw()

◆ getPidErrorRaw()

◆ getPidErrorsRaw()

◆ getPidOutputRaw()

◆ getPidOutputsRaw()

◆ getPidRaw()