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YARP
Yet Another Robot Platform
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YARP
Yet Another Robot Platform
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fakeMotionControl: Documentation to be added
More...
#include <fakeMotionControl/fakeMotionControl.h>
Inheritance diagram for FakeMotionControl:Public Member Functions | |
| FakeMotionControl () | |
| ~FakeMotionControl () | |
| bool | open (yarp::os::Searchable &par) override |
| Open the DeviceDriver. More... | |
| bool | close () override |
| Close the DeviceDriver. More... | |
| bool | fromConfig (yarp::os::Searchable &config) |
| virtual bool | initialised () |
| bool | alloc (int njoints) |
| Allocated buffers. More... | |
| void | resizeBuffers () |
| Resize previously allocated buffers. More... | |
| bool | threadInit () override |
| Initialization method. More... | |
| void | threadRelease () override |
| Release method. More... | |
| bool | setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override |
| Set new pid value for a joint axis. More... | |
| bool | setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override |
| Set new pid value on multiple axes. More... | |
| bool | setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override |
| Set the controller reference for a given axis. More... | |
| bool | setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override |
| Set the controller reference, multiple axes. More... | |
| bool | setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override |
| Set the error limit for the controller on a specific joint. More... | |
| bool | setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override |
| Get the error limit for the controller on all joints. More... | |
| bool | getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override |
| Get the current error for a joint. More... | |
| bool | getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override |
| Get the error of all joints. More... | |
| bool | getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override |
| Get the output of the controller (e.g. More... | |
| bool | getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override |
| Get the output of the controllers (e.g. More... | |
| bool | getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override |
| Get current pid value for a specific joint. More... | |
| bool | getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override |
| Get current pid value for a specific joint. More... | |
| bool | getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override |
| Get the current reference of the pid controller for a specific joint. More... | |
| bool | getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override |
| Get the current reference of all pid controllers. More... | |
| bool | getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override |
| Get the error limit for the controller on a specific joint. More... | |
| bool | getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override |
| Get the error limit for all controllers. More... | |
| 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. More... | |
| bool | disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
| Disable the pid computation for a joint. More... | |
| bool | enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
| Enable the pid computation for a joint. More... | |
| bool | setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override |
| Set an offset value on the ourput of pid controller. More... | |
| bool | isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override |
| Get the current status (enabled/disabled) of the pid controller. More... | |
| bool | getAxes (int *ax) override |
| Get the number of controlled axes. More... | |
| bool | positionMoveRaw (int j, double ref) override |
| Set new reference point for a single axis. More... | |
| bool | positionMoveRaw (const double *refs) override |
| Set new reference point for all axes. More... | |
| bool | relativeMoveRaw (int j, double delta) override |
| Set relative position. More... | |
| bool | relativeMoveRaw (const double *deltas) override |
| Set relative position, all joints. More... | |
| bool | checkMotionDoneRaw (bool *flag) override |
| Check if the current trajectory is terminated. More... | |
| bool | checkMotionDoneRaw (int j, bool *flag) override |
| Check if the current trajectory is terminated. More... | |
| bool | setRefSpeedRaw (int j, double sp) override |
| Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More... | |
| bool | setRefSpeedsRaw (const double *spds) override |
| Set reference speed on all joints. More... | |
| bool | setRefAccelerationRaw (int j, double acc) override |
| Set reference acceleration for a joint. More... | |
| bool | setRefAccelerationsRaw (const double *accs) override |
| Set reference acceleration on all joints. More... | |
| bool | getRefSpeedRaw (int j, double *ref) override |
| Get reference speed for a joint. More... | |
| bool | getRefSpeedsRaw (double *spds) override |
| Get reference speed of all joints. More... | |
| bool | getRefAccelerationRaw (int j, double *acc) override |
| Get reference acceleration for a joint. More... | |
| bool | getRefAccelerationsRaw (double *accs) override |
| Get reference acceleration of all joints. More... | |
| bool | stopRaw (int j) override |
| Stop motion, single joint. More... | |
| bool | stopRaw () override |
| Stop motion, multiple joints. More... | |
| bool | positionMoveRaw (const int n_joint, const int *joints, const double *refs) override |
| Set new reference point for a subset of joints. More... | |
| bool | relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override |
| Set relative position for a subset of joints. More... | |
| bool | checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override |
| Check if the current trajectory is terminated. More... | |
| bool | setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override |
| Set reference speed on all joints. More... | |
| bool | setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override |
| Set reference acceleration on all joints. More... | |
| bool | getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override |
| Get reference speed of all joints. More... | |
| bool | getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override |
| Get reference acceleration for a joint. More... | |
| bool | stopRaw (const int n_joint, const int *joints) override |
| Stop motion for subset of joints. More... | |
| bool | getTargetPositionRaw (const int joint, double *ref) override |
| Get the last position reference for the specified axis. More... | |
| bool | getTargetPositionsRaw (double *refs) override |
| Get the last position reference for all axes. More... | |
| bool | getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override |
| Get the last position reference for the specified group of axes. More... | |
| bool | velocityMoveRaw (int j, double sp) override |
| Start motion at a given speed, single joint. More... | |
| bool | velocityMoveRaw (const double *sp) override |
| Start motion at a given speed, multiple joints. More... | |
| bool | getLastJointFaultRaw (int j, int &fault, std::string &message) override |
| bool | setCalibrationParametersRaw (int axis, const yarp::dev::CalibrationParameters ¶ms) override |
| Start calibration, this method is very often platform specific. More... | |
| bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override |
| Start calibration, this method is very often platform specific. More... | |
| bool | calibrationDoneRaw (int j) override |
| Check if the calibration is terminated, on a particular joint. More... | |
| 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. More... | |
| bool | resetEncodersRaw () override |
| Reset encoders. More... | |
| bool | setEncoderRaw (int j, double val) override |
| Set the value of the encoder for a given joint. More... | |
| bool | setEncodersRaw (const double *vals) override |
| Set the value of all encoders. More... | |
| bool | getEncoderRaw (int j, double *v) override |
| Read the value of an encoder. More... | |
| bool | getEncodersRaw (double *encs) override |
| Read the position of all axes. More... | |
| bool | getEncoderSpeedRaw (int j, double *sp) override |
| Read the instantaneous speed of an axis. More... | |
| bool | getEncoderSpeedsRaw (double *spds) override |
| Read the instantaneous acceleration of an axis. More... | |
| bool | getEncoderAccelerationRaw (int j, double *spds) override |
| Read the instantaneous acceleration of an axis. More... | |
| bool | getEncoderAccelerationsRaw (double *accs) override |
| Read the instantaneous acceleration of all axes. More... | |
| bool | getEncodersTimedRaw (double *encs, double *stamps) override |
| Read the instantaneous acceleration of all axes. More... | |
| bool | getEncoderTimedRaw (int j, double *encs, double *stamp) override |
| Read the instantaneous acceleration of all axes. More... | |
| bool | getNumberOfMotorEncodersRaw (int *num) override |
| Get the number of available motor encoders. More... | |
| bool | resetMotorEncoderRaw (int m) override |
| Reset motor encoder, single motor. More... | |
| bool | resetMotorEncodersRaw () override |
| Reset motor encoders. More... | |
| bool | setMotorEncoderRaw (int m, const double val) override |
| Set the value of the motor encoder for a given motor. More... | |
| bool | setMotorEncodersRaw (const double *vals) override |
| Set the value of all motor encoders. More... | |
| bool | getMotorEncoderRaw (int m, double *v) override |
| Read the value of a motor encoder. More... | |
| bool | getMotorEncodersRaw (double *encs) override |
| Read the position of all motor encoders. More... | |
| bool | getMotorEncoderSpeedRaw (int m, double *sp) override |
| Read the istantaneous speed of a motor encoder. More... | |
| bool | getMotorEncoderSpeedsRaw (double *spds) override |
| Read the instantaneous speed of all motor encoders. More... | |
| bool | getMotorEncoderAccelerationRaw (int m, double *spds) override |
| Read the instantaneous acceleration of a motor encoder. More... | |
| bool | getMotorEncoderAccelerationsRaw (double *accs) override |
| Read the instantaneous acceleration of all motor encoders. More... | |
| bool | getMotorEncodersTimedRaw (double *encs, double *stamps) override |
| Read the instantaneous position of all motor encoders. More... | |
| bool | getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override |
| Read the instantaneous position of a motor encoder. More... | |
| bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override |
| Gets number of counts per revolution for motor encoder m. More... | |
| bool | setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override |
| Sets number of counts per revolution for motor encoder m. More... | |
| bool | getAxisNameRaw (int axis, std::string &name) override |
| bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override |
| bool | getGearboxRatioRaw (int m, double *gearbox) override |
| Get the gearbox ratio for a specific motor. More... | |
| 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. More... | |
| bool | disableAmpRaw (int j) override |
| Disable the amplifier on a specific joint. More... | |
| 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. More... | |
| 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. More... | |
| bool | getLimitsRaw (int axis, double *min, double *max) override |
| Get the software limits for a particular axis. More... | |
| 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. More... | |
| bool | getVelLimitsRaw (int axis, double *min, double *max) override |
| Get the software speed limits for a particular axis. More... | |
| 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). More... | |
| bool | getTorquesRaw (double *t) override |
| Get the value of the torque for all joints (this is the feedback if you have torque sensors). More... | |
| bool | getTorqueRangeRaw (int j, double *min, double *max) override |
| Get the full scale of the torque sensor of a given joint. More... | |
| bool | getTorqueRangesRaw (double *min, double *max) override |
| Get the full scale of the torque sensors of all joints. More... | |
| bool | setRefTorquesRaw (const double *t) override |
| Set the reference value of the torque for all joints. More... | |
| bool | setRefTorqueRaw (int j, double t) override |
| Set the reference value of the torque for a given joint. More... | |
| bool | setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override |
| Set new torque reference for a subset of joints. More... | |
| bool | getRefTorquesRaw (double *t) override |
| Get the reference value of the torque for all joints. More... | |
| bool | getRefTorqueRaw (int j, double *t) override |
| Set the reference value of the torque for a given joint. More... | |
| bool | getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override |
| Get the motor parameters. More... | |
| bool | setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override |
| Set the motor parameters. More... | |
| bool | velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override |
| Start motion at a given speed for a subset of joints. More... | |
| bool | getRefVelocityRaw (const int joint, double *ref) override |
| Get the last reference speed set by velocityMove for single joint. More... | |
| bool | getRefVelocitiesRaw (double *refs) override |
| Get the last reference speed set by velocityMove for all joints. More... | |
| 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. More... | |
| bool | getImpedanceRaw (int j, double *stiffness, double *damping) override |
| Get current impedance parameters (stiffness,damping,offset) for a specific joint. More... | |
| bool | setImpedanceRaw (int j, double stiffness, double damping) override |
| Set current impedance parameters (stiffness,damping) for a specific joint. More... | |
| bool | setImpedanceOffsetRaw (int j, double offset) override |
| Set current force Offset for a specific joint. More... | |
| bool | getImpedanceOffsetRaw (int j, double *offset) override |
| Get current force Offset for a specific joint. More... | |
| 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. More... | |
| bool | setPositionRaw (int j, double ref) override |
| Set new position for a single axis. More... | |
| bool | setPositionsRaw (const int n_joint, const int *joints, const double *refs) override |
| Set new reference point for all axes. More... | |
| bool | setPositionsRaw (const double *refs) override |
| Set new position for a set of axes. More... | |
| bool | getRefPositionRaw (const int joint, double *ref) override |
| Get the last position reference for the specified axis. More... | |
| bool | getRefPositionsRaw (double *refs) override |
| Get the last position reference for all axes. More... | |
| bool | getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override |
| Get the last position reference for the specified group of axes. More... | |
| bool | getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override |
| Get the current interaction mode of the robot, values can be stiff or compliant. More... | |
| 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. More... | |
| 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. More... | |
| bool | setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override |
| Set the interaction mode of the robot, values can be stiff or compliant. More... | |
| 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. More... | |
| 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. More... | |
| bool | getNumberOfMotorsRaw (int *num) override |
| Retrieves the number of controlled motors from the current physical interface. More... | |
| bool | getTemperatureRaw (int m, double *val) override |
| Get temperature of a motor. More... | |
| bool | getTemperaturesRaw (double *vals) override |
| Get temperature of all the motors. More... | |
| bool | getTemperatureLimitRaw (int m, double *temp) override |
| Retreives the current temperature limit for a specific motor. More... | |
| bool | setTemperatureLimitRaw (int m, const double temp) override |
| Set the temperature limit for a specific motor. More... | |
| bool | setRefDutyCycleRaw (int j, double v) override |
| Sets the reference dutycycle of a single motor. More... | |
| bool | setRefDutyCyclesRaw (const double *v) override |
| Sets the reference dutycycle for all motors. More... | |
| bool | getRefDutyCycleRaw (int j, double *v) override |
| Gets the last reference sent using the setRefDutyCycleRaw function. More... | |
| bool | getRefDutyCyclesRaw (double *v) override |
| Gets the last reference sent using the setRefDutyCyclesRaw function. More... | |
| bool | getDutyCycleRaw (int j, double *v) override |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| bool | getDutyCyclesRaw (double *v) override |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| bool | getCurrentRangeRaw (int j, double *min, double *max) override |
| Get the full scale of the current measurement for a given motor (e.g. More... | |
| bool | getCurrentRangesRaw (double *min, double *max) override |
| Get the full scale of the current measurements for all motors motor (e.g. More... | |
| bool | setRefCurrentsRaw (const double *t) override |
| Set the reference value of the currents for all motors. More... | |
| bool | setRefCurrentRaw (int j, double t) override |
| Set the reference value of the current for a single motor. More... | |
| 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. More... | |
| bool | getRefCurrentsRaw (double *t) override |
| Get the reference value of the currents for all motors. More... | |
| bool | getRefCurrentRaw (int j, double *t) override |
| Get the reference value of the current for a single motor. More... | |
| yarp::dev::VAS_status | getVirtualAnalogSensorStatusRaw (int ch) override |
| Check the status of a given channel. More... | |
| int | getVirtualAnalogSensorChannelsRaw () override |
| Get the number of channels of the virtual sensor. More... | |
| bool | updateVirtualAnalogSensorMeasureRaw (yarp::sig::Vector &measure) override |
| Set a vector of torque values for virtual sensor. More... | |
| bool | updateVirtualAnalogSensorMeasureRaw (int ch, double &measure) override |
| void | run () override |
| Loop function. More... | |
| 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 |
| ~DeviceDriver () override | |
| bool | open (yarp::os::Searchable &config) override |
| Open the DeviceDriver. More... | |
| bool | close () override |
| Close the DeviceDriver. More... | |
| virtual std::string | id () const |
| Return the id assigned to the PolyDriver. More... | |
| virtual void | setId (const std::string &id) |
| Set the id for this device. More... | |
| template<class T > | |
| bool | view (T *&x) |
| Get an interface to the device driver. More... | |
| virtual DeviceDriver * | getImplementation () |
| Some drivers are bureaucrats, pointing at others. More... | |
| Public Member Functions inherited from yarp::os::IConfig | |
| virtual | ~IConfig () |
| Destructor. More... | |
| virtual bool | open (Searchable &config) |
| Initialize the object. More... | |
| virtual bool | close () |
| Shut the object down. More... | |
| virtual bool | configure (Searchable &config) |
| Change online parameters. More... | |
| Public Member Functions inherited from yarp::os::PeriodicThread | |
| PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) | |
| Constructor. More... | |
| PeriodicThread (double period, PeriodicThreadClock clockAccuracy) | |
| Constructor. More... | |
| virtual | ~PeriodicThread () |
| bool | start () |
| Call this to start the thread. More... | |
| void | step () |
| Call this to "step" the thread rather than starting it. More... | |
| void | stop () |
| Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More... | |
| void | askToStop () |
| Stop the thread. More... | |
| bool | isRunning () const |
| Returns true when the thread is started, false otherwise. More... | |
| bool | isSuspended () const |
| Returns true when the thread is suspended, false otherwise. More... | |
| bool | setPeriod (double period) |
| Set the (new) period of the thread. More... | |
| double | getPeriod () const |
| Return the current period of the thread. More... | |
| void | suspend () |
| Suspend the thread, the thread keeps running by doLoop is never executed. More... | |
| void | resume () |
| Resume the thread if previously suspended. More... | |
| void | resetStat () |
| Reset thread statistics. More... | |
| double | getEstimatedPeriod () const |
| Return estimated period since last reset. More... | |
| void | getEstimatedPeriod (double &av, double &std) const |
| Return estimated period since last reset. More... | |
| unsigned int | getIterations () const |
| Return the number of iterations performed since last reset. More... | |
| double | getEstimatedUsed () const |
| Return the estimated duration of the run() function since last reset. More... | |
| void | getEstimatedUsed (double &av, double &std) const |
| Return estimated duration of the run() function since last reset. More... | |
| int | setPriority (int priority, int policy=-1) |
| Set the priority and scheduling policy of the thread, if the OS supports that. More... | |
| int | getPriority () const |
| Query the current priority of the thread, if the OS supports that. More... | |
| int | getPolicy () const |
| Query the current scheduling policy of the thread, if the OS supports that. More... | |
| Public Member Functions inherited from yarp::dev::IPidControlRaw | |
| virtual | ~IPidControlRaw () |
| Destructor. More... | |
| virtual bool | setPidRaw (const PidControlTypeEnum &pidtype, int j, const Pid &pid)=0 |
| Set new pid value for a joint axis. More... | |
| virtual bool | setPidsRaw (const PidControlTypeEnum &pidtype, const Pid *pids)=0 |
| Set new pid value on multiple axes. More... | |
| virtual bool | setPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double ref)=0 |
| Set the controller reference for a given axis. More... | |
| virtual bool | setPidReferencesRaw (const PidControlTypeEnum &pidtype, const double *refs)=0 |
| Set the controller reference, multiple axes. More... | |
| virtual bool | setPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double limit)=0 |
| Set the error limit for the controller on a specific joint. More... | |
| virtual bool | setPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, const double *limits)=0 |
| Get the error limit for the controller on all joints. More... | |
| virtual bool | getPidErrorRaw (const PidControlTypeEnum &pidtype, int j, double *err)=0 |
| Get the current error for a joint. More... | |
| virtual bool | getPidErrorsRaw (const PidControlTypeEnum &pidtype, double *errs)=0 |
| Get the error of all joints. More... | |
| virtual bool | getPidOutputRaw (const PidControlTypeEnum &pidtype, int j, double *out)=0 |
| Get the output of the controller (e.g. More... | |
| virtual bool | getPidOutputsRaw (const PidControlTypeEnum &pidtype, double *outs)=0 |
| Get the output of the controllers (e.g. More... | |
| virtual bool | getPidRaw (const PidControlTypeEnum &pidtype, int j, Pid *pid)=0 |
| Get current pid value for a specific joint. More... | |
| virtual bool | getPidsRaw (const PidControlTypeEnum &pidtype, Pid *pids)=0 |
| Get current pid value for a specific joint. More... | |
| virtual bool | getPidReferenceRaw (const PidControlTypeEnum &pidtype, int j, double *ref)=0 |
| Get the current reference of the pid controller for a specific joint. More... | |
| virtual bool | getPidReferencesRaw (const PidControlTypeEnum &pidtype, double *refs)=0 |
| Get the current reference of all pid controllers. More... | |
| virtual bool | getPidErrorLimitRaw (const PidControlTypeEnum &pidtype, int j, double *limit)=0 |
| Get the error limit for the controller on a specific joint. More... | |
| virtual bool | getPidErrorLimitsRaw (const PidControlTypeEnum &pidtype, double *limits)=0 |
| Get the error limit for all controllers. More... | |
| virtual bool | resetPidRaw (const PidControlTypeEnum &pidtype, int j)=0 |
| 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. More... | |
| virtual bool | disablePidRaw (const PidControlTypeEnum &pidtype, int j)=0 |
| Disable the pid computation for a joint. More... | |
| virtual bool | enablePidRaw (const PidControlTypeEnum &pidtype, int j)=0 |
| Enable the pid computation for a joint. More... | |
| virtual bool | setPidOffsetRaw (const PidControlTypeEnum &pidtype, int j, double v)=0 |
| Set an offset value on the ourput of pid controller. More... | |
| virtual bool | isPidEnabledRaw (const PidControlTypeEnum &pidtype, int j, bool *enabled)=0 |
| Get the current status (enabled/disabled) of the pid controller. More... | |
| Public Member Functions inherited from yarp::dev::IControlCalibrationRaw | |
| IControlCalibrationRaw () | |
| virtual | ~IControlCalibrationRaw () |
| Destructor. More... | |
| virtual bool | calibrationDoneRaw (int j)=0 |
| Check if the calibration is terminated, on a particular joint. More... | |
| virtual bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3)=0 |
| Start calibration, this method is very often platform specific. More... | |
| virtual bool | setCalibrationParametersRaw (int axis, const CalibrationParameters ¶ms) |
| Start calibration, this method is very often platform specific. More... | |
| Public Member Functions inherited from yarp::dev::IAmplifierControlRaw | |
| virtual | ~IAmplifierControlRaw () |
| Destructor. More... | |
| virtual bool | enableAmpRaw (int j)=0 |
| Enable the amplifier on a specific joint. More... | |
| virtual bool | disableAmpRaw (int j)=0 |
| Disable the amplifier on a specific joint. More... | |
| virtual bool | getAmpStatusRaw (int *st)=0 |
| virtual bool | getAmpStatusRaw (int j, int *st)=0 |
| virtual bool | getCurrentsRaw (double *vals)=0 |
| virtual bool | getCurrentRaw (int j, double *val)=0 |
| virtual bool | setMaxCurrentRaw (int j, double v)=0 |
| virtual bool | getMaxCurrentRaw (int j, double *v)=0 |
| Returns the maximum electric current allowed for a given motor. More... | |
| virtual bool | getNominalCurrentRaw (int m, double *val) |
| virtual bool | setNominalCurrentRaw (int m, const double val) |
| virtual bool | getPeakCurrentRaw (int m, double *val) |
| virtual bool | setPeakCurrentRaw (int m, const double val) |
| virtual bool | getPWMRaw (int j, double *val) |
| virtual bool | getPWMLimitRaw (int j, double *val) |
| virtual bool | setPWMLimitRaw (int j, const double val) |
| virtual bool | getPowerSupplyVoltageRaw (int j, double *val) |
| Public Member Functions inherited from yarp::dev::IEncodersTimedRaw | |
| virtual | ~IEncodersTimedRaw () |
| Destructor. More... | |
| virtual bool | getEncodersTimedRaw (double *encs, double *stamps)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| virtual bool | getEncoderTimedRaw (int j, double *encs, double *stamp)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| Public Member Functions inherited from yarp::dev::IEncodersRaw | |
| virtual | ~IEncodersRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | resetEncoderRaw (int j)=0 |
| Reset encoder, single joint. More... | |
| virtual bool | resetEncodersRaw ()=0 |
| Reset encoders. More... | |
| virtual bool | setEncoderRaw (int j, double val)=0 |
| Set the value of the encoder for a given joint. More... | |
| virtual bool | setEncodersRaw (const double *vals)=0 |
| Set the value of all encoders. More... | |
| virtual bool | getEncoderRaw (int j, double *v)=0 |
| Read the value of an encoder. More... | |
| virtual bool | getEncodersRaw (double *encs)=0 |
| Read the position of all axes. More... | |
| virtual bool | getEncoderSpeedRaw (int j, double *sp)=0 |
| Read the instantaneous speed of an axis. More... | |
| virtual bool | getEncoderSpeedsRaw (double *spds)=0 |
| Read the instantaneous acceleration of an axis. More... | |
| virtual bool | getEncoderAccelerationRaw (int j, double *spds)=0 |
| Read the instantaneous acceleration of an axis. More... | |
| virtual bool | getEncoderAccelerationsRaw (double *accs)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| Public Member Functions inherited from yarp::dev::IMotorEncodersRaw | |
| virtual | ~IMotorEncodersRaw () |
| Destructor. More... | |
| virtual bool | getNumberOfMotorEncodersRaw (int *num)=0 |
| Get the number of available motor encoders. More... | |
| virtual bool | resetMotorEncoderRaw (int m)=0 |
| Reset motor encoder, single motor. More... | |
| virtual bool | resetMotorEncodersRaw ()=0 |
| Reset motor encoders. More... | |
| virtual bool | setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr)=0 |
| Sets number of counts per revolution for motor encoder m. More... | |
| virtual bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *cpr)=0 |
| Gets number of counts per revolution for motor encoder m. More... | |
| virtual bool | setMotorEncoderRaw (int m, const double val)=0 |
| Set the value of the motor encoder for a given motor. More... | |
| virtual bool | setMotorEncodersRaw (const double *vals)=0 |
| Set the value of all motor encoders. More... | |
| virtual bool | getMotorEncoderRaw (int m, double *v)=0 |
| Read the value of a motor encoder. More... | |
| virtual bool | getMotorEncodersRaw (double *encs)=0 |
| Read the position of all motor encoders. More... | |
| virtual bool | getMotorEncodersTimedRaw (double *encs, double *stamps)=0 |
| Read the instantaneous position of all motor encoders. More... | |
| virtual bool | getMotorEncoderTimedRaw (int m, double *encs, double *stamp)=0 |
| Read the instantaneous position of a motor encoder. More... | |
| virtual bool | getMotorEncoderSpeedRaw (int m, double *sp)=0 |
| Read the istantaneous speed of a motor encoder. More... | |
| virtual bool | getMotorEncoderSpeedsRaw (double *spds)=0 |
| Read the instantaneous speed of all motor encoders. More... | |
| virtual bool | getMotorEncoderAccelerationRaw (int m, double *spds)=0 |
| Read the instantaneous acceleration of a motor encoder. More... | |
| virtual bool | getMotorEncoderAccelerationsRaw (double *accs)=0 |
| Read the instantaneous acceleration of all motor encoders. More... | |
| Public Member Functions inherited from yarp::dev::IMotorRaw | |
| virtual | ~IMotorRaw () |
| Destructor. More... | |
| virtual bool | getNumberOfMotorsRaw (int *num)=0 |
| Get the number of available motors. More... | |
| virtual bool | getTemperatureRaw (int m, double *val)=0 |
| Get temperature of a motor. More... | |
| virtual bool | getTemperaturesRaw (double *vals)=0 |
| Get temperature of all the motors. More... | |
| virtual bool | getTemperatureLimitRaw (int m, double *temp)=0 |
| Retreives the current temperature limit for a specific motor. More... | |
| virtual bool | setTemperatureLimitRaw (int m, const double temp)=0 |
| Set the temperature limit for a specific motor. More... | |
| virtual bool | getGearboxRatioRaw (int m, double *val) |
| Get the gearbox ratio for a specific motor. More... | |
| virtual bool | setGearboxRatioRaw (int m, const double val) |
| Set the gearbox ratio for a specific motor. More... | |
| Public Member Functions inherited from yarp::dev::IPositionControlRaw | |
| virtual | ~IPositionControlRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | positionMoveRaw (int j, double ref)=0 |
| Set new reference point for a single axis. More... | |
| virtual bool | positionMoveRaw (const double *refs)=0 |
| Set new reference point for all axes. More... | |
| virtual bool | relativeMoveRaw (int j, double delta)=0 |
| Set relative position. More... | |
| virtual bool | relativeMoveRaw (const double *deltas)=0 |
| Set relative position, all joints. More... | |
| virtual bool | checkMotionDoneRaw (int j, bool *flag)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | checkMotionDoneRaw (bool *flag)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | setRefSpeedRaw (int j, double sp)=0 |
| Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More... | |
| virtual bool | setRefSpeedsRaw (const double *spds)=0 |
| Set reference speed on all joints. More... | |
| virtual bool | setRefAccelerationRaw (int j, double acc)=0 |
| Set reference acceleration for a joint. More... | |
| virtual bool | setRefAccelerationsRaw (const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefSpeedRaw (int j, double *ref)=0 |
| Get reference speed for a joint. More... | |
| virtual bool | getRefSpeedsRaw (double *spds)=0 |
| Get reference speed of all joints. More... | |
| virtual bool | getRefAccelerationRaw (int j, double *acc)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | getRefAccelerationsRaw (double *accs)=0 |
| Get reference acceleration of all joints. More... | |
| virtual bool | stopRaw (int j)=0 |
| Stop motion, single joint. More... | |
| virtual bool | stopRaw ()=0 |
| Stop motion, multiple joints. More... | |
| virtual bool | positionMoveRaw (const int n_joint, const int *joints, const double *refs)=0 |
| Set new reference point for a subset of joints. More... | |
| virtual bool | relativeMoveRaw (const int n_joint, const int *joints, const double *deltas)=0 |
| Set relative position for a subset of joints. More... | |
| virtual bool | checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds)=0 |
| Set reference speed on all joints. More... | |
| virtual bool | setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefSpeedsRaw (const int n_joint, const int *joints, double *spds)=0 |
| Get reference speed of all joints. More... | |
| virtual bool | getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | stopRaw (const int n_joint, const int *joints)=0 |
| Stop motion for subset of joints. More... | |
| virtual bool | getTargetPositionRaw (const int joint, double *ref) |
| Get the last position reference for the specified axis. More... | |
| virtual bool | getTargetPositionsRaw (double *refs) |
| Get the last position reference for all axes. More... | |
| virtual bool | getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::IVelocityControlRaw | |
| virtual | ~IVelocityControlRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *axis)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | velocityMoveRaw (int j, double sp)=0 |
| Start motion at a given speed, single joint. More... | |
| virtual bool | velocityMoveRaw (const double *sp)=0 |
| Start motion at a given speed, multiple joints. More... | |
| virtual bool | setRefAccelerationRaw (int j, double acc)=0 |
| Set reference acceleration for a joint. More... | |
| virtual bool | setRefAccelerationsRaw (const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefAccelerationRaw (int j, double *acc)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | getRefAccelerationsRaw (double *accs)=0 |
| Get reference acceleration of all joints. More... | |
| virtual bool | stopRaw (int j)=0 |
| Stop motion, single joint. More... | |
| virtual bool | stopRaw ()=0 |
| Stop motion, multiple joints. More... | |
| virtual bool | velocityMoveRaw (const int n_joint, const int *joints, const double *spds)=0 |
| Start motion at a given speed for a subset of joints. More... | |
| virtual bool | getRefVelocityRaw (const int joint, double *vel) |
| Get the last reference speed set by velocityMove for single joint. More... | |
| virtual bool | getRefVelocitiesRaw (double *vels) |
| Get the last reference speed set by velocityMove for all joints. More... | |
| virtual bool | getRefVelocitiesRaw (const int n_joint, const int *joints, double *vels) |
| Get the last reference speed set by velocityMove for a group of joints. More... | |
| virtual bool | setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs)=0 |
| Set reference acceleration for a subset of joints. More... | |
| virtual bool | getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs)=0 |
| Get reference acceleration for a subset of joints. More... | |
| virtual bool | stopRaw (const int n_joint, const int *joints)=0 |
| Stop motion for a subset of joints. More... | |
| Public Member Functions inherited from yarp::dev::IControlModeRaw | |
| virtual | ~IControlModeRaw () |
| virtual bool | getControlModeRaw (int j, int *mode)=0 |
| virtual bool | getControlModesRaw (int *modes)=0 |
| virtual bool | getControlModesRaw (const int n_joint, const int *joints, int *modes)=0 |
| virtual bool | setControlModeRaw (const int j, const int mode)=0 |
| virtual bool | setControlModesRaw (const int n_joint, const int *joints, int *modes)=0 |
| virtual bool | setControlModesRaw (int *modes)=0 |
| Public Member Functions inherited from yarp::dev::IControlLimitsRaw | |
| virtual | ~IControlLimitsRaw () |
| Destructor. More... | |
| virtual bool | setLimitsRaw (int axis, double min, double max)=0 |
| Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More... | |
| virtual bool | getLimitsRaw (int axis, double *min, double *max)=0 |
| Get the software limits for a particular axis. More... | |
| virtual bool | setVelLimitsRaw (int axis, double min, double max)=0 |
| Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More... | |
| virtual bool | getVelLimitsRaw (int axis, double *min, double *max)=0 |
| Get the software speed limits for a particular axis. More... | |
| Public Member Functions inherited from yarp::dev::IPositionDirectRaw | |
| virtual | ~IPositionDirectRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *axes)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | setPositionRaw (int j, double ref)=0 |
| Set new position for a single axis. More... | |
| virtual bool | setPositionsRaw (const int n_joint, const int *joints, const double *refs)=0 |
| Set new reference point for all axes. More... | |
| virtual bool | setPositionsRaw (const double *refs)=0 |
| Set new position for a set of axes. More... | |
| virtual bool | getRefPositionRaw (const int joint, double *ref) |
| Get the last position reference for the specified axis. More... | |
| virtual bool | getRefPositionsRaw (double *refs) |
| Get the last position reference for all axes. More... | |
| virtual bool | getRefPositionsRaw (const int n_joint, const int *joints, double *refs) |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::ITorqueControlRaw | |
| virtual | ~ITorqueControlRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getTorqueRaw (int j, double *t)=0 |
| Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More... | |
| virtual bool | getTorquesRaw (double *t)=0 |
| Get the value of the torque for all joints (this is the feedback if you have torque sensors). More... | |
| virtual bool | getTorqueRangeRaw (int j, double *min, double *max)=0 |
| Get the full scale of the torque sensor of a given joint. More... | |
| virtual bool | getTorqueRangesRaw (double *min, double *max)=0 |
| Get the full scale of the torque sensors of all joints. More... | |
| virtual bool | setRefTorquesRaw (const double *t)=0 |
| Set the reference value of the torque for all joints. More... | |
| virtual bool | setRefTorqueRaw (int j, double t)=0 |
| Set the reference value of the torque for a given joint. More... | |
| virtual bool | setRefTorquesRaw (const int n_joint, const int *joints, const double *t) |
| Set new torque reference for a subset of joints. More... | |
| virtual bool | getRefTorquesRaw (double *t)=0 |
| Get the reference value of the torque for all joints. More... | |
| virtual bool | getRefTorqueRaw (int j, double *t)=0 |
| Set the reference value of the torque for a given joint. More... | |
| virtual bool | getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) |
| Get the motor parameters. More... | |
| virtual bool | setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) |
| Set the motor parameters. More... | |
| Public Member Functions inherited from yarp::dev::ICurrentControlRaw | |
| virtual | ~ICurrentControlRaw () |
| Destructor. More... | |
| virtual bool | getNumberOfMotorsRaw (int *number)=0 |
| Retrieves the number of controlled motors from the current physical interface. More... | |
| virtual bool | getCurrentRaw (int m, double *curr)=0 |
| Get the instantaneous current measurement for a single motor. More... | |
| virtual bool | getCurrentsRaw (double *currs)=0 |
| Get the instantaneous current measurement for all motors. More... | |
| virtual bool | getCurrentRangeRaw (int m, double *min, double *max)=0 |
| Get the full scale of the current measurement for a given motor (e.g. More... | |
| virtual bool | getCurrentRangesRaw (double *min, double *max)=0 |
| Get the full scale of the current measurements for all motors motor (e.g. More... | |
| virtual bool | setRefCurrentsRaw (const double *currs)=0 |
| Set the reference value of the currents for all motors. More... | |
| virtual bool | setRefCurrentRaw (int m, double curr)=0 |
| Set the reference value of the current for a single motor. More... | |
| virtual bool | setRefCurrentsRaw (const int n_motor, const int *motors, const double *currs)=0 |
| Set the reference value of the current for a group of motors. More... | |
| virtual bool | getRefCurrentsRaw (double *currs)=0 |
| Get the reference value of the currents for all motors. More... | |
| virtual bool | getRefCurrentRaw (int m, double *curr)=0 |
| Get the reference value of the current for a single motor. More... | |
| Public Member Functions inherited from yarp::dev::IPWMControlRaw | |
| virtual | ~IPWMControlRaw () |
| virtual bool | getNumberOfMotorsRaw (int *number)=0 |
| Retrieves the number of controlled motors from the current physical interface. More... | |
| virtual bool | setRefDutyCycleRaw (int m, double ref)=0 |
| Sets the reference dutycycle of a single motor. More... | |
| virtual bool | setRefDutyCyclesRaw (const double *refs)=0 |
| Sets the reference dutycycle for all motors. More... | |
| virtual bool | getRefDutyCycleRaw (int m, double *ref)=0 |
| Gets the last reference sent using the setRefDutyCycleRaw function. More... | |
| virtual bool | getRefDutyCyclesRaw (double *refs)=0 |
| Gets the last reference sent using the setRefDutyCyclesRaw function. More... | |
| virtual bool | getDutyCycleRaw (int m, double *val)=0 |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| virtual bool | getDutyCyclesRaw (double *vals)=0 |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| Public Member Functions inherited from yarp::dev::IImpedanceControlRaw | |
| virtual | ~IImpedanceControlRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getImpedanceRaw (int j, double *stiffness, double *damping)=0 |
| Get current impedance parameters (stiffness,damping,offset) for a specific joint. More... | |
| virtual bool | setImpedanceRaw (int j, double stiffness, double damping)=0 |
| Set current impedance parameters (stiffness,damping) for a specific joint. More... | |
| virtual bool | setImpedanceOffsetRaw (int j, double offset)=0 |
| Set current force Offset for a specific joint. More... | |
| virtual bool | getImpedanceOffsetRaw (int j, double *offset)=0 |
| Get current force Offset for a specific joint. More... | |
| virtual bool | getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0 |
| Get the current impedandance limits for a specific joint. More... | |
| Public Member Functions inherited from yarp::dev::IInteractionModeRaw | |
| virtual | ~IInteractionModeRaw () |
| Destructor. More... | |
| virtual bool | getInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum *mode)=0 |
| Get the current interaction mode of the robot, values can be stiff or compliant. More... | |
| virtual bool | getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes)=0 |
| Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More... | |
| virtual bool | getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes)=0 |
| Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More... | |
| virtual bool | setInteractionModeRaw (int axis, yarp::dev::InteractionModeEnum mode)=0 |
| Set the interaction mode of the robot, values can be stiff or compliant. More... | |
| virtual bool | setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes)=0 |
| Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More... | |
| virtual bool | setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes)=0 |
| Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More... | |
| Public Member Functions inherited from yarp::dev::IAxisInfoRaw | |
| virtual | ~IAxisInfoRaw () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getAxisNameRaw (int axis, std::string &name)=0 |
| virtual bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) |
| Public Member Functions inherited from yarp::dev::IVirtualAnalogSensorRaw | |
| virtual | ~IVirtualAnalogSensorRaw () |
| virtual VAS_status | getVirtualAnalogSensorStatusRaw (int ch)=0 |
| Check the status of a given channel. More... | |
| virtual int | getVirtualAnalogSensorChannelsRaw ()=0 |
| Get the number of channels of the virtual sensor. More... | |
| virtual bool | updateVirtualAnalogSensorMeasureRaw (yarp::sig::Vector &measure)=0 |
| Set a vector of torque values for virtual sensor. More... | |
| virtual bool | updateVirtualAnalogSensorMeasureRaw (int ch, double &measure)=0 |
| Public Member Functions inherited from yarp::dev::IJointFaultRaw | |
| virtual | ~IJointFaultRaw () |
| virtual bool | getLastJointFaultRaw (int j, int &mode, std::string &message)=0 |
| Public Member Functions inherited from yarp::dev::ImplementControlCalibration | |
| ImplementControlCalibration (yarp::dev::IControlCalibrationRaw *y) | |
| virtual | ~ImplementControlCalibration () |
| Destructor. More... | |
| bool | calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override |
| Start calibration, this method is very often platform specific. More... | |
| bool | setCalibrationParameters (int axis, const CalibrationParameters ¶ms) override |
| Start calibration, this method is very often platform specific. More... | |
| bool | calibrationDone (int j) override |
| Check if the calibration is terminated, on a particular joint. More... | |
| Public Member Functions inherited from yarp::dev::IControlCalibration | |
| IControlCalibration () | |
| virtual | ~IControlCalibration () |
| Destructor. More... | |
| virtual bool | calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3)=0 |
| Start calibration, this method is very often platform specific. More... | |
| virtual bool | setCalibrationParameters (int axis, const CalibrationParameters ¶ms) |
| Start calibration, this method is very often platform specific. More... | |
| virtual bool | calibrationDone (int j)=0 |
| Check if the calibration is terminated, on a particular joint. More... | |
| virtual bool | setCalibrator (ICalibrator *c) |
| Set the calibrator object to be used to calibrate the robot. More... | |
| virtual bool | calibrateRobot () |
| Calibrate robot by using an external calibrator. More... | |
| 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. More... | |
| bool | enableAmp (int j) override |
| Enable the amplifier on a specific joint. More... | |
| bool | disableAmp (int j) override |
| Disable the amplifier on a specific joint. More... | |
| 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. More... | |
| 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. More... | |
| virtual bool | enableAmp (int j)=0 |
| Enable the amplifier on a specific joint. More... | |
| virtual bool | disableAmp (int j)=0 |
| Disable the amplifier on a specific joint. More... | |
| virtual bool | getAmpStatus (int *st)=0 |
| virtual bool | getAmpStatus (int j, int *v)=0 |
| virtual bool | getCurrents (double *vals)=0 |
| virtual bool | getCurrent (int j, double *val)=0 |
| virtual bool | getMaxCurrent (int j, double *v)=0 |
| Returns the maximum electric current allowed for a given motor. More... | |
| virtual bool | setMaxCurrent (int j, double v)=0 |
| virtual bool | getNominalCurrent (int m, double *val) |
| virtual bool | setNominalCurrent (int m, const double val) |
| virtual bool | getPeakCurrent (int m, double *val) |
| virtual bool | setPeakCurrent (int m, const double val) |
| virtual bool | getPWM (int j, double *val) |
| virtual bool | getPWMLimit (int j, double *val) |
| virtual bool | setPWMLimit (int j, const double val) |
| virtual bool | getPowerSupplyVoltage (int j, double *val) |
| 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. More... | |
| bool | setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override |
| Set new pid value on multiple axes. More... | |
| bool | setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override |
| Set the controller reference for a given axis. More... | |
| bool | setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override |
| Set the controller reference, multiple axes. More... | |
| bool | setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override |
| Set the error limit for the controller on a specifi joint. More... | |
| bool | setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override |
| Get the error limit for the controller on all joints. More... | |
| bool | getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override |
| Get the current error for a joint. More... | |
| bool | getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override |
| Get the error of all joints. More... | |
| bool | getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override |
| Get the output of the controller (e.g. More... | |
| bool | getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override |
| Get the output of the controllers (e.g. More... | |
| bool | getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override |
| Get current pid value for a specific joint. More... | |
| bool | getPids (const PidControlTypeEnum &pidtype, Pid *pids) override |
| Get current pid value for a specific joint. More... | |
| bool | getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override |
| Get the current reference of the pid controller for a specific joint. More... | |
| bool | getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override |
| Get the current reference of all pid controllers. More... | |
| bool | getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *ref) override |
| Get the error limit for the controller on a specific joint. More... | |
| bool | getPidErrorLimits (const PidControlTypeEnum &pidtype, double *refs) override |
| Get the error limit for all controllers. More... | |
| 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. More... | |
| bool | enablePid (const PidControlTypeEnum &pidtype, int j) override |
| Enable the pid computation for a joint. More... | |
| bool | disablePid (const PidControlTypeEnum &pidtype, int j) override |
| Disable the pid computation for a joint. More... | |
| bool | setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override |
| Set offset value for a given controller. More... | |
| bool | isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override |
| Get the current status (enabled/disabled) of the pid. More... | |
| void | b () |
| Public Member Functions inherited from yarp::dev::IPidControl | |
| virtual | ~IPidControl () |
| Destructor. More... | |
| virtual bool | setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid)=0 |
| Set new pid value for a joint axis. More... | |
| virtual bool | setPids (const PidControlTypeEnum &pidtype, const Pid *pids)=0 |
| Set new pid value on multiple axes. More... | |
| virtual bool | setPidReference (const PidControlTypeEnum &pidtype, int j, double ref)=0 |
| Set the controller reference for a given axis. More... | |
| virtual bool | setPidReferences (const PidControlTypeEnum &pidtype, const double *refs)=0 |
| Set the controller reference, multiple axes. More... | |
| virtual bool | setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit)=0 |
| Set the error limit for the controller on a specifi joint. More... | |
| virtual bool | setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits)=0 |
| Get the error limit for the controller on all joints. More... | |
| virtual bool | getPidError (const PidControlTypeEnum &pidtype, int j, double *err)=0 |
| Get the current error for a joint. More... | |
| virtual bool | getPidErrors (const PidControlTypeEnum &pidtype, double *errs)=0 |
| Get the error of all joints. More... | |
| virtual bool | getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out)=0 |
| Get the output of the controller (e.g. More... | |
| virtual bool | getPidOutputs (const PidControlTypeEnum &pidtype, double *outs)=0 |
| Get the output of the controllers (e.g. More... | |
| virtual bool | getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid)=0 |
| Get current pid value for a specific joint. More... | |
| virtual bool | getPids (const PidControlTypeEnum &pidtype, Pid *pids)=0 |
| Get current pid value for a specific joint. More... | |
| virtual bool | getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref)=0 |
| Get the current reference of the pid controller for a specific joint. More... | |
| virtual bool | getPidReferences (const PidControlTypeEnum &pidtype, double *refs)=0 |
| Get the current reference of all pid controllers. More... | |
| virtual bool | getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *limit)=0 |
| Get the error limit for the controller on a specific joint. More... | |
| virtual bool | getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits)=0 |
| Get the error limit for all controllers. More... | |
| virtual bool | resetPid (const PidControlTypeEnum &pidtype, int j)=0 |
| 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. More... | |
| virtual bool | disablePid (const PidControlTypeEnum &pidtype, int j)=0 |
| Disable the pid computation for a joint. More... | |
| virtual bool | enablePid (const PidControlTypeEnum &pidtype, int j)=0 |
| Enable the pid computation for a joint. More... | |
| virtual bool | setPidOffset (const PidControlTypeEnum &pidtype, int j, double v)=0 |
| Set offset value for a given controller. More... | |
| virtual bool | isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled)=0 |
| Get the current status (enabled/disabled) of the pid. More... | |
| 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. More... | |
| bool | resetEncoder (int j) override |
| Reset encoder, single joint. More... | |
| bool | resetEncoders () override |
| Reset encoders. More... | |
| bool | setEncoder (int j, double val) override |
| Set the value of the encoder for a given joint. More... | |
| bool | setEncoders (const double *vals) override |
| Set the value of all encoders. More... | |
| bool | getEncoder (int j, double *v) override |
| Read the value of an encoder. More... | |
| bool | getEncodersTimed (double *encs, double *time) override |
| Read the instantaneous acceleration of all axes. More... | |
| bool | getEncoderTimed (int j, double *v, double *t) override |
| Read the instantaneous acceleration of all axes. More... | |
| bool | getEncoders (double *encs) override |
| Read the position of all axes. More... | |
| bool | getEncoderSpeed (int j, double *spds) override |
| Read the istantaneous speed of an axis. More... | |
| bool | getEncoderSpeeds (double *spds) override |
| Read the instantaneous speed of all axes. More... | |
| bool | getEncoderAcceleration (int j, double *spds) override |
| Read the instantaneous acceleration of an axis. More... | |
| bool | getEncoderAccelerations (double *accs) override |
| Read the instantaneous acceleration of all axes. More... | |
| Public Member Functions inherited from yarp::dev::IEncodersTimed | |
| virtual | ~IEncodersTimed () |
| Destructor. More... | |
| virtual bool | getEncodersTimed (double *encs, double *time)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| virtual bool | getEncoderTimed (int j, double *encs, double *time)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| Public Member Functions inherited from yarp::dev::IEncoders | |
| virtual | ~IEncoders () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | resetEncoder (int j)=0 |
| Reset encoder, single joint. More... | |
| virtual bool | resetEncoders ()=0 |
| Reset encoders. More... | |
| virtual bool | setEncoder (int j, double val)=0 |
| Set the value of the encoder for a given joint. More... | |
| virtual bool | setEncoders (const double *vals)=0 |
| Set the value of all encoders. More... | |
| virtual bool | getEncoder (int j, double *v)=0 |
| Read the value of an encoder. More... | |
| virtual bool | getEncoders (double *encs)=0 |
| Read the position of all axes. More... | |
| virtual bool | getEncoderSpeed (int j, double *sp)=0 |
| Read the istantaneous speed of an axis. More... | |
| virtual bool | getEncoderSpeeds (double *spds)=0 |
| Read the instantaneous speed of all axes. More... | |
| virtual bool | getEncoderAcceleration (int j, double *spds)=0 |
| Read the instantaneous acceleration of an axis. More... | |
| virtual bool | getEncoderAccelerations (double *accs)=0 |
| Read the instantaneous acceleration of all axes. More... | |
| Public Member Functions inherited from yarp::dev::ImplementPositionControl | |
| ImplementPositionControl (yarp::dev::IPositionControlRaw *y) | |
| Constructor. More... | |
| virtual | ~ImplementPositionControl () |
| Destructor. More... | |
| bool | getAxes (int *axis) override |
| Get the number of controlled axes. More... | |
| bool | positionMove (int j, double ref) override |
| Set new reference point for a single axis. More... | |
| bool | positionMove (const int n_joint, const int *joints, const double *refs) override |
| Set new reference point for a subset of joints. More... | |
| bool | positionMove (const double *refs) override |
| Set new reference point for all axes. More... | |
| bool | relativeMove (int j, double delta) override |
| Set relative position. More... | |
| bool | relativeMove (const int n_joint, const int *joints, const double *deltas) override |
| Set relative position for a subset of joints. More... | |
| bool | relativeMove (const double *deltas) override |
| Set relative position, all joints. More... | |
| bool | checkMotionDone (bool *flag) override |
| Check if the current trajectory is terminated. More... | |
| bool | checkMotionDone (const int n_joint, const int *joints, bool *flags) override |
| Check if the current trajectory is terminated. More... | |
| bool | checkMotionDone (int j, bool *flag) override |
| Check if the current trajectory is terminated. More... | |
| bool | setRefSpeed (int j, double sp) override |
| Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More... | |
| bool | setRefSpeeds (const int n_joint, const int *joints, const double *spds) override |
| Set reference speed on all joints. More... | |
| bool | setRefSpeeds (const double *spds) override |
| Set reference speed on all joints. More... | |
| bool | setRefAcceleration (int j, double acc) override |
| Set reference acceleration for a joint. More... | |
| bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs) override |
| Set reference acceleration on all joints. More... | |
| bool | setRefAccelerations (const double *accs) override |
| Set reference acceleration on all joints. More... | |
| bool | getRefSpeed (int j, double *ref) override |
| Get reference speed for a joint. More... | |
| bool | getRefSpeeds (const int n_joint, const int *joints, double *spds) override |
| Get reference speed of all joints. More... | |
| bool | getRefSpeeds (double *spds) override |
| Get reference speed of all joints. More... | |
| bool | getRefAcceleration (int j, double *acc) override |
| Get reference acceleration for a joint. More... | |
| bool | getRefAccelerations (const int n_joint, const int *joints, double *accs) override |
| Get reference acceleration for a joint. More... | |
| bool | getRefAccelerations (double *accs) override |
| Get reference acceleration of all joints. More... | |
| bool | stop (int j) override |
| Stop motion, single joint. More... | |
| bool | stop (const int n_joint, const int *joints) override |
| Stop motion for subset of joints. More... | |
| bool | stop () override |
| Stop motion, multiple joints. More... | |
| bool | getTargetPosition (const int joint, double *ref) override |
| Get the last position reference for the specified axis. More... | |
| bool | getTargetPositions (double *refs) override |
| Get the last position reference for all axes. More... | |
| bool | getTargetPositions (const int n_joint, const int *joints, double *refs) override |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::IPositionControl | |
| virtual | ~IPositionControl () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | positionMove (int j, double ref)=0 |
| Set new reference point for a single axis. More... | |
| virtual bool | positionMove (const double *refs)=0 |
| Set new reference point for all axes. More... | |
| virtual bool | relativeMove (int j, double delta)=0 |
| Set relative position. More... | |
| virtual bool | relativeMove (const double *deltas)=0 |
| Set relative position, all joints. More... | |
| virtual bool | checkMotionDone (int j, bool *flag)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | checkMotionDone (bool *flag)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | setRefSpeed (int j, double sp)=0 |
| Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More... | |
| virtual bool | setRefSpeeds (const double *spds)=0 |
| Set reference speed on all joints. More... | |
| virtual bool | setRefAcceleration (int j, double acc)=0 |
| Set reference acceleration for a joint. More... | |
| virtual bool | setRefAccelerations (const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefSpeed (int j, double *ref)=0 |
| Get reference speed for a joint. More... | |
| virtual bool | getRefSpeeds (double *spds)=0 |
| Get reference speed of all joints. More... | |
| virtual bool | getRefAcceleration (int j, double *acc)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | getRefAccelerations (double *accs)=0 |
| Get reference acceleration of all joints. More... | |
| virtual bool | stop (int j)=0 |
| Stop motion, single joint. More... | |
| virtual bool | stop ()=0 |
| Stop motion, multiple joints. More... | |
| virtual bool | positionMove (const int n_joint, const int *joints, const double *refs)=0 |
| Set new reference point for a subset of joints. More... | |
| virtual bool | relativeMove (const int n_joint, const int *joints, const double *deltas)=0 |
| Set relative position for a subset of joints. More... | |
| virtual bool | checkMotionDone (const int n_joint, const int *joints, bool *flag)=0 |
| Check if the current trajectory is terminated. More... | |
| virtual bool | setRefSpeeds (const int n_joint, const int *joints, const double *spds)=0 |
| Set reference speed on all joints. More... | |
| virtual bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefSpeeds (const int n_joint, const int *joints, double *spds)=0 |
| Get reference speed of all joints. More... | |
| virtual bool | getRefAccelerations (const int n_joint, const int *joints, double *accs)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | stop (const int n_joint, const int *joints)=0 |
| Stop motion for subset of joints. More... | |
| virtual bool | getTargetPosition (const int joint, double *ref) |
| Get the last position reference for the specified axis. More... | |
| virtual bool | getTargetPositions (double *refs) |
| Get the last position reference for all axes. More... | |
| virtual bool | getTargetPositions (const int n_joint, const int *joints, double *refs) |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::ImplementVelocityControl | |
| ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y) | |
| Constructor. More... | |
| virtual | ~ImplementVelocityControl () |
| Destructor. More... | |
| bool | getAxes (int *axes) override |
| Get the number of controlled axes. More... | |
| bool | velocityMove (int j, double sp) override |
| Start motion at a given speed, single joint. More... | |
| bool | velocityMove (const double *sp) override |
| Start motion at a given speed, multiple joints. More... | |
| bool | setRefAcceleration (int j, double acc) override |
| Set reference acceleration for a joint. More... | |
| bool | setRefAccelerations (const double *accs) override |
| Set reference acceleration on all joints. More... | |
| bool | getRefAcceleration (int j, double *acc) override |
| Get reference acceleration for a joint. More... | |
| bool | getRefAccelerations (double *accs) override |
| Get reference acceleration of all joints. More... | |
| bool | stop (int j) override |
| Stop motion, single joint. More... | |
| bool | stop () override |
| Stop motion, multiple joints. More... | |
| bool | velocityMove (const int n_joint, const int *joints, const double *spds) override |
| Start motion at a given speed for a subset of joints. More... | |
| bool | getRefVelocity (const int joint, double *vel) override |
| Get the last reference speed set by velocityMove for single joint. More... | |
| bool | getRefVelocities (double *vels) override |
| Get the last reference speed set by velocityMove for all joints. More... | |
| 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. More... | |
| bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs) override |
| Set reference acceleration for a subset of joints. More... | |
| bool | getRefAccelerations (const int n_joint, const int *joints, double *accs) override |
| Get reference acceleration for a subset of joints. More... | |
| bool | stop (const int n_joint, const int *joints) override |
| Stop motion for a subset of joints. More... | |
| Public Member Functions inherited from yarp::dev::IVelocityControl | |
| virtual | ~IVelocityControl () |
| Destructor. More... | |
| virtual bool | getAxes (int *axes)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | velocityMove (int j, double sp)=0 |
| Start motion at a given speed, single joint. More... | |
| virtual bool | velocityMove (const double *sp)=0 |
| Start motion at a given speed, multiple joints. More... | |
| virtual bool | setRefAcceleration (int j, double acc)=0 |
| Set reference acceleration for a joint. More... | |
| virtual bool | setRefAccelerations (const double *accs)=0 |
| Set reference acceleration on all joints. More... | |
| virtual bool | getRefAcceleration (int j, double *acc)=0 |
| Get reference acceleration for a joint. More... | |
| virtual bool | getRefAccelerations (double *accs)=0 |
| Get reference acceleration of all joints. More... | |
| virtual bool | stop (int j)=0 |
| Stop motion, single joint. More... | |
| virtual bool | stop ()=0 |
| Stop motion, multiple joints. More... | |
| virtual bool | velocityMove (const int n_joint, const int *joints, const double *spds)=0 |
| Start motion at a given speed for a subset of joints. More... | |
| virtual bool | getRefVelocity (const int joint, double *vel) |
| Get the last reference speed set by velocityMove for single joint. More... | |
| virtual bool | getRefVelocities (double *vels) |
| Get the last reference speed set by velocityMove for all joints. More... | |
| virtual bool | getRefVelocities (const int n_joint, const int *joints, double *vels) |
| Get the last reference speed set by velocityMove for a group of joints. More... | |
| virtual bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs)=0 |
| Set reference acceleration for a subset of joints. More... | |
| virtual bool | getRefAccelerations (const int n_joint, const int *joints, double *accs)=0 |
| Get reference acceleration for a subset of joints. More... | |
| virtual bool | stop (const int n_joint, const int *joints)=0 |
| Stop motion for a subset of joints. More... | |
| 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. More... | |
| bool | getControlModes (int *modes) override |
| Get the current control mode (multiple joints). More... | |
| bool | getControlModes (const int n_joint, const int *joints, int *modes) override |
| Get the current control mode for a subset of axes. More... | |
| bool | setControlMode (const int j, const int mode) override |
| Set the current control mode. More... | |
| bool | setControlModes (const int n_joint, const int *joints, int *modes) override |
| Set the current control mode for a subset of axes. More... | |
| bool | setControlModes (int *modes) override |
| Set the current control mode (multiple joints). More... | |
| Public Member Functions inherited from yarp::dev::IControlMode | |
| virtual | ~IControlMode () |
| virtual bool | getControlMode (int j, int *mode)=0 |
| Get the current control mode. More... | |
| virtual bool | getControlModes (int *modes)=0 |
| Get the current control mode (multiple joints). More... | |
| virtual bool | getControlModes (const int n_joint, const int *joints, int *modes)=0 |
| Get the current control mode for a subset of axes. More... | |
| virtual bool | setControlMode (const int j, const int mode)=0 |
| Set the current control mode. More... | |
| virtual bool | setControlModes (const int n_joint, const int *joints, int *modes)=0 |
| Set the current control mode for a subset of axes. More... | |
| virtual bool | setControlModes (int *modes)=0 |
| Set the current control mode (multiple joints). More... | |
| Public Member Functions inherited from yarp::dev::ImplementImpedanceControl | |
| ImplementImpedanceControl (yarp::dev::IImpedanceControlRaw *y) | |
| virtual | ~ImplementImpedanceControl () |
| Destructor. More... | |
| bool | getAxes (int *ax) override |
| Get the number of controlled axes. More... | |
| bool | getImpedance (int j, double *stiffness, double *damping) override |
| Get current impedance gains (stiffness,damping,offset) for a specific joint. More... | |
| bool | setImpedance (int j, double stiffness, double damping) override |
| Set current impedance gains (stiffness,damping) for a specific joint. More... | |
| bool | setImpedanceOffset (int j, double offset) override |
| Set current force Offset for a specific joint. More... | |
| bool | getImpedanceOffset (int j, double *offset) override |
| Get current force Offset for a specific joint. More... | |
| 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. More... | |
| Public Member Functions inherited from yarp::dev::IImpedanceControl | |
| virtual | ~IImpedanceControl () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getImpedance (int j, double *stiffness, double *damping)=0 |
| Get current impedance gains (stiffness,damping,offset) for a specific joint. More... | |
| virtual bool | setImpedance (int j, double stiffness, double damping)=0 |
| Set current impedance gains (stiffness,damping) for a specific joint. More... | |
| virtual bool | setImpedanceOffset (int j, double offset)=0 |
| Set current force Offset for a specific joint. More... | |
| virtual bool | getImpedanceOffset (int j, double *offset)=0 |
| Get current force Offset for a specific joint. More... | |
| virtual bool | getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0 |
| Get the current impedandance limits for a specific joint. More... | |
| Public Member Functions inherited from yarp::dev::ImplementJointFault | |
| ImplementJointFault (yarp::dev::IJointFaultRaw *y) | |
| virtual | ~ImplementJointFault () |
| Destructor. More... | |
| bool | getLastJointFault (int j, int &fault, std::string &message) override |
| Public Member Functions inherited from yarp::dev::IJointFault | |
| virtual | ~IJointFault () |
| virtual bool | getLastJointFault (int j, int &fault, std::string &message)=0 |
| 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. More... | |
| bool | resetMotorEncoder (int m) override |
| Reset motor encoder, single motor. More... | |
| bool | resetMotorEncoders () override |
| Reset motor encoders. More... | |
| bool | setMotorEncoder (int m, const double val) override |
| Set the value of the motor encoder for a given motor. More... | |
| bool | setMotorEncoders (const double *vals) override |
| Set the value of all motor encoders. More... | |
| bool | setMotorEncoderCountsPerRevolution (int m, const double cpr) override |
| Sets number of counts per revolution for motor encoder m. More... | |
| bool | getMotorEncoderCountsPerRevolution (int m, double *cpr) override |
| Gets number of counts per revolution for motor encoder m. More... | |
| bool | getMotorEncoder (int m, double *v) override |
| Read the value of a motor encoder. More... | |
| bool | getMotorEncodersTimed (double *encs, double *time) override |
| Read the instantaneous position of all motor encoders. More... | |
| bool | getMotorEncoderTimed (int m, double *v, double *t) override |
| Read the instantaneous position of a motor encoder. More... | |
| bool | getMotorEncoders (double *encs) override |
| Read the position of all motor encoders. More... | |
| bool | getMotorEncoderSpeed (int m, double *spds) override |
| Read the istantaneous speed of a motor encoder. More... | |
| bool | getMotorEncoderSpeeds (double *spds) override |
| Read the instantaneous speed of all motor encoders. More... | |
| bool | getMotorEncoderAcceleration (int m, double *spds) override |
| Read the instantaneous acceleration of a motor encoder. More... | |
| bool | getMotorEncoderAccelerations (double *accs) override |
| Read the instantaneous acceleration of all motor encoders. More... | |
| Public Member Functions inherited from yarp::dev::IMotorEncoders | |
| virtual | ~IMotorEncoders () |
| Destructor. More... | |
| virtual bool | getNumberOfMotorEncoders (int *num)=0 |
| Get the number of available motor encoders. More... | |
| virtual bool | resetMotorEncoder (int m)=0 |
| Reset motor encoder, single motor. More... | |
| virtual bool | resetMotorEncoders ()=0 |
| Reset motor encoders. More... | |
| virtual bool | setMotorEncoderCountsPerRevolution (int m, const double cpr)=0 |
| Sets number of counts per revolution for motor encoder m. More... | |
| virtual bool | getMotorEncoderCountsPerRevolution (int m, double *cpr)=0 |
| Gets number of counts per revolution for motor encoder m. More... | |
| virtual bool | setMotorEncoder (int m, const double val)=0 |
| Set the value of the motor encoder for a given motor. More... | |
| virtual bool | setMotorEncoders (const double *vals)=0 |
| Set the value of all motor encoders. More... | |
| virtual bool | getMotorEncoder (int m, double *v)=0 |
| Read the value of a motor encoder. More... | |
| virtual bool | getMotorEncoders (double *encs)=0 |
| Read the position of all motor encoders. More... | |
| virtual bool | getMotorEncodersTimed (double *encs, double *time)=0 |
| Read the instantaneous position of all motor encoders. More... | |
| virtual bool | getMotorEncoderTimed (int m, double *encs, double *time)=0 |
| Read the instantaneous position of a motor encoder. More... | |
| virtual bool | getMotorEncoderSpeed (int m, double *sp)=0 |
| Read the istantaneous speed of a motor encoder. More... | |
| virtual bool | getMotorEncoderSpeeds (double *spds)=0 |
| Read the instantaneous speed of all motor encoders. More... | |
| virtual bool | getMotorEncoderAcceleration (int m, double *acc)=0 |
| Read the instantaneous acceleration of a motor encoder. More... | |
| virtual bool | getMotorEncoderAccelerations (double *accs)=0 |
| Read the instantaneous acceleration of all motor encoders. More... | |
| Public Member Functions inherited from yarp::dev::ImplementTorqueControl | |
| ImplementTorqueControl (yarp::dev::ITorqueControlRaw *y) | |
| virtual | ~ImplementTorqueControl () |
| Destructor. More... | |
| bool | getAxes (int *ax) override |
| Get the number of controlled axes. More... | |
| bool | getRefTorque (int j, double *) override |
| Get the reference value of the torque for a given joint. More... | |
| bool | getRefTorques (double *t) override |
| Get the reference value of the torque for all joints. More... | |
| bool | setRefTorques (const double *t) override |
| Set the reference value of the torque for all joints. More... | |
| bool | setRefTorque (int j, double t) override |
| Set the reference value of the torque for a given joint. More... | |
| bool | setRefTorques (const int n_joint, const int *joints, const double *t) override |
| Set new torque reference for a subset of joints. More... | |
| bool | getTorques (double *t) override |
| Get the value of the torque for all joints (this is the feedback if you have torque sensors). More... | |
| 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). More... | |
| bool | setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override |
| Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More... | |
| bool | getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override |
| Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More... | |
| bool | getTorqueRange (int j, double *min, double *max) override |
| Get the full scale of the torque sensor of a given joint. More... | |
| bool | getTorqueRanges (double *min, double *max) override |
| Get the full scale of the torque sensors of all joints. More... | |
| Public Member Functions inherited from yarp::dev::ITorqueControl | |
| virtual | ~ITorqueControl () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getRefTorques (double *t)=0 |
| Get the reference value of the torque for all joints. More... | |
| virtual bool | getRefTorque (int j, double *t)=0 |
| Get the reference value of the torque for a given joint. More... | |
| virtual bool | setRefTorques (const double *t)=0 |
| Set the reference value of the torque for all joints. More... | |
| virtual bool | setRefTorque (int j, double t)=0 |
| Set the reference value of the torque for a given joint. More... | |
| virtual bool | setRefTorques (const int n_joint, const int *joints, const double *t) |
| Set new torque reference for a subset of joints. More... | |
| virtual bool | getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) |
| Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More... | |
| virtual bool | setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) |
| Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More... | |
| virtual bool | getTorque (int j, double *t)=0 |
| Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More... | |
| virtual bool | getTorques (double *t)=0 |
| Get the value of the torque for all joints (this is the feedback if you have torque sensors). More... | |
| virtual bool | getTorqueRange (int j, double *min, double *max)=0 |
| Get the full scale of the torque sensor of a given joint. More... | |
| virtual bool | getTorqueRanges (double *min, double *max)=0 |
| Get the full scale of the torque sensors of all joints. More... | |
| Public Member Functions inherited from yarp::dev::ImplementControlLimits | |
| ImplementControlLimits (yarp::dev::IControlLimitsRaw *y) | |
| Constructor. More... | |
| virtual | ~ImplementControlLimits () |
| Destructor. More... | |
| 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. More... | |
| bool | getLimits (int axis, double *min, double *max) override |
| Get the software limits for a particular axis. More... | |
| 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. More... | |
| bool | getVelLimits (int axis, double *min, double *max) override |
| Get the software speed limits for a particular axis. More... | |
| Public Member Functions inherited from yarp::dev::IControlLimits | |
| virtual | ~IControlLimits () |
| Destructor. More... | |
| virtual bool | setLimits (int axis, double min, double max)=0 |
| Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More... | |
| virtual bool | getLimits (int axis, double *min, double *max)=0 |
| Get the software limits for a particular axis. More... | |
| virtual bool | setVelLimits (int axis, double min, double max)=0 |
| Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More... | |
| virtual bool | getVelLimits (int axis, double *min, double *max)=0 |
| Get the software speed limits for a particular axis. More... | |
| Public Member Functions inherited from yarp::dev::ImplementPositionDirect | |
| ImplementPositionDirect (yarp::dev::IPositionDirectRaw *y) | |
| Constructor. More... | |
| virtual | ~ImplementPositionDirect () |
| Destructor. More... | |
| bool | getAxes (int *axes) override |
| Get the number of controlled axes. More... | |
| bool | setPosition (int j, double ref) override |
| Set new position for a single axis. More... | |
| bool | setPositions (const int n_joint, const int *joints, const double *refs) override |
| Set new reference point for all axes. More... | |
| bool | setPositions (const double *refs) override |
| Set new position for a set of axis. More... | |
| bool | getRefPosition (const int joint, double *ref) override |
| Get the last position reference for the specified axis. More... | |
| bool | getRefPositions (double *refs) override |
| Get the last position reference for all axes. More... | |
| bool | getRefPositions (const int n_joint, const int *joints, double *refs) override |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::IPositionDirect | |
| virtual | ~IPositionDirect () |
| Destructor. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | setPosition (int j, double ref)=0 |
| Set new position for a single axis. More... | |
| virtual bool | setPositions (const int n_joint, const int *joints, const double *refs)=0 |
| Set new reference point for all axes. More... | |
| virtual bool | setPositions (const double *refs)=0 |
| Set new position for a set of axis. More... | |
| virtual bool | getRefPosition (const int joint, double *ref) |
| Get the last position reference for the specified axis. More... | |
| virtual bool | getRefPositions (double *refs) |
| Get the last position reference for all axes. More... | |
| virtual bool | getRefPositions (const int n_joint, const int *joints, double *refs) |
| Get the last position reference for the specified group of axes. More... | |
| Public Member Functions inherited from yarp::dev::ImplementInteractionMode | |
| ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p) | |
| Constructor. More... | |
| virtual | ~ImplementInteractionMode () |
| Destructor. More... | |
| bool | getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override |
| Get the current interaction mode of the robot, values can be stiff or compliant. More... | |
| 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. More... | |
| 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. More... | |
| bool | setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override |
| Set the interaction mode of the robot, values can be stiff or compliant. More... | |
| 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. More... | |
| 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. More... | |
| Public Member Functions inherited from yarp::dev::IInteractionMode | |
| virtual | ~IInteractionMode () |
| Destructor. More... | |
| virtual bool | getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode)=0 |
| Get the current interaction mode of the robot, values can be stiff or compliant. More... | |
| virtual bool | getInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes)=0 |
| Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More... | |
| virtual bool | getInteractionModes (yarp::dev::InteractionModeEnum *modes)=0 |
| Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More... | |
| virtual bool | setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode)=0 |
| Set the interaction mode of the robot, values can be stiff or compliant. More... | |
| virtual bool | setInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes)=0 |
| Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More... | |
| virtual bool | setInteractionModes (yarp::dev::InteractionModeEnum *modes)=0 |
| Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More... | |
| Public Member Functions inherited from yarp::dev::ImplementCurrentControl | |
| ImplementCurrentControl (yarp::dev::ICurrentControlRaw *y) | |
| virtual | ~ImplementCurrentControl () |
| Destructor. More... | |
| bool | getNumberOfMotors (int *ax) override |
| Retrieves the number of controlled axes from the current physical interface. More... | |
| bool | getRefCurrent (int j, double *) override |
| Get the reference value of the current for a single motor. More... | |
| bool | getRefCurrents (double *t) override |
| Get the reference value of the currents for all motors. More... | |
| bool | setRefCurrents (const double *t) override |
| Set the reference value of the currents for all motors. More... | |
| bool | setRefCurrent (int j, double t) override |
| Set the reference value of the current for a single motor. More... | |
| 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. More... | |
| bool | getCurrents (double *t) override |
| Get the instantaneous current measurement for all motors. More... | |
| bool | getCurrent (int j, double *t) override |
| Get the instantaneous current measurement for a single motor. More... | |
| bool | getCurrentRange (int j, double *min, double *max) override |
| Get the full scale of the current measurement for a given motor (e.g. More... | |
| bool | getCurrentRanges (double *min, double *max) override |
| Get the full scale of the current measurements for all motors motor (e.g. More... | |
| Public Member Functions inherited from yarp::dev::ICurrentControl | |
| virtual | ~ICurrentControl () |
| Destructor. More... | |
| virtual bool | getNumberOfMotors (int *ax)=0 |
| Retrieves the number of controlled axes from the current physical interface. More... | |
| virtual bool | getCurrent (int m, double *curr)=0 |
| Get the instantaneous current measurement for a single motor. More... | |
| virtual bool | getCurrents (double *currs)=0 |
| Get the instantaneous current measurement for all motors. More... | |
| virtual bool | getCurrentRange (int m, double *min, double *max)=0 |
| Get the full scale of the current measurement for a given motor (e.g. More... | |
| virtual bool | getCurrentRanges (double *min, double *max)=0 |
| Get the full scale of the current measurements for all motors motor (e.g. More... | |
| virtual bool | setRefCurrents (const double *currs)=0 |
| Set the reference value of the currents for all motors. More... | |
| virtual bool | setRefCurrent (int m, double curr)=0 |
| Set the reference value of the current for a single motor. More... | |
| virtual bool | setRefCurrents (const int n_motor, const int *motors, const double *currs)=0 |
| Set the reference value of the current for a group of motors. More... | |
| virtual bool | getRefCurrents (double *currs)=0 |
| Get the reference value of the currents for all motors. More... | |
| virtual bool | getRefCurrent (int m, double *curr)=0 |
| Get the reference value of the current for a single motor. More... | |
| 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. More... | |
| bool | setRefDutyCycle (int j, double v) override |
| Sets the reference dutycycle to a single motor. More... | |
| bool | setRefDutyCycles (const double *v) override |
| Sets the reference dutycycle for all the motors. More... | |
| bool | getRefDutyCycle (int j, double *v) override |
| Gets the last reference sent using the setRefDutyCycle function. More... | |
| bool | getRefDutyCycles (double *v) override |
| Gets the last reference sent using the setRefDutyCycles function. More... | |
| bool | getDutyCycle (int j, double *v) override |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| bool | getDutyCycles (double *v) override |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| Public Member Functions inherited from yarp::dev::IPWMControl | |
| virtual | ~IPWMControl () |
| virtual bool | getNumberOfMotors (int *number)=0 |
| Retrieves the number of controlled motors from the current physical interface. More... | |
| virtual bool | setRefDutyCycle (int m, double ref)=0 |
| Sets the reference dutycycle to a single motor. More... | |
| virtual bool | setRefDutyCycles (const double *refs)=0 |
| Sets the reference dutycycle for all the motors. More... | |
| virtual bool | getRefDutyCycle (int m, double *ref)=0 |
| Gets the last reference sent using the setRefDutyCycle function. More... | |
| virtual bool | getRefDutyCycles (double *refs)=0 |
| Gets the last reference sent using the setRefDutyCycles function. More... | |
| virtual bool | getDutyCycle (int m, double *val)=0 |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| virtual bool | getDutyCycles (double *vals)=0 |
| Gets the current dutycycle of the output of the amplifier (i.e. More... | |
| 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. More... | |
| bool | getTemperature (int m, double *val) override |
| Get temperature of a motor. More... | |
| bool | getTemperatures (double *vals) override |
| Get temperature of all the motors. More... | |
| bool | getTemperatureLimit (int m, double *val) override |
| Retreives the current temperature limit for a specific motor. More... | |
| bool | setTemperatureLimit (int m, const double val) override |
| Set the temperature limit for a specific motor. More... | |
| bool | getGearboxRatio (int m, double *val) override |
| Get the gearbox ratio for a specific motor. More... | |
| bool | setGearboxRatio (int m, const double val) override |
| Set the gearbox ratio for a specific motor. More... | |
| Public Member Functions inherited from yarp::dev::IMotor | |
| virtual | ~IMotor () |
| Destructor. More... | |
| virtual bool | getNumberOfMotors (int *num)=0 |
| Get the number of available motors. More... | |
| virtual bool | getTemperature (int m, double *val)=0 |
| Get temperature of a motor. More... | |
| virtual bool | getTemperatures (double *vals)=0 |
| Get temperature of all the motors. More... | |
| virtual bool | getTemperatureLimit (int m, double *temp)=0 |
| Retreives the current temperature limit for a specific motor. More... | |
| virtual bool | setTemperatureLimit (int m, const double temp)=0 |
| Set the temperature limit for a specific motor. More... | |
| virtual bool | getGearboxRatio (int m, double *val) |
| Get the gearbox ratio for a specific motor. More... | |
| virtual bool | setGearboxRatio (int m, const double val) |
| Set the gearbox ratio for a specific motor. More... | |
| 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. More... | |
| 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. More... | |
| virtual bool | getAxes (int *ax)=0 |
| Get the number of controlled axes. More... | |
| virtual bool | getAxisName (int axis, std::string &name)=0 |
| virtual bool | getJointType (int axis, yarp::dev::JointTypeEnum &type) |
| 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. More... | |
| int | getVirtualAnalogSensorChannels () override |
| Get the number of channels of the virtual sensor. More... | |
| bool | updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure) override |
| Set a vector of torque values for virtual sensor. More... | |
| bool | updateVirtualAnalogSensorMeasure (int ch, double &measure) override |
| Public Member Functions inherited from yarp::dev::IVirtualAnalogSensor | |
| virtual | ~IVirtualAnalogSensor () |
| virtual VAS_status | getVirtualAnalogSensorStatus (int ch)=0 |
| Check the status of a given channel. More... | |
| virtual int | getVirtualAnalogSensorChannels ()=0 |
| Get the number of channels of the virtual sensor. More... | |
| virtual bool | updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure)=0 |
| Set a vector of torque values for virtual sensor. More... | |
| virtual bool | updateVirtualAnalogSensorMeasure (int ch, double &measure)=0 |
Additional Inherited Members | |
| Protected Member Functions inherited from yarp::os::PeriodicThread | |
| virtual bool | threadInit () |
| Initialization method. More... | |
| virtual void | threadRelease () |
| Release method. More... | |
| virtual void | run ()=0 |
| Loop function. More... | |
| virtual void | beforeStart () |
| Called just before a new thread starts. More... | |
| 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(). More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| Protected Member Functions inherited from yarp::dev::ImplementJointFault | |
| bool | initialize (int size, const int *amap) |
| Initialize the internal data and alloc memory. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| Protected Member Functions inherited from yarp::dev::ImplementInteractionMode | |
| bool | initialize (int size, const int *amap) |
| Initialize the internal data and alloc memory, smaller version. More... | |
| bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
| Initialize the internal data and alloc memory. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| Protected Member Functions inherited from yarp::dev::ImplementMotor | |
| bool | initialize (int size, const int *amap) |
| Initialize the internal data and alloc memory. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| Protected Member Functions inherited from yarp::dev::ImplementAxisInfo | |
| bool | initialize (int size, const int *amap) |
| Initialize the internal data and alloc memory. More... | |
| bool | uninitialize () |
| Clean up internal data and memory. More... | |
| 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 |
fakeMotionControl: Documentation to be added
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.
WIP - it is very basic now, not all interfaces are implemented yet.
Definition at line 86 of file fakeMotionControl.h.
| FakeMotionControl::FakeMotionControl | ( | ) |
Definition at line 373 of file fakeMotionControl.cpp.
| FakeMotionControl::~FakeMotionControl | ( | ) |
Definition at line 471 of file fakeMotionControl.cpp.
| bool FakeMotionControl::alloc | ( | int | njoints | ) |
Allocated buffers.
Definition at line 195 of file fakeMotionControl.cpp.
|
overridevirtual |
Start calibration, this method is very often platform specific.
Implements yarp::dev::IControlCalibrationRaw.
Definition at line 1911 of file fakeMotionControl.cpp.
|
overridevirtual |
Check if the calibration is terminated, on a particular joint.
Non blocking.
Implements yarp::dev::IControlCalibrationRaw.
Definition at line 1917 of file fakeMotionControl.cpp.
|
overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
| flag | is a pointer to return value ("and" of all joints) |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2023 of file fakeMotionControl.cpp.
|
overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
| 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') |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2181 of file fakeMotionControl.cpp.
|
overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
| j | is the axis number |
| flag | is a pointer to return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2013 of file fakeMotionControl.cpp.
|
overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 1477 of file fakeMotionControl.cpp.
|
overridevirtual |
Disable the amplifier on a specific joint.
All computations within the board will be carried out normally, but the output will be disabled.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2579 of file fakeMotionControl.cpp.
|
overridevirtual |
Disable the pid computation for a joint.
| pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
| j | joint number |
Implements yarp::dev::IPidControlRaw.
Definition at line 1748 of file fakeMotionControl.cpp.
|
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.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2574 of file fakeMotionControl.cpp.
|
overridevirtual |
Enable the pid computation for a joint.
| pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
| j | joint number |
Implements yarp::dev::IPidControlRaw.
Definition at line 1770 of file fakeMotionControl.cpp.
| bool FakeMotionControl::fromConfig | ( | yarp::os::Searchable & | config | ) |
Definition at line 896 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2620 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2614 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the number of controlled axes.
This command asks the number of controlled axes for the current physical interface.
| ax | storage to return param |
Implements yarp::dev::IAxisInfoRaw.
Definition at line 1928 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IAxisInfoRaw.
Definition at line 2757 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IControlModeRaw.
Definition at line 2275 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IControlModeRaw.
Definition at line 2296 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IControlModeRaw.
Definition at line 2286 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current impedandance limits for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2891 of file fakeMotionControl.cpp.
|
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.
| m | motor number |
| min | minimum current of the motor m |
| max | maximum current of the motor m |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 3235 of file fakeMotionControl.cpp.
|
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.
| min | pointer to the array that will store minimum currents |
| max | pointer to the array that will store maximum currents |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 3243 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2584 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2591 of file fakeMotionControl.cpp.
|
overridevirtual |
Gets the current dutycycle of the output of the amplifier (i.e.
pwm value sent to the motor)
| m | motor number |
| val | pointer to storage for return value, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 3208 of file fakeMotionControl.cpp.
|
overridevirtual |
Gets the current dutycycle of the output of the amplifier (i.e.
pwm values sent to all motors)
| vals | pointer to the vector that will store the values, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 3214 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of an axis.
| j | axis number |
| spds | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 2421 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of all axes.
| accs | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 2429 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the value of an encoder.
| j | encoder number |
| v | pointer to storage for the return value |
Implements yarp::dev::IEncodersRaw.
Definition at line 2381 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous speed of an axis.
| j | axis number |
| sp | pointer to storage for the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 2404 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of an axis.
| spds | pointer to storage for the output values |
Implements yarp::dev::IEncodersRaw.
Definition at line 2411 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the position of all axes.
| encs | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 2392 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of all axes.
| encs | pointer to the array that will contain the output |
| stamps | pointer to the array that will contain individual timestamps |
Implements yarp::dev::IEncodersTimedRaw.
Definition at line 2441 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of all axes.
| j | axis index |
| encs | encoder value |
| stamp | corresponding timestamp |
Implements yarp::dev::IEncodersTimedRaw.
Definition at line 2452 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the gearbox ratio for a specific motor.
| m | motor number |
| val | retrieved gearbox ratio |
Reimplemented from yarp::dev::IMotorRaw.
Definition at line 2691 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2732 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2742 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2737 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2727 of file fakeMotionControl.cpp.
|
overridevirtual |
Get current force Offset for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2886 of file fakeMotionControl.cpp.
|
overridevirtual |
Get current impedance parameters (stiffness,damping,offset) for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2871 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot, values can be stiff or compliant.
| axis | joint number |
| mode | contains the requested information about interaction mode of the joint |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 3079 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
| 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 |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 3088 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.
| mode | array containing the requested information about interaction mode, one value for each joint. |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 3099 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2706 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2711 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAxisInfoRaw.
Definition at line 2771 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2721 of file fakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IJointFaultRaw.
Definition at line 3326 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the software limits for a particular axis.
| axis | joint number |
| pointer | to store the value of the lower limit |
| pointer | to store the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 2686 of file fakeMotionControl.cpp.
|
overridevirtual |
Returns the maximum electric current allowed for a given motor.
Exceeding this value will trigger instantaneous hardware fault.
| j | motor number |
| v | the return value |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 2608 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of a motor encoder.
| m | motor number |
| acc | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2533 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous acceleration of all motor encoders.
| accs | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2539 of file fakeMotionControl.cpp.
|
overridevirtual |
Gets number of counts per revolution for motor encoder m.
| m | motor number |
| cpr | vals pointer to the new value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2485 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the value of a motor encoder.
| m | motor encoder number |
| v | pointer to storage for the return value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2500 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the istantaneous speed of a motor encoder.
| m | motor number |
| sp | pointer to storage for the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2517 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous speed of all motor encoders.
| spds | pointer to storage for the output values |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2523 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the position of all motor encoders.
| encs | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2506 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous position of all motor encoders.
| encs | pointer to the array that will contain the output |
| time | pointer to the array that will contain individual timestamps |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2549 of file fakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous position of a motor encoder.
| m | motor index |
| encs | encoder value (pointer to) |
| time | corresponding timestamp (pointer to) |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2561 of file fakeMotionControl.cpp.
|
virtual |
Definition at line 2747 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the motor parameters.
| j | joint number |
| params | a struct containing the motor parameters to be retrieved |
Reimplemented from yarp::dev::ITorqueControlRaw.
Definition at line 2896 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 2642 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the number of available motor encoders.
| m | pointer to a value representing the number of available motor encoders. |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 2464 of file fakeMotionControl.cpp.
|
overridevirtual |
Retrieves the number of controlled motors from the current physical interface.
| number | returns the number of controlled motors. |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 3144 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 2630 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the error limit for the controller on a specific joint.
| 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 |
Implements yarp::dev::IPidControlRaw.
Definition at line 1711 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the error limit for all controllers.
| 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 |
Implements yarp::dev::IPidControlRaw.
Definition at line 1733 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current error for a joint.
| 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 |
Implements yarp::dev::IPidControlRaw.
Definition at line 1608 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the error of all joints.
| 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 1630 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the output of the controller (e.g.
pwm value)
| 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 |
Implements yarp::dev::IPidControlRaw.
Definition at line 1837 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the output of the controllers (e.g.
pwm value)
| 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 1860 of file fakeMotionControl.cpp.
|
overridevirtual |
Get current pid value for a specific joint.
| 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. |
Implements yarp::dev::IPidControlRaw.
Definition at line 1640 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current reference of the pid controller for a specific joint.
| 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 |
Implements yarp::dev::IPidControlRaw.
Definition at line 1676 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the current reference of all pid controllers.
| 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 1698 of file fakeMotionControl.cpp.
|
overridevirtual |
Get current pid value for a specific joint.
| 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. |
Implements yarp::dev::IPidControlRaw.
Definition at line 1663 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 2672 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 2660 of file fakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 2654 of file fakeMotionControl.cpp.
|
overridevirtual |
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
| j | joint number |
| acc | pointer to storage for the return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2116 of file fakeMotionControl.cpp.
|
overridevirtual |
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
| joints | pointer to the array of joint numbers |
| accs | pointer to the array that will store the acceleration values |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2242 of file fakeMotionControl.cpp.
|
overridevirtual |
Get reference acceleration of all joints.
These are the values used during the interpolation of the trajectory.
| accs | pointer to the array that will store the acceleration values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2122 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the reference value of the current for a single motor.
| m | motor number |
| curr | the current reference value for motor m |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 3290 of file fakeMotionControl.cpp.
|
overridevirtual |
Get the reference value of the currents for all motors.
| currs | pointer to the array to be filled with reference current values. |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 3281 of file fakeMotionControl.cpp.
|
overridevirtual |
Gets the last reference sent using the setRefDutyCycleRaw function.
| m | motor number |
| ref | pointer to storage for return value, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 3193 of file fakeMotionControl.cpp.
|
overridevirtual |
Gets the last reference sent using the setRefDutyCyclesRaw function.
| refs | pointer to the vector that will store the values, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 3199 of file fakeMotionControl.cpp.
|
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.
| ref | last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 3039 of file fakeMotionControl.cpp.
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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.
| ref | array containing last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 3067 of file fakeMotionControl.cpp.
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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.
| ref | array containing last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 3057 of file fakeMotionControl.cpp.
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overridevirtual |
Get reference speed for a joint.
Returns the speed used to generate the trajectory profile.
| j | joint number |
| ref | pointer to storage for the return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2104 of file fakeMotionControl.cpp.
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overridevirtual |
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
| joints | pointer to the array of joint numbers |
| spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2228 of file fakeMotionControl.cpp.
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overridevirtual |
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
| spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2110 of file fakeMotionControl.cpp.
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overridevirtual |
Set the reference value of the torque for a given joint.
This is NOT the feedback (see getTorque instead).
| j | joint number |
| t | new value |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2863 of file fakeMotionControl.cpp.
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overridevirtual |
Get the reference value of the torque for all joints.
This is NOT the feedback (see getTorques instead).
| t | pointer to the array of torque values |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2854 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last reference speed set by velocityMove for a group of joints.
| 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. |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 3029 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last reference speed set by velocityMove for all joints.
| vels | pointer to the array containing the new speed values, one value for each joint |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 3019 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last reference speed set by velocityMove for single joint.
| j | joint number |
| vel | returns the requested reference. |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 3013 of file fakeMotionControl.cpp.
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virtual |
Definition at line 2701 of file fakeMotionControl.cpp.
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virtual |
Definition at line 2716 of file fakeMotionControl.cpp.
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virtual |
Definition at line 2752 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last position reference for the specified axis.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
| ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 2975 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last position reference for the specified group of axes.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
| ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 3003 of file fakeMotionControl.cpp.
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overridevirtual |
Get the last position reference for all axes.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
| ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 2994 of file fakeMotionControl.cpp.
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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)
| m | motor number |
| temp | the current temperature limit. |
Implements yarp::dev::IMotorRaw.
Definition at line 3165 of file fakeMotionControl.cpp.
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overridevirtual |
Get temperature of a motor.
| m | motor number |
| val | retrieved motor temperature |
Implements yarp::dev::IMotorRaw.
Definition at line 3150 of file fakeMotionControl.cpp.
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overridevirtual |
Get temperature of all the motors.
| vals | pointer to an array containing all motor temperatures |
Implements yarp::dev::IMotorRaw.
Definition at line 3155 of file fakeMotionControl.cpp.
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virtual |
Definition at line 2696 of file fakeMotionControl.cpp.
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overridevirtual |
Get the full scale of the torque sensor of a given joint.
| j | joint number |
| min | minimum torque of the joint j |
| max | maximum torque of the joint j |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2814 of file fakeMotionControl.cpp.
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overridevirtual |
Get the full scale of the torque sensors of all joints.
| 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 |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2819 of file fakeMotionControl.cpp.
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overridevirtual |
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).
| j | joint number |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2799 of file fakeMotionControl.cpp.
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overridevirtual |
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
| t | pointer to the array that will store the output |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2805 of file fakeMotionControl.cpp.
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overridevirtual |
Get the software speed limits for a particular axis.
| axis | joint number |
| min | pointer to store the value of the lower limit |
| max | pointer to store the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 2790 of file fakeMotionControl.cpp.
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overridevirtual |
Get the number of channels of the virtual sensor.
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 3306 of file fakeMotionControl.cpp.
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overridevirtual |
Check the status of a given channel.
| ch | channel number. |
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 3301 of file fakeMotionControl.cpp.
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virtual |
Definition at line 477 of file fakeMotionControl.cpp.
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overridevirtual |
Get the current status (enabled/disabled) of the pid controller.
| 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. |
Implements yarp::dev::IPidControlRaw.
Definition at line 1815 of file fakeMotionControl.cpp.
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overridevirtual |
Open the DeviceDriver.
| 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). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 507 of file fakeMotionControl.cpp.
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overridevirtual |
Set new reference point for all axes.
| refs | array, new reference points. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1960 of file fakeMotionControl.cpp.
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overridevirtual |
Set new reference point for a subset of joints.
| joints | pointer to the array of joint numbers |
| refs | pointer to the array specifies the new reference points |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2148 of file fakeMotionControl.cpp.
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overridevirtual |
Set new reference point for a single axis.
| j | joint number |
| ref | specifies the new ref point |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1935 of file fakeMotionControl.cpp.
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overridevirtual |
Set relative position, all joints.
| deltas | pointer to the relative commands |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1998 of file fakeMotionControl.cpp.
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overridevirtual |
Set relative position for a subset of joints.
| joints | pointer to the array of joint numbers |
| deltas | pointer to the array of relative commands |
Implements yarp::dev::IPositionControlRaw.
Definition at line 2167 of file fakeMotionControl.cpp.
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overridevirtual |
Set relative position.
The command is relative to the current position of the axis.
| j | joint axis number |
| delta | relative command |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1974 of file fakeMotionControl.cpp.
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overridevirtual |
Reset encoder, single joint.
Set the encoder value to zero
| j | encoder number |
Implements yarp::dev::IEncodersRaw.
Definition at line 2371 of file fakeMotionControl.cpp.
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overridevirtual |
Reset encoders.
Set the encoders value to zero
Implements yarp::dev::IEncodersRaw.
Definition at line
