YARP
Yet Another Robot Platform

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 &params) 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
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 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 &params)
 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 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 &params) 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 &params)
 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 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 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
IControlCalibrationRawiCalibrate
 
void * helper
 
double * temp
 
- Protected Attributes inherited from yarp::dev::ImplementAmplifierControl
IAmplifierControlRawiAmplifier
 
void * helper
 
double * dTemp
 
int * iTemp
 
- Protected Attributes inherited from yarp::dev::ImplementPidControl
IPidControlRawiPid
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::Pid > * pidBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementEncodersTimed
IEncodersTimedRawiEncoders
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * buffManager
 
- Protected Attributes inherited from yarp::dev::ImplementPositionControl
IPositionControlRawiPosition
 
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
IVelocityControlRawiVelocity
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementImpedanceControl
yarp::dev::IImpedanceControlRawiImpedanceRaw
 
void * helper
 
- Protected Attributes inherited from yarp::dev::ImplementJointFault
yarp::dev::IJointFaultRawraw
 
void * helper
 
- Protected Attributes inherited from yarp::dev::ImplementMotorEncoders
IMotorEncodersRawiMotorEncoders
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * buffManager
 
- Protected Attributes inherited from yarp::dev::ImplementTorqueControl
yarp::dev::ITorqueControlRawiTorqueRaw
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementControlLimits
IControlLimitsRawiLimits2
 
void * helper
 
- Protected Attributes inherited from yarp::dev::ImplementPositionDirect
IPositionDirectRawiPDirect
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementInteractionMode
yarp::dev::IInteractionModeRawiInteraction
 
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::ICurrentControlRawiCurrentRaw
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementMotor
IMotorRawimotor
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementAxisInfo
IAxisInfoRawiinfo
 
void * helper
 
double * temp1
 
double * temp2
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ FakeMotionControl()

FakeMotionControl::FakeMotionControl ( )

Definition at line 375 of file fakeMotionControl.cpp.

◆ ~FakeMotionControl()

FakeMotionControl::~FakeMotionControl ( )

Definition at line 473 of file fakeMotionControl.cpp.

Member Function Documentation

◆ alloc()

bool FakeMotionControl::alloc ( int  njoints)

Allocated buffers.

Definition at line 195 of file fakeMotionControl.cpp.

◆ calibrateAxisWithParamsRaw()

bool FakeMotionControl::calibrateAxisWithParamsRaw ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Start calibration, this method is very often platform specific.

Returns
true/false on success failure

Implements yarp::dev::IControlCalibrationRaw.

Definition at line 1913 of file fakeMotionControl.cpp.

◆ calibrationDoneRaw()

bool FakeMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

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

Non blocking.

Returns
true/false

Implements yarp::dev::IControlCalibrationRaw.

Definition at line 1919 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool FakeMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
flagis a pointer to return value ("and" of all joints)
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 2025 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

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

Check if the current trajectory is terminated.

Non blocking.

Parameters
jointspointer to the array of joint numbers
flagtrue if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')
Returns
true/false if network communication went well.

Implements yarp::dev::IPositionControlRaw.

Definition at line 2183 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

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

Check if the current trajectory is terminated.

Non blocking.

Parameters
jis the axis number
flagis a pointer to return value
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 2015 of file fakeMotionControl.cpp.

◆ close()

bool FakeMotionControl::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 1479 of file fakeMotionControl.cpp.

◆ disableAmpRaw()

bool FakeMotionControl::disableAmpRaw ( int  j)
overridevirtual

Disable the amplifier on a specific joint.

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

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2581 of file fakeMotionControl.cpp.

◆ disablePidRaw()

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

Disable the pid computation for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1750 of file fakeMotionControl.cpp.

◆ enableAmpRaw()

bool FakeMotionControl::enableAmpRaw ( int  j)
overridevirtual

Enable the amplifier on a specific joint.

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

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2576 of file fakeMotionControl.cpp.

◆ enablePidRaw()

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

Enable the pid computation for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1772 of file fakeMotionControl.cpp.

◆ fromConfig()

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

Definition at line 898 of file fakeMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool FakeMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2622 of file fakeMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

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

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2616 of file fakeMotionControl.cpp.

◆ getAxes()

bool FakeMotionControl::getAxes ( int *  ax)
overridevirtual

Get the number of controlled axes.

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

Returns
the number of controlled axes.

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 1930 of file fakeMotionControl.cpp.

◆ getAxisNameRaw()

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

Implements yarp::dev::IAxisInfoRaw.

Definition at line 2759 of file fakeMotionControl.cpp.

◆ getControlModeRaw()

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

Implements yarp::dev::IControlModeRaw.

Definition at line 2277 of file fakeMotionControl.cpp.

◆ getControlModesRaw() [1/2]

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

Implements yarp::dev::IControlModeRaw.

Definition at line 2298 of file fakeMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool FakeMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2288 of file fakeMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

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

Get the current impedandance limits for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2893 of file fakeMotionControl.cpp.

◆ getCurrentRangeRaw()

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

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

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

Parameters
mmotor number
minminimum current of the motor m
maxmaximum current of the motor m
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3237 of file fakeMotionControl.cpp.

◆ getCurrentRangesRaw()

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

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

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

Parameters
minpointer to the array that will store minimum currents
maxpointer to the array that will store maximum currents
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3245 of file fakeMotionControl.cpp.

◆ getCurrentRaw()

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

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2586 of file fakeMotionControl.cpp.

◆ getCurrentsRaw()

bool FakeMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2593 of file fakeMotionControl.cpp.

◆ getDutyCycleRaw()

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

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

pwm value sent to the motor)

Parameters
mmotor number
valpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3210 of file fakeMotionControl.cpp.

◆ getDutyCyclesRaw()

bool FakeMotionControl::getDutyCyclesRaw ( double *  vals)
overridevirtual

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

pwm values sent to all motors)

Parameters
valspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3216 of file fakeMotionControl.cpp.

◆ getEncoderAccelerationRaw()

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

Read the instantaneous acceleration of an axis.

Parameters
jaxis number
spdspointer to the array that will contain the output

Implements yarp::dev::IEncodersRaw.

Definition at line 2423 of file fakeMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool FakeMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
accspointer to the array that will contain the output
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersRaw.

Definition at line 2431 of file fakeMotionControl.cpp.

◆ getEncoderRaw()

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

Read the value of an encoder.

Parameters
jencoder number
vpointer to storage for the return value
Returns
true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncodersRaw.

Definition at line 2383 of file fakeMotionControl.cpp.

◆ getEncoderSpeedRaw()

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

Read the instantaneous speed of an axis.

Parameters
jaxis number
sppointer to storage for the output
Returns
true if successful, false ... otherwise.

Implements yarp::dev::IEncodersRaw.

Definition at line 2406 of file fakeMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool FakeMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Read the instantaneous acceleration of an axis.

Parameters
spdspointer to storage for the output values
Returns
guess what? (true/false on success or failure).

Implements yarp::dev::IEncodersRaw.

Definition at line 2413 of file fakeMotionControl.cpp.

◆ getEncodersRaw()

bool FakeMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Read the position of all axes.

Parameters
encspointer to the array that will contain the output
Returns
true/false on success/failure

Implements yarp::dev::IEncodersRaw.

Definition at line 2394 of file fakeMotionControl.cpp.

◆ getEncodersTimedRaw()

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

Read the instantaneous acceleration of all axes.

Parameters
encspointer to the array that will contain the output
stampspointer to the array that will contain individual timestamps
Returns
return true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 2443 of file fakeMotionControl.cpp.

◆ getEncoderTimedRaw()

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

Read the instantaneous acceleration of all axes.

Parameters
jaxis index
encsencoder value
stampcorresponding timestamp
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 2454 of file fakeMotionControl.cpp.

◆ getGearboxRatioRaw()

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

Get the gearbox ratio for a specific motor.

Parameters
mmotor number
valretrieved gearbox ratio
Returns
true/false

Reimplemented from yarp::dev::IMotorRaw.

Definition at line 2693 of file fakeMotionControl.cpp.

◆ getHasHallSensorRaw()

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

Definition at line 2734 of file fakeMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

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

Definition at line 2744 of file fakeMotionControl.cpp.

◆ getHasRotorEncoderRaw()

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

Definition at line 2739 of file fakeMotionControl.cpp.

◆ getHasTempSensorsRaw()

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

Definition at line 2729 of file fakeMotionControl.cpp.

◆ getImpedanceOffsetRaw()

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

Get current force Offset for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2888 of file fakeMotionControl.cpp.

◆ getImpedanceRaw()

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

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

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2873 of file fakeMotionControl.cpp.

◆ getInteractionModeRaw()

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

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

Parameters
axisjoint number
modecontains the requested information about interaction mode of the joint
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 3081 of file fakeMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

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

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

Parameters
n_jointshow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
modesarray containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 3090 of file fakeMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

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

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

Parameters
modearray containing the requested information about interaction mode, one value for each joint.
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 3101 of file fakeMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

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

Definition at line 2708 of file fakeMotionControl.cpp.

◆ getJointEncoderTypeRaw()

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

Definition at line 2713 of file fakeMotionControl.cpp.

◆ getJointTypeRaw()

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

Reimplemented from yarp::dev::IAxisInfoRaw.

Definition at line 2773 of file fakeMotionControl.cpp.

◆ getKinematicMJRaw()

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

Definition at line 2723 of file fakeMotionControl.cpp.

◆ getLastJointFaultRaw()

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

Implements yarp::dev::IJointFaultRaw.

Definition at line 3328 of file fakeMotionControl.cpp.

◆ getLimitsRaw()

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

Get the software limits for a particular axis.

Parameters
axisjoint number
pointerto store the value of the lower limit
pointerto store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2688 of file fakeMotionControl.cpp.

◆ getMaxCurrentRaw()

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

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2610 of file fakeMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

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

Read the instantaneous acceleration of a motor encoder.

Parameters
mmotor number
accpointer to the array that will contain the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2535 of file fakeMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool FakeMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters
accspointer to the array that will contain the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2541 of file fakeMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

Gets number of counts per revolution for motor encoder m.

Parameters
mmotor number
cprvals pointer to the new value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2487 of file fakeMotionControl.cpp.

◆ getMotorEncoderRaw()

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

Read the value of a motor encoder.

Parameters
mmotor encoder number
vpointer to storage for the return value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2502 of file fakeMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

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

Read the istantaneous speed of a motor encoder.

Parameters
mmotor number
sppointer to storage for the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2519 of file fakeMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool FakeMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters
spdspointer to storage for the output values
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2525 of file fakeMotionControl.cpp.

◆ getMotorEncodersRaw()

bool FakeMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Read the position of all motor encoders.

Parameters
encspointer to the array that will contain the output
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2508 of file fakeMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

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

Read the instantaneous position of all motor encoders.

Parameters
encspointer to the array that will contain the output
timepointer to the array that will contain individual timestamps
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2551 of file fakeMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

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

Read the instantaneous position of a motor encoder.

Parameters
mmotor index
encsencoder value (pointer to)
timecorresponding timestamp (pointer to)
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2563 of file fakeMotionControl.cpp.

◆ getMotorPolesRaw()

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

Definition at line 2749 of file fakeMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

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

Get the motor parameters.

Parameters
jjoint number
paramsa struct containing the motor parameters to be retrieved
Returns
true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2898 of file fakeMotionControl.cpp.

◆ getNominalCurrentRaw()

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

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2644 of file fakeMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool FakeMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Get the number of available motor encoders.

Parameters
mpointer to a value representing the number of available motor encoders.
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2466 of file fakeMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool FakeMotionControl::getNumberOfMotorsRaw ( int *  number)
overridevirtual

Retrieves the number of controlled motors from the current physical interface.

Parameters
numberreturns the number of controlled motors.
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3146 of file fakeMotionControl.cpp.

◆ getPeakCurrentRaw()

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

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2632 of file fakeMotionControl.cpp.

◆ getPidErrorLimitRaw()

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

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

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
limitpointer to storage
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1713 of file fakeMotionControl.cpp.

◆ getPidErrorLimitsRaw()

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

Get the error limit for all controllers.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
limitspointer to the array that will store the output
Returns
success or failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1735 of file fakeMotionControl.cpp.

◆ getPidErrorRaw()

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

Get the current error for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
errpointer to the storage for the return value
Returns
true/false on success failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1610 of file fakeMotionControl.cpp.

◆ getPidErrorsRaw()

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

Get the error of all joints.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
errspointer to the vector that will store the errors

Implements yarp::dev::IPidControlRaw.

Definition at line 1632 of file fakeMotionControl.cpp.

◆ getPidOutputRaw()

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

Get the output of the controller (e.g.

pwm value)

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
outpointer to storage for return value
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1839 of file fakeMotionControl.cpp.

◆ getPidOutputsRaw()

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

Get the output of the controllers (e.g.

pwm value)

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

Implements yarp::dev::IPidControlRaw.

Definition at line 1862 of file fakeMotionControl.cpp.

◆ getPidRaw()

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

Get current pid value for a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
pidpointer to storage for the return value.
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1642 of file fakeMotionControl.cpp.

◆ getPidReferenceRaw()

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

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

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
refpointer to storage for return value
Returns
reference value

Implements yarp::dev::IPidControlRaw.

Definition at line 1678 of file fakeMotionControl.cpp.

◆ getPidReferencesRaw()

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

Get the current reference of all pid controllers.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
refsvector that will store the output.

Implements yarp::dev::IPidControlRaw.

Definition at line 1700 of file fakeMotionControl.cpp.

◆ getPidsRaw()

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

Get current pid value for a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
pidsvector that will store the values of the pids.
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1665 of file fakeMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

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

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2674 of file fakeMotionControl.cpp.

◆ getPWMLimitRaw()

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

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2662 of file fakeMotionControl.cpp.

◆ getPWMRaw()

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

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2656 of file fakeMotionControl.cpp.

◆ getRefAccelerationRaw()

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

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters
jjoint number
accpointer to storage for the return value
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2118 of file fakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

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

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters
jointspointer to the array of joint numbers
accspointer to the array that will store the acceleration values
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2244 of file fakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool FakeMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Get reference acceleration of all joints.

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

Parameters
accspointer to the array that will store the acceleration values.
Returns
true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2124 of file fakeMotionControl.cpp.

◆ getRefCurrentRaw()

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

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

Parameters
mmotor number
currthe current reference value for motor m
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3292 of file fakeMotionControl.cpp.

◆ getRefCurrentsRaw()

bool FakeMotionControl::getRefCurrentsRaw ( double *  currs)
overridevirtual

Get the reference value of the currents for all motors.

Parameters
currspointer to the array to be filled with reference current values.
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3283 of file fakeMotionControl.cpp.

◆ getRefDutyCycleRaw()

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

Gets the last reference sent using the setRefDutyCycleRaw function.

Parameters
mmotor number
refpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3195 of file fakeMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool FakeMotionControl::getRefDutyCyclesRaw ( double *  refs)
overridevirtual

Gets the last reference sent using the setRefDutyCyclesRaw function.

Parameters
refspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3201 of file fakeMotionControl.cpp.

◆ getRefPositionRaw()

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

Get the last position reference for the specified axis.

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

Parameters
reflast reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 3041 of file fakeMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

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

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

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

Parameters
refarray containing last reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 3069 of file fakeMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool FakeMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Get the last position reference for all axes.

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

Parameters
refarray containing last reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 3059 of file fakeMotionControl.cpp.

◆ getRefSpeedRaw()

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

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters
jjoint number
refpointer to storage for the return value
Returns
true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2106 of file fakeMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

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

Get reference speed of all joints.

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

Parameters
jointspointer to the array of joint numbers
spdspointer to the array that will store the speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2230 of file fakeMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool FakeMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Get reference speed of all joints.

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

Parameters
spdspointer to the array that will store the speed values.

Implements yarp::dev::IPositionControlRaw.

Definition at line 2112 of file fakeMotionControl.cpp.

◆ getRefTorqueRaw()

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

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

This is NOT the feedback (see getTorque instead).

Parameters
jjoint number
tnew value
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2865 of file fakeMotionControl.cpp.

◆ getRefTorquesRaw()

bool FakeMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2856 of file fakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

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

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

Parameters
n_jointhow many joints this command is referring to
jointsof joints controlled. The size of this array is n_joints
velspointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 3031 of file fakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool FakeMotionControl::getRefVelocitiesRaw ( double *  vels)
overridevirtual

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

Parameters
velspointer to the array containing the new speed values, one value for each joint
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 3021 of file fakeMotionControl.cpp.

◆ getRefVelocityRaw()

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

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

Parameters
jjoint number
velreturns the requested reference.
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 3015 of file fakeMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

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

Definition at line 2703 of file fakeMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

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

Definition at line 2718 of file fakeMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

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

Definition at line 2754 of file fakeMotionControl.cpp.

◆ getTargetPositionRaw()

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

Get the last position reference for the specified axis.

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

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2977 of file fakeMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

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

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

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

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 3005 of file fakeMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool FakeMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Get the last position reference for all axes.

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

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2996 of file fakeMotionControl.cpp.

◆ getTemperatureLimitRaw()

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

Retreives the current temperature limit for a specific motor.

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

Parameters
mmotor number
tempthe current temperature limit.
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3167 of file fakeMotionControl.cpp.

◆ getTemperatureRaw()

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

Get temperature of a motor.

Parameters
mmotor number
valretrieved motor temperature
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3152 of file fakeMotionControl.cpp.

◆ getTemperaturesRaw()

bool FakeMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Get temperature of all the motors.

Parameters
valspointer to an array containing all motor temperatures
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3157 of file fakeMotionControl.cpp.

◆ getTorqueControlFilterType()

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

Definition at line 2698 of file fakeMotionControl.cpp.

◆ getTorqueRangeRaw()

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

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

Parameters
jjoint number
minminimum torque of the joint j
maxmaximum torque of the joint j
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2816 of file fakeMotionControl.cpp.

◆ getTorqueRangesRaw()

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

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

Parameters
minpointer to the array that will store minimum torques of the joints
maxpointer to the array that will store maximum torques of the joints
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2821 of file fakeMotionControl.cpp.

◆ getTorqueRaw()

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

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

Parameters
jjoint number
Returns
torque value
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2801 of file fakeMotionControl.cpp.

◆ getTorquesRaw()

bool FakeMotionControl::getTorquesRaw ( double *  t)
overridevirtual

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

Parameters
tpointer to the array that will store the output
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2807 of file fakeMotionControl.cpp.

◆ getVelLimitsRaw()

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

Get the software speed limits for a particular axis.

Parameters
axisjoint number
minpointer to store the value of the lower limit
maxpointer to store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2792 of file fakeMotionControl.cpp.

◆ getVirtualAnalogSensorChannelsRaw()

int FakeMotionControl::getVirtualAnalogSensorChannelsRaw ( )
overridevirtual

Get the number of channels of the virtual sensor.

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

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3308 of file fakeMotionControl.cpp.

◆ getVirtualAnalogSensorStatusRaw()

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

Check the status of a given channel.

Parameters
chchannel number.
Returns
VAS_status type.

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3303 of file fakeMotionControl.cpp.

◆ initialised()

bool FakeMotionControl::initialised ( )
virtual

Definition at line 479 of file fakeMotionControl.cpp.

◆ isPidEnabledRaw()

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

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

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
enabledthe current status of the pid controller.
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1817 of file fakeMotionControl.cpp.

◆ open()

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

Open the DeviceDriver.

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

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 509 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [1/3]

bool FakeMotionControl::positionMoveRaw ( const double *  refs)
overridevirtual

Set new reference point for all axes.

Parameters
refsarray, new reference points.
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1962 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [2/3]

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

Set new reference point for a subset of joints.

Parameters
jointspointer to the array of joint numbers
refspointer to the array specifies the new reference points
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2150 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [3/3]

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

Set new reference point for a single axis.

Parameters
jjoint number
refspecifies the new ref point
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1937 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool FakeMotionControl::relativeMoveRaw ( const double *  deltas)
overridevirtual

Set relative position, all joints.

Parameters
deltaspointer to the relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2000 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

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

Set relative position for a subset of joints.

Parameters
jointspointer to the array of joint numbers
deltaspointer to the array of relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2169 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

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

Set relative position.

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

Parameters
jjoint axis number
deltarelative command
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1976 of file fakeMotionControl.cpp.

◆ resetEncoderRaw()

bool FakeMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2373 of file fakeMotionControl.cpp.

◆ resetEncodersRaw()

bool FakeMotionControl::resetEncodersRaw ( )
overridevirtual

Reset encoders.

Set the encoders value to zero

Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2378 of file fakeMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool FakeMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters
mmotor number
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2492 of file fakeMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool FakeMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2497 of file fakeMotionControl.cpp.