fakeMotionControl
: The aim of this device is to mimic the expected behavior of a real motion control device to help testing the high level software.
More...
#include <fake/fakeMotionControl/FakeMotionControl.h>
Public Member Functions | |
FakeMotionControl () | |
~FakeMotionControl () | |
bool | open (yarp::os::Searchable &par) override |
Open the DeviceDriver. | |
bool | close () override |
Close the DeviceDriver. | |
bool | fromConfig (yarp::os::Searchable &config) |
virtual bool | initialised () |
bool | alloc (int njoints) |
Allocated buffers. | |
void | resizeBuffers () |
Resize previously allocated buffers. | |
bool | threadInit () override |
Initialization method. | |
void | threadRelease () override |
Release method. | |
bool | setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override |
Set new pid value for a joint axis. | |
bool | setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override |
Set new pid value on multiple axes. | |
bool | setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override |
Set the controller reference for a given axis. | |
bool | setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override |
Set the controller reference, multiple axes. | |
bool | setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override |
Set the error limit for the controller on a specific joint. | |
bool | setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override |
Get the error limit for the controller on all joints. | |
bool | getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override |
Get the current error for a joint. | |
bool | getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override |
Get the error of all joints. | |
bool | getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override |
Get the output of the controller (e.g. | |
bool | getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override |
Get the output of the controllers (e.g. | |
bool | getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override |
Get current pid value for a specific joint. | |
bool | getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override |
Get current pid value for a specific joint. | |
bool | getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override |
Get the current reference of the pid controller for a specific joint. | |
bool | getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override |
Get the current reference of all pid controllers. | |
bool | getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override |
Get the error limit for the controller on a specific joint. | |
bool | getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override |
Get the error limit for all controllers. | |
bool | resetPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. | |
bool | disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
Disable the pid computation for a joint. | |
bool | enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override |
Enable the pid computation for a joint. | |
bool | setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override |
Set an offset value on the ourput of pid controller. | |
bool | isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override |
Get the current status (enabled/disabled) of the pid controller. | |
bool | getAxes (int *ax) override |
Get the number of controlled axes. | |
bool | positionMoveRaw (int j, double ref) override |
Set new reference point for a single axis. | |
bool | positionMoveRaw (const double *refs) override |
Set new reference point for all axes. | |
bool | relativeMoveRaw (int j, double delta) override |
Set relative position. | |
bool | relativeMoveRaw (const double *deltas) override |
Set relative position, all joints. | |
bool | checkMotionDoneRaw (bool *flag) override |
Check if the current trajectory is terminated. | |
bool | checkMotionDoneRaw (int j, bool *flag) override |
Check if the current trajectory is terminated. | |
bool | setRefSpeedRaw (int j, double sp) override |
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. | |
bool | setRefSpeedsRaw (const double *spds) override |
Set reference speed on all joints. | |
bool | setRefAccelerationRaw (int j, double acc) override |
Set reference acceleration for a joint. | |
bool | setRefAccelerationsRaw (const double *accs) override |
Set reference acceleration on all joints. | |
bool | getRefSpeedRaw (int j, double *ref) override |
Get reference speed for a joint. | |
bool | getRefSpeedsRaw (double *spds) override |
Get reference speed of all joints. | |
bool | getRefAccelerationRaw (int j, double *acc) override |
Get reference acceleration for a joint. | |
bool | getRefAccelerationsRaw (double *accs) override |
Get reference acceleration of all joints. | |
bool | stopRaw (int j) override |
Stop motion, single joint. | |
bool | stopRaw () override |
Stop motion, multiple joints. | |
bool | positionMoveRaw (const int n_joint, const int *joints, const double *refs) override |
Set new reference point for a subset of joints. | |
bool | relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override |
Set relative position for a subset of joints. | |
bool | checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override |
Check if the current trajectory is terminated. | |
bool | setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override |
Set reference speed on all joints. | |
bool | setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override |
Set reference acceleration on all joints. | |
bool | getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override |
Get reference speed of all joints. | |
bool | getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override |
Get reference acceleration for a joint. | |
bool | stopRaw (const int n_joint, const int *joints) override |
Stop motion for subset of joints. | |
bool | getTargetPositionRaw (const int joint, double *ref) override |
Get the last position reference for the specified axis. | |
bool | getTargetPositionsRaw (double *refs) override |
Get the last position reference for all axes. | |
bool | getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override |
Get the last position reference for the specified group of axes. | |
bool | velocityMoveRaw (int j, double sp) override |
Start motion at a given speed, single joint. | |
bool | velocityMoveRaw (const double *sp) override |
Start motion at a given speed, multiple joints. | |
bool | getLastJointFaultRaw (int j, int &fault, std::string &message) override |
bool | setCalibrationParametersRaw (int axis, const yarp::dev::CalibrationParameters ¶ms) override |
Start calibration, this method is very often platform specific. | |
bool | calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override |
Start calibration, this method is very often platform specific. | |
bool | calibrationDoneRaw (int j) override |
Check if the calibration is terminated, on a particular joint. | |
bool | getControlModeRaw (int j, int *v) override |
bool | getControlModesRaw (int *v) override |
bool | getControlModesRaw (const int n_joint, const int *joints, int *modes) override |
bool | setControlModeRaw (const int j, const int mode) override |
bool | setControlModesRaw (const int n_joint, const int *joints, int *modes) override |
bool | setControlModesRaw (int *modes) override |
bool | resetEncoderRaw (int j) override |
Reset encoder, single joint. | |
bool | resetEncodersRaw () override |
Reset encoders. | |
bool | setEncoderRaw (int j, double val) override |
Set the value of the encoder for a given joint. | |
bool | setEncodersRaw (const double *vals) override |
Set the value of all encoders. | |
bool | getEncoderRaw (int j, double *v) override |
Read the value of an encoder. | |
bool | getEncodersRaw (double *encs) override |
Read the position of all axes. | |
bool | getEncoderSpeedRaw (int j, double *sp) override |
Read the instantaneous speed of an axis. | |
bool | getEncoderSpeedsRaw (double *spds) override |
Read the instantaneous acceleration of an axis. | |
bool | getEncoderAccelerationRaw (int j, double *spds) override |
Read the instantaneous acceleration of an axis. | |
bool | getEncoderAccelerationsRaw (double *accs) override |
Read the instantaneous acceleration of all axes. | |
bool | getEncodersTimedRaw (double *encs, double *stamps) override |
Read the instantaneous acceleration of all axes. | |
bool | getEncoderTimedRaw (int j, double *encs, double *stamp) override |
Read the instantaneous acceleration of all axes. | |
bool | getNumberOfMotorEncodersRaw (int *num) override |
Get the number of available motor encoders. | |
bool | resetMotorEncoderRaw (int m) override |
Reset motor encoder, single motor. | |
bool | resetMotorEncodersRaw () override |
Reset motor encoders. | |
bool | setMotorEncoderRaw (int m, const double val) override |
Set the value of the motor encoder for a given motor. | |
bool | setMotorEncodersRaw (const double *vals) override |
Set the value of all motor encoders. | |
bool | getMotorEncoderRaw (int m, double *v) override |
Read the value of a motor encoder. | |
bool | getMotorEncodersRaw (double *encs) override |
Read the position of all motor encoders. | |
bool | getMotorEncoderSpeedRaw (int m, double *sp) override |
Read the istantaneous speed of a motor encoder. | |
bool | getMotorEncoderSpeedsRaw (double *spds) override |
Read the instantaneous speed of all motor encoders. | |
bool | getMotorEncoderAccelerationRaw (int m, double *spds) override |
Read the instantaneous acceleration of a motor encoder. | |
bool | getMotorEncoderAccelerationsRaw (double *accs) override |
Read the instantaneous acceleration of all motor encoders. | |
bool | getMotorEncodersTimedRaw (double *encs, double *stamps) override |
Read the instantaneous position of all motor encoders. | |
bool | getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override |
Read the instantaneous position of a motor encoder. | |
bool | getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override |
Gets number of counts per revolution for motor encoder m. | |
bool | setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override |
Sets number of counts per revolution for motor encoder m. | |
bool | getAxisNameRaw (int axis, std::string &name) override |
bool | getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override |
virtual bool | getRotorEncoderResolutionRaw (int m, double &rotres) |
virtual bool | getJointEncoderResolutionRaw (int m, double &jntres) |
virtual bool | getJointEncoderTypeRaw (int j, int &type) |
virtual bool | getRotorEncoderTypeRaw (int j, int &type) |
virtual bool | getKinematicMJRaw (int j, double &rotres) |
virtual bool | getHasTempSensorsRaw (int j, int &ret) |
virtual bool | getHasHallSensorRaw (int j, int &ret) |
virtual bool | getHasRotorEncoderRaw (int j, int &ret) |
virtual bool | getHasRotorEncoderIndexRaw (int j, int &ret) |
virtual bool | getMotorPolesRaw (int j, int &poles) |
virtual bool | getRotorIndexOffsetRaw (int j, double &rotorOffset) |
virtual bool | getTorqueControlFilterType (int j, int &type) |
bool | enableAmpRaw (int j) override |
Enable the amplifier on a specific joint. | |
bool | disableAmpRaw (int j) override |
Disable the amplifier on a specific joint. | |
bool | getCurrentsRaw (double *vals) override |
bool | getCurrentRaw (int j, double *val) override |
bool | getNominalCurrentRaw (int m, double *val) override |
bool | setNominalCurrentRaw (int m, const double val) override |
bool | setMaxCurrentRaw (int j, double val) override |
bool | getMaxCurrentRaw (int j, double *val) override |
Returns the maximum electric current allowed for a given motor. | |
bool | getPeakCurrentRaw (int m, double *val) override |
bool | setPeakCurrentRaw (int m, const double val) override |
bool | getAmpStatusRaw (int *st) override |
bool | getAmpStatusRaw (int j, int *st) override |
bool | getPWMRaw (int j, double *val) override |
bool | getPWMLimitRaw (int j, double *val) override |
bool | setPWMLimitRaw (int j, const double val) override |
bool | getPowerSupplyVoltageRaw (int j, double *val) override |
bool | setLimitsRaw (int axis, double min, double max) override |
Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. | |
bool | getLimitsRaw (int axis, double *min, double *max) override |
Get the software limits for a particular axis. | |
bool | setVelLimitsRaw (int axis, double min, double max) override |
Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. | |
bool | getVelLimitsRaw (int axis, double *min, double *max) override |
Get the software speed limits for a particular axis. | |
bool | getTorqueRaw (int j, double *t) override |
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). | |
bool | getTorquesRaw (double *t) override |
Get the value of the torque for all joints (this is the feedback if you have torque sensors). | |
bool | getTorqueRangeRaw (int j, double *min, double *max) override |
Get the full scale of the torque sensor of a given joint. | |
bool | getTorqueRangesRaw (double *min, double *max) override |
Get the full scale of the torque sensors of all joints. | |
bool | setRefTorquesRaw (const double *t) override |
Set the reference value of the torque for all joints. | |
bool | setRefTorqueRaw (int j, double t) override |
Set the reference value of the torque for a given joint. | |
bool | setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override |
Set new torque reference for a subset of joints. | |
bool | getRefTorquesRaw (double *t) override |
Get the reference value of the torque for all joints. | |
bool | getRefTorqueRaw (int j, double *t) override |
Set the reference value of the torque for a given joint. | |
bool | getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override |
Get the motor parameters. | |
bool | setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override |
Set the motor parameters. | |
bool | velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override |
Start motion at a given speed for a subset of joints. | |
bool | getRefVelocityRaw (const int joint, double *ref) override |
Get the last reference speed set by velocityMove for single joint. | |
bool | getRefVelocitiesRaw (double *refs) override |
Get the last reference speed set by velocityMove for all joints. | |
bool | getRefVelocitiesRaw (const int n_joint, const int *joints, double *refs) override |
Get the last reference speed set by velocityMove for a group of joints. | |
bool | getImpedanceRaw (int j, double *stiffness, double *damping) override |
Get current impedance parameters (stiffness,damping,offset) for a specific joint. | |
bool | setImpedanceRaw (int j, double stiffness, double damping) override |
Set current impedance parameters (stiffness,damping) for a specific joint. | |
bool | setImpedanceOffsetRaw (int j, double offset) override |
Set current force Offset for a specific joint. | |
bool | getImpedanceOffsetRaw (int j, double *offset) override |
Get current force Offset for a specific joint. | |
bool | getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override |
Get the current impedandance limits for a specific joint. | |
bool | setPositionRaw (int j, double ref) override |
Set new position for a single axis. | |
bool | setPositionsRaw (const int n_joint, const int *joints, const double *refs) override |
Set new reference point for all axes. | |
bool | setPositionsRaw (const double *refs) override |
Set new position for a set of axes. | |
bool | getRefPositionRaw (const int joint, double *ref) override |
Get the last position reference for the specified axis. | |
bool | getRefPositionsRaw (double *refs) override |
Get the last position reference for all axes. | |
bool | getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override |
Get the last position reference for the specified group of axes. | |
bool | getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override |
Get the current interaction mode of the robot, values can be stiff or compliant. | |
bool | getInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. | |
bool | getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. | |
bool | setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override |
Set the interaction mode of the robot, values can be stiff or compliant. | |
bool | setInteractionModesRaw (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. | |
bool | setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override |
Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. | |
bool | getNumberOfMotorsRaw (int *num) override |
Get the number of available motors. | |
bool | getTemperatureRaw (int m, double *val) override |
Get temperature of a motor. | |
bool | getTemperaturesRaw (double *vals) override |
Get temperature of all the motors. | |
bool | getTemperatureLimitRaw (int m, double *temp) override |
Retreives the current temperature limit for a specific motor. | |
bool | setTemperatureLimitRaw (int m, const double temp) override |
Set the temperature limit for a specific motor. | |
bool | getGearboxRatioRaw (int m, double *gearbox) override |
Get the gearbox ratio for a specific motor. | |
bool | setGearboxRatioRaw (int m, const double val) override |
Set the gearbox ratio for a specific motor. | |
bool | setRefDutyCycleRaw (int j, double v) override |
Sets the reference dutycycle of a single motor. | |
bool | setRefDutyCyclesRaw (const double *v) override |
Sets the reference dutycycle for all motors. | |
bool | getRefDutyCycleRaw (int j, double *v) override |
Gets the last reference sent using the setRefDutyCycleRaw function. | |
bool | getRefDutyCyclesRaw (double *v) override |
Gets the last reference sent using the setRefDutyCyclesRaw function. | |
bool | getDutyCycleRaw (int j, double *v) override |
Gets the current dutycycle of the output of the amplifier (i.e. | |
bool | getDutyCyclesRaw (double *v) override |
Gets the current dutycycle of the output of the amplifier (i.e. | |
bool | getCurrentRangeRaw (int j, double *min, double *max) override |
Get the full scale of the current measurement for a given motor (e.g. | |
bool | getCurrentRangesRaw (double *min, double *max) override |
Get the full scale of the current measurements for all motors motor (e.g. | |
bool | setRefCurrentsRaw (const double *t) override |
Set the reference value of the currents for all motors. | |
bool | setRefCurrentRaw (int j, double t) override |
Set the reference value of the current for a single motor. | |
bool | setRefCurrentsRaw (const int n_joint, const int *joints, const double *t) override |
Set the reference value of the current for a group of motors. | |
bool | getRefCurrentsRaw (double *t) override |
Get the reference value of the currents for all motors. | |
bool | getRefCurrentRaw (int j, double *t) override |
Get the reference value of the current for a single motor. | |
yarp::dev::VAS_status | getVirtualAnalogSensorStatusRaw (int ch) override |
Check the status of a given channel. | |
int | getVirtualAnalogSensorChannelsRaw () override |
Get the number of channels of the virtual sensor. | |
bool | updateVirtualAnalogSensorMeasureRaw (yarp::sig::Vector &measure) override |
Set a vector of torque values for virtual sensor. | |
bool | updateVirtualAnalogSensorMeasureRaw (int ch, double &measure) override |
void | run () override |
Loop function. | |
![]() | |
FakeMotionControl_ParamsParser () | |
~FakeMotionControl_ParamsParser () override=default | |
bool | parseParams (const yarp::os::Searchable &config) override |
Parse the DeviceDriver parameters. | |
std::string | getDeviceClassName () const override |
Get the name of the DeviceDriver class. | |
std::string | getDeviceName () const override |
Get the name of the device (i.e. | |
std::string | getDocumentationOfDeviceParams () const override |
Get the documentation of the DeviceDriver's parameters. | |
std::vector< std::string > | getListOfParams () const override |
Return a list of all params used by the device. | |
![]() | |
virtual | ~IDeviceDriverParams () |
![]() | |
DeviceDriver () | |
DeviceDriver (const DeviceDriver &other)=delete | |
DeviceDriver (DeviceDriver &&other) noexcept=delete | |
DeviceDriver & | operator= (const DeviceDriver &other)=delete |
DeviceDriver & | operator= (DeviceDriver &&other) noexcept=delete |
virtual | ~DeviceDriver () |
virtual std::string | id () const |
Return the id assigned to the PolyDriver. | |
virtual void | setId (const std::string &id) |
Set the id for this device. | |
template<class T > | |
bool | view (T *&x) |
Get an interface to the device driver. | |
virtual DeviceDriver * | getImplementation () |
Some drivers are bureaucrats, pointing at others. | |
![]() | |
PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative) | |
Constructor. | |
PeriodicThread (double period, PeriodicThreadClock clockAccuracy) | |
Constructor. | |
virtual | ~PeriodicThread () |
bool | start () |
Call this to start the thread. | |
void | step () |
Call this to "step" the thread rather than starting it. | |
void | stop () |
Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). | |
void | askToStop () |
Stop the thread. | |
bool | isRunning () const |
Returns true when the thread is started, false otherwise. | |
bool | isSuspended () const |
Returns true when the thread is suspended, false otherwise. | |
bool | setPeriod (double period) |
Set the (new) period of the thread. | |
double | getPeriod () const |
Return the current period of the thread. | |
void | suspend () |
Suspend the thread, the thread keeps running by doLoop is never executed. | |
void | resume () |
Resume the thread if previously suspended. | |
void | resetStat () |
Reset thread statistics. | |
double | getEstimatedPeriod () const |
Return estimated period since last reset. | |
void | getEstimatedPeriod (double &av, double &std) const |
Return estimated period since last reset. | |
unsigned int | getIterations () const |
Return the number of iterations performed since last reset. | |
double | getEstimatedUsed () const |
Return the estimated duration of the run() function since last reset. | |
void | getEstimatedUsed (double &av, double &std) const |
Return estimated duration of the run() function since last reset. | |
int | setPriority (int priority, int policy=-1) |
Set the priority and scheduling policy of the thread, if the OS supports that. | |
int | getPriority () const |
Query the current priority of the thread, if the OS supports that. | |
int | getPolicy () const |
Query the current scheduling policy of the thread, if the OS supports that. | |
![]() | |
virtual | ~IPidControlRaw () |
Destructor. | |
![]() | |
IControlCalibrationRaw () | |
virtual | ~IControlCalibrationRaw () |
Destructor. | |
![]() | |
virtual | ~IAmplifierControlRaw () |
Destructor. | |
![]() | |
virtual | ~IEncodersTimedRaw () |
Destructor. | |
![]() | |
virtual | ~IEncodersRaw () |
Destructor. | |
![]() | |
virtual | ~IMotorEncodersRaw () |
Destructor. | |
![]() | |
virtual | ~IMotorRaw () |
Destructor. | |
![]() | |
virtual | ~IPositionControlRaw () |
Destructor. | |
![]() | |
virtual | ~IVelocityControlRaw () |
Destructor. | |
![]() | |
virtual | ~IControlModeRaw () |
![]() | |
virtual | ~IControlLimitsRaw () |
Destructor. | |
![]() | |
virtual | ~IPositionDirectRaw () |
Destructor. | |
![]() | |
virtual | ~ITorqueControlRaw () |
Destructor. | |
![]() | |
virtual | ~ICurrentControlRaw () |
Destructor. | |
![]() | |
virtual | ~IPWMControlRaw () |
![]() | |
virtual | ~IImpedanceControlRaw () |
Destructor. | |
![]() | |
virtual | ~IInteractionModeRaw () |
Destructor. | |
![]() | |
virtual | ~IAxisInfoRaw () |
Destructor. | |
![]() | |
virtual | ~IVirtualAnalogSensorRaw () |
![]() | |
virtual | ~IJointFaultRaw () |
![]() | |
ImplementControlCalibration (yarp::dev::IControlCalibrationRaw *y) | |
virtual | ~ImplementControlCalibration () |
Destructor. | |
bool | calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override |
Start calibration, this method is very often platform specific. | |
bool | setCalibrationParameters (int axis, const CalibrationParameters ¶ms) override |
Start calibration, this method is very often platform specific. | |
bool | calibrationDone (int j) override |
Check if the calibration is terminated, on a particular joint. | |
![]() | |
IControlCalibration () | |
virtual | ~IControlCalibration () |
Destructor. | |
virtual bool | setCalibrator (ICalibrator *c) |
Set the calibrator object to be used to calibrate the robot. | |
virtual bool | calibrateRobot () |
Calibrate robot by using an external calibrator. | |
virtual bool | park (bool wait=true) |
virtual bool | abortCalibration () |
virtual bool | abortPark () |
![]() | |
ImplementAmplifierControl (yarp::dev::IAmplifierControlRaw *y) | |
virtual | ~ImplementAmplifierControl () |
Destructor. | |
bool | enableAmp (int j) override |
Enable the amplifier on a specific joint. | |
bool | disableAmp (int j) override |
Disable the amplifier on a specific joint. | |
bool | getAmpStatus (int *st) override |
bool | getAmpStatus (int j, int *st) override |
bool | getCurrents (double *vals) override |
bool | getCurrent (int j, double *val) override |
bool | setMaxCurrent (int j, double v) override |
bool | getMaxCurrent (int j, double *v) override |
Returns the maximum electric current allowed for a given motor. | |
bool | getNominalCurrent (int m, double *val) override |
bool | setNominalCurrent (int m, const double val) override |
bool | getPeakCurrent (int m, double *val) override |
bool | setPeakCurrent (int m, const double val) override |
bool | getPWM (int j, double *val) override |
bool | getPWMLimit (int j, double *val) override |
bool | setPWMLimit (int j, const double val) override |
bool | getPowerSupplyVoltage (int j, double *val) override |
![]() | |
virtual | ~IAmplifierControl () |
Destructor. | |
![]() | |
ImplementPidControl (yarp::dev::IPidControlRaw *y) | |
virtual | ~ImplementPidControl () |
bool | setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override |
Set new pid value for a joint axis. | |
bool | setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override |
Set new pid value on multiple axes. | |
bool | setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override |
Set the controller reference for a given axis. | |
bool | setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override |
Set the controller reference, multiple axes. | |
bool | setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override |
Set the error limit for the controller on a specifi joint. | |
bool | setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override |
Get the error limit for the controller on all joints. | |
bool | getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override |
Get the current error for a joint. | |
bool | getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override |
Get the error of all joints. | |
bool | getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override |
Get the output of the controller (e.g. | |
bool | getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override |
Get the output of the controllers (e.g. | |
bool | getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override |
Get current pid value for a specific joint. | |
bool | getPids (const PidControlTypeEnum &pidtype, Pid *pids) override |
Get current pid value for a specific joint. | |
bool | getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override |
Get the current reference of the pid controller for a specific joint. | |
bool | getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override |
Get the current reference of all pid controllers. | |
bool | getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *ref) override |
Get the error limit for the controller on a specific joint. | |
bool | getPidErrorLimits (const PidControlTypeEnum &pidtype, double *refs) override |
Get the error limit for all controllers. | |
bool | resetPid (const PidControlTypeEnum &pidtype, int j) override |
Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. | |
bool | enablePid (const PidControlTypeEnum &pidtype, int j) override |
Enable the pid computation for a joint. | |
bool | disablePid (const PidControlTypeEnum &pidtype, int j) override |
Disable the pid computation for a joint. | |
bool | setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override |
Set offset value for a given controller. | |
bool | isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override |
Get the current status (enabled/disabled) of the pid. | |
void | b () |
![]() | |
virtual | ~IPidControl () |
Destructor. | |
![]() | |
ImplementEncodersTimed (yarp::dev::IEncodersTimedRaw *y) | |
virtual | ~ImplementEncodersTimed () |
bool | getAxes (int *ax) override |
Get the number of controlled axes. | |
bool | resetEncoder (int j) override |
Reset encoder, single joint. | |
bool | resetEncoders () override |
Reset encoders. | |
bool | setEncoder (int j, double val) override |
Set the value of the encoder for a given joint. | |
bool | setEncoders (const double *vals) override |
Set the value of all encoders. | |
bool | getEncoder (int j, double *v) override |
Read the value of an encoder. | |
bool | getEncodersTimed (double *encs, double *time) override |
Read the instantaneous acceleration of all axes. | |
bool | getEncoderTimed (int j, double *v, double *t) override |
Read the instantaneous acceleration of all axes. | |
bool | getEncoders (double *encs) override |
Read the position of all axes. | |
bool | getEncoderSpeed (int j, double *spds) override |
Read the istantaneous speed of an axis. | |
bool | getEncoderSpeeds (double *spds) override |
Read the instantaneous speed of all axes. | |
bool | getEncoderAcceleration (int j, double *spds) override |
Read the instantaneous acceleration of an axis. | |
bool | getEncoderAccelerations (double *accs) override |
Read the instantaneous acceleration of all axes. | |
![]() | |
virtual | ~IEncodersTimed () |
Destructor. | |
![]() | |
virtual | ~IEncoders () |
Destructor. | |
![]() | |
ImplementPositionControl (yarp::dev::IPositionControlRaw *y) | |
Constructor. | |
virtual | ~ImplementPositionControl () |
Destructor. | |
bool | getAxes (int *axis) override |
Get the number of controlled axes. | |
bool | positionMove (int j, double ref) override |
Set new reference point for a single axis. | |
bool | positionMove (const int n_joint, const int *joints, const double *refs) override |
Set new reference point for a subset of joints. | |
bool | positionMove (const double *refs) override |
Set new reference point for all axes. | |
bool | relativeMove (int j, double delta) override |
Set relative position. | |
bool | relativeMove (const int n_joint, const int *joints, const double *deltas) override |
Set relative position for a subset of joints. | |
bool | relativeMove (const double *deltas) override |
Set relative position, all joints. | |
bool | checkMotionDone (bool *flag) override |
Check if the current trajectory is terminated. | |
bool | checkMotionDone (const int n_joint, const int *joints, bool *flags) override |
Check if the current trajectory is terminated. | |
bool | checkMotionDone (int j, bool *flag) override |
Check if the current trajectory is terminated. | |
bool | setRefSpeed (int j, double sp) override |
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. | |
bool | setRefSpeeds (const int n_joint, const int *joints, const double *spds) override |
Set reference speed on all joints. | |
bool | setRefSpeeds (const double *spds) override |
Set reference speed on all joints. | |
bool | setRefAcceleration (int j, double acc) override |
Set reference acceleration for a joint. | |
bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs) override |
Set reference acceleration on all joints. | |
bool | setRefAccelerations (const double *accs) override |
Set reference acceleration on all joints. | |
bool | getRefSpeed (int j, double *ref) override |
Get reference speed for a joint. | |
bool | getRefSpeeds (const int n_joint, const int *joints, double *spds) override |
Get reference speed of all joints. | |
bool | getRefSpeeds (double *spds) override |
Get reference speed of all joints. | |
bool | getRefAcceleration (int j, double *acc) override |
Get reference acceleration for a joint. | |
bool | getRefAccelerations (const int n_joint, const int *joints, double *accs) override |
Get reference acceleration for a joint. | |
bool | getRefAccelerations (double *accs) override |
Get reference acceleration of all joints. | |
bool | stop (int j) override |
Stop motion, single joint. | |
bool | stop (const int n_joint, const int *joints) override |
Stop motion for subset of joints. | |
bool | stop () override |
Stop motion, multiple joints. | |
bool | getTargetPosition (const int joint, double *ref) override |
Get the last position reference for the specified axis. | |
bool | getTargetPositions (double *refs) override |
Get the last position reference for all axes. | |
bool | getTargetPositions (const int n_joint, const int *joints, double *refs) override |
Get the last position reference for the specified group of axes. | |
![]() | |
virtual | ~IPositionControl () |
Destructor. | |
![]() | |
ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y) | |
Constructor. | |
virtual | ~ImplementVelocityControl () |
Destructor. | |
bool | getAxes (int *axes) override |
Get the number of controlled axes. | |
bool | velocityMove (int j, double sp) override |
Start motion at a given speed, single joint. | |
bool | velocityMove (const double *sp) override |
Start motion at a given speed, multiple joints. | |
bool | setRefAcceleration (int j, double acc) override |
Set reference acceleration for a joint. | |
bool | setRefAccelerations (const double *accs) override |
Set reference acceleration on all joints. | |
bool | getRefAcceleration (int j, double *acc) override |
Get reference acceleration for a joint. | |
bool | getRefAccelerations (double *accs) override |
Get reference acceleration of all joints. | |
bool | stop (int j) override |
Stop motion, single joint. | |
bool | stop () override |
Stop motion, multiple joints. | |
bool | velocityMove (const int n_joint, const int *joints, const double *spds) override |
Start motion at a given speed for a subset of joints. | |
bool | getRefVelocity (const int joint, double *vel) override |
Get the last reference speed set by velocityMove for single joint. | |
bool | getRefVelocities (double *vels) override |
Get the last reference speed set by velocityMove for all joints. | |
bool | getRefVelocities (const int n_joint, const int *joints, double *vels) override |
Get the last reference speed set by velocityMove for a group of joints. | |
bool | setRefAccelerations (const int n_joint, const int *joints, const double *accs) override |
Set reference acceleration for a subset of joints. | |
bool | getRefAccelerations (const int n_joint, const int *joints, double *accs) override |
Get reference acceleration for a subset of joints. | |
bool | stop (const int n_joint, const int *joints) override |
Stop motion for a subset of joints. | |
![]() | |
virtual | ~IVelocityControl () |
Destructor. | |
![]() | |
bool | initialize (int k, const int *amap) |
bool | uninitialize () |
ImplementControlMode (IControlModeRaw *v) | |
~ImplementControlMode () | |
bool | getControlMode (int j, int *f) override |
Get the current control mode. | |
bool | getControlModes (int *modes) override |
Get the current control mode (multiple joints). | |
bool | getControlModes (const int n_joint, const int *joints, int *modes) override |
Get the current control mode for a subset of axes. | |
bool | setControlMode (const int j, const int mode) override |
Set the current control mode. | |
bool | setControlModes (const int n_joint, const int *joints, int *modes) override |
Set the current control mode for a subset of axes. | |
bool | setControlModes (int *modes) override |
Set the current control mode (multiple joints). | |
![]() | |
virtual | ~IControlMode () |
![]() | |
ImplementImpedanceControl (yarp::dev::IImpedanceControlRaw *y) | |
virtual | ~ImplementImpedanceControl () |
Destructor. | |
bool | getAxes (int *ax) override |
Get the number of controlled axes. | |
bool | getImpedance (int j, double *stiffness, double *damping) override |
Get current impedance gains (stiffness,damping,offset) for a specific joint. | |
bool | setImpedance (int j, double stiffness, double damping) override |
Set current impedance gains (stiffness,damping) for a specific joint. | |
bool | setImpedanceOffset (int j, double offset) override |
Set current force Offset for a specific joint. | |
bool | getImpedanceOffset (int j, double *offset) override |
Get current force Offset for a specific joint. | |
bool | getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override |
Get the current impedandance limits for a specific joint. | |
![]() | |
virtual | ~IImpedanceControl () |
Destructor. | |
![]() | |
ImplementJointFault (yarp::dev::IJointFaultRaw *y) | |
virtual | ~ImplementJointFault () |
Destructor. | |
bool | getLastJointFault (int j, int &fault, std::string &message) override |
![]() | |
virtual | ~IJointFault () |
![]() | |
ImplementMotorEncoders (yarp::dev::IMotorEncodersRaw *y) | |
virtual | ~ImplementMotorEncoders () |
bool | getNumberOfMotorEncoders (int *num) override |
Get the number of available motor encoders. | |
bool | resetMotorEncoder (int m) override |
Reset motor encoder, single motor. | |
bool | resetMotorEncoders () override |
Reset motor encoders. | |
bool | setMotorEncoder (int m, const double val) override |
Set the value of the motor encoder for a given motor. | |
bool | setMotorEncoders (const double *vals) override |
Set the value of all motor encoders. | |
bool | setMotorEncoderCountsPerRevolution (int m, const double cpr) override |
Sets number of counts per revolution for motor encoder m. | |
bool | getMotorEncoderCountsPerRevolution (int m, double *cpr) override |
Gets number of counts per revolution for motor encoder m. | |
bool | getMotorEncoder (int m, double *v) override |
Read the value of a motor encoder. | |
bool | getMotorEncodersTimed (double *encs, double *time) override |
Read the instantaneous position of all motor encoders. | |
bool | getMotorEncoderTimed (int m, double *v, double *t) override |
Read the instantaneous position of a motor encoder. | |
bool | getMotorEncoders (double *encs) override |
Read the position of all motor encoders. | |
bool | getMotorEncoderSpeed (int m, double *spds) override |
Read the istantaneous speed of a motor encoder. | |
bool | getMotorEncoderSpeeds (double *spds) override |
Read the instantaneous speed of all motor encoders. | |
bool | getMotorEncoderAcceleration (int m, double *spds) override |
Read the instantaneous acceleration of a motor encoder. | |
bool | getMotorEncoderAccelerations (double *accs) override |
Read the instantaneous acceleration of all motor encoders. | |
![]() | |
virtual | ~IMotorEncoders () |
Destructor. | |
![]() | |
ImplementTorqueControl (yarp::dev::ITorqueControlRaw *y) | |
virtual | ~ImplementTorqueControl () |
Destructor. | |
bool | getAxes (int *ax) override |
Get the number of controlled axes. | |
bool | getRefTorque (int j, double *) override |
Get the reference value of the torque for a given joint. | |
bool | getRefTorques (double *t) override |
Get the reference value of the torque for all joints. | |
bool | setRefTorques (const double *t) override |
Set the reference value of the torque for all joints. | |
bool | setRefTorque (int j, double t) override |
Set the reference value of the torque for a given joint. | |
bool | setRefTorques (const int n_joint, const int *joints, const double *t) override |
Set new torque reference for a subset of joints. | |
bool | getTorques (double *t) override |
Get the value of the torque for all joints (this is the feedback if you have torque sensors). | |
bool | getTorque (int j, double *t) override |
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). | |
bool | setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override |
Set a subset of motor parameters (bemf, ktau etc) useful for torque control. | |
bool | getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override |
Get a subset of motor parameters (bemf, ktau etc) useful for torque control. | |
bool | getTorqueRange (int j, double *min, double *max) override |
Get the full scale of the torque sensor of a given joint. | |
bool | getTorqueRanges (double *min, double *max) override |
Get the full scale of the torque sensors of all joints. | |
![]() | |
virtual | ~ITorqueControl () |
Destructor. | |
![]() | |
ImplementControlLimits (yarp::dev::IControlLimitsRaw *y) | |
Constructor. | |
virtual | ~ImplementControlLimits () |
Destructor. | |
bool | setLimits (int axis, double min, double max) override |
Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. | |
bool | getLimits (int axis, double *min, double *max) override |
Get the software limits for a particular axis. | |
bool | setVelLimits (int axis, double min, double max) override |
Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. | |
bool | getVelLimits (int axis, double *min, double *max) override |
Get the software speed limits for a particular axis. | |
![]() | |
virtual | ~IControlLimits () |
Destructor. | |
![]() | |
ImplementPositionDirect (yarp::dev::IPositionDirectRaw *y) | |
Constructor. | |
virtual | ~ImplementPositionDirect () |
Destructor. | |
bool | getAxes (int *axes) override |
Get the number of controlled axes. | |
bool | setPosition (int j, double ref) override |
Set new position for a single axis. | |
bool | setPositions (const int n_joint, const int *joints, const double *refs) override |
Set new reference point for all axes. | |
bool | setPositions (const double *refs) override |
Set new position for a set of axis. | |
bool | getRefPosition (const int joint, double *ref) override |
Get the last position reference for the specified axis. | |
bool | getRefPositions (double *refs) override |
Get the last position reference for all axes. | |
bool | getRefPositions (const int n_joint, const int *joints, double *refs) override |
Get the last position reference for the specified group of axes. | |
![]() | |
virtual | ~IPositionDirect () |
Destructor. | |
![]() | |
ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p) | |
Constructor. | |
virtual | ~ImplementInteractionMode () |
Destructor. | |
bool | getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override |
Get the current interaction mode of the robot, values can be stiff or compliant. | |
bool | getInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. | |
bool | getInteractionModes (yarp::dev::InteractionModeEnum *modes) override |
Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. | |
bool | setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override |
Set the interaction mode of the robot, values can be stiff or compliant. | |
bool | setInteractionModes (int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override |
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. | |
bool | setInteractionModes (yarp::dev::InteractionModeEnum *modes) override |
Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. | |
![]() | |
virtual | ~IInteractionMode () |
Destructor. | |
![]() | |
ImplementCurrentControl (yarp::dev::ICurrentControlRaw *y) | |
virtual | ~ImplementCurrentControl () |
Destructor. | |
bool | getNumberOfMotors (int *ax) override |
Retrieves the number of controlled axes from the current physical interface. | |
bool | getRefCurrent (int j, double *) override |
Get the reference value of the current for a single motor. | |
bool | getRefCurrents (double *t) override |
Get the reference value of the currents for all motors. | |
bool | setRefCurrents (const double *t) override |
Set the reference value of the currents for all motors. | |
bool | setRefCurrent (int j, double t) override |
Set the reference value of the current for a single motor. | |
bool | setRefCurrents (const int n_joint, const int *joints, const double *t) override |
Set the reference value of the current for a group of motors. | |
bool | getCurrents (double *t) override |
Get the instantaneous current measurement for all motors. | |
bool | getCurrent (int j, double *t) override |
Get the instantaneous current measurement for a single motor. | |
bool | getCurrentRange (int j, double *min, double *max) override |
Get the full scale of the current measurement for a given motor (e.g. | |
bool | getCurrentRanges (double *min, double *max) override |
Get the full scale of the current measurements for all motors motor (e.g. | |
![]() | |
virtual | ~ICurrentControl () |
Destructor. | |
![]() | |
bool | initialize (int k, const int *amap, const double *dutyToPWM) |
bool | uninitialize () |
ImplementPWMControl (IPWMControlRaw *v) | |
~ImplementPWMControl () | |
bool | getNumberOfMotors (int *ax) override |
Retrieves the number of controlled motors from the current physical interface. | |
bool | setRefDutyCycle (int j, double v) override |
Sets the reference dutycycle to a single motor. | |
bool | setRefDutyCycles (const double *v) override |
Sets the reference dutycycle for all the motors. | |
bool | getRefDutyCycle (int j, double *v) override |
Gets the last reference sent using the setRefDutyCycle function. | |
bool | getRefDutyCycles (double *v) override |
Gets the last reference sent using the setRefDutyCycles function. | |
bool | getDutyCycle (int j, double *v) override |
Gets the current dutycycle of the output of the amplifier (i.e. | |
bool | getDutyCycles (double *v) override |
Gets the current dutycycle of the output of the amplifier (i.e. | |
![]() | |
virtual | ~IPWMControl () |
![]() | |
ImplementMotor (yarp::dev::IMotorRaw *y) | |
virtual | ~ImplementMotor () |
bool | getNumberOfMotors (int *num) override |
Get the number of available motors. | |
bool | getTemperature (int m, double *val) override |
Get temperature of a motor. | |
bool | getTemperatures (double *vals) override |
Get temperature of all the motors. | |
bool | getTemperatureLimit (int m, double *val) override |
Retreives the current temperature limit for a specific motor. | |
bool | setTemperatureLimit (int m, const double val) override |
Set the temperature limit for a specific motor. | |
bool | getGearboxRatio (int m, double *val) override |
Get the gearbox ratio for a specific motor. | |
bool | setGearboxRatio (int m, const double val) override |
Set the gearbox ratio for a specific motor. | |
![]() | |
virtual | ~IMotor () |
Destructor. | |
![]() | |
ImplementAxisInfo (yarp::dev::IAxisInfoRaw *y) | |
virtual | ~ImplementAxisInfo () |
bool | getAxes (int *ax) override |
Get the number of controlled axes. | |
bool | getAxisName (int axis, std::string &name) override |
bool | getJointType (int axis, yarp::dev::JointTypeEnum &type) override |
![]() | |
virtual | ~IAxisInfo () |
Destructor. | |
![]() | |
bool | initialize (int k, const int *amap, const double *userToRaw) |
bool | uninitialize () |
ImplementVirtualAnalogSensor (IVirtualAnalogSensorRaw *virt) | |
~ImplementVirtualAnalogSensor () | |
VAS_status | getVirtualAnalogSensorStatus (int ch) override |
Check the status of a given channel. | |
int | getVirtualAnalogSensorChannels () override |
Get the number of channels of the virtual sensor. | |
bool | updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure) override |
Set a vector of torque values for virtual sensor. | |
bool | updateVirtualAnalogSensorMeasure (int ch, double &measure) override |
![]() | |
virtual | ~IVirtualAnalogSensor () |
Additional Inherited Members | |
![]() | |
const std::string | m_device_classname = {"FakeMotionControl"} |
const std::string | m_device_name = {"fakeMotionControl"} |
bool | m_parser_is_strict = false |
const parser_version_type | m_parser_version = {} |
const std::string | m_GENERAL_Joints_defaultValue = {"1"} |
const std::string | m_GENERAL_AxisMap_defaultValue = {""} |
const std::string | m_GENERAL_AxisName_defaultValue = {""} |
const std::string | m_GENERAL_AxisType_defaultValue = {""} |
const std::string | m_GENERAL_ampsToSensor_defaultValue = {""} |
const std::string | m_GENERAL_fullscalePWM_defaultValue = {""} |
const std::string | m_GENERAL_Encoder_defaultValue = {""} |
const std::string | m_LIMITS_Max_defaultValue = {""} |
const std::string | m_LIMITS_Min_defaultValue = {""} |
int | m_GENERAL_Joints = {1} |
std::vector< int > | m_GENERAL_AxisMap = {} |
std::vector< std::string > | m_GENERAL_AxisName = {} |
std::vector< std::string > | m_GENERAL_AxisType = {} |
std::vector< double > | m_GENERAL_ampsToSensor = {} |
std::vector< double > | m_GENERAL_fullscalePWM = {} |
std::vector< int > | m_GENERAL_Encoder = {} |
std::vector< double > | m_LIMITS_Max = {} |
std::vector< double > | m_LIMITS_Min = {} |
![]() | |
virtual void | beforeStart () |
Called just before a new thread starts. | |
virtual void | afterStart (bool success) |
Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos, const double *ampereFactor=NULL, const double *voltFactor=NULL) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos, const double *newtons, const double *amps, const double *dutys) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
bool | setConversionUnits (const PidControlTypeEnum &pidtype, const PidFeedbackUnitsEnum fbk_conv_units, const PidOutputUnitsEnum out_conv_units) |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw, const double *amps, const double *dutys, const double *bemfs, const double *ktaus) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap) |
Initialize the internal data and alloc memory, smaller version. | |
bool | initialize (int size, const int *amap, const double *enc, const double *zos) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap, const double *ampsToSens) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
bool | initialize (int size, const int *amap) |
Initialize the internal data and alloc memory. | |
bool | uninitialize () |
Clean up internal data and memory. | |
![]() | |
IControlCalibrationRaw * | iCalibrate |
void * | helper |
double * | temp |
![]() | |
IAmplifierControlRaw * | iAmplifier |
void * | helper |
double * | dTemp |
int * | iTemp |
![]() | |
IPidControlRaw * | iPid |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::Pid > * | pidBuffManager |
![]() | |
IEncodersTimedRaw * | iEncoders |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< double > * | buffManager |
![]() | |
IPositionControlRaw * | iPosition |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< bool > * | boolBuffManager |
![]() | |
IVelocityControlRaw * | iVelocity |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
![]() | |
yarp::dev::IImpedanceControlRaw * | iImpedanceRaw |
void * | helper |
![]() | |
yarp::dev::IJointFaultRaw * | raw |
void * | helper |
![]() | |
IMotorEncodersRaw * | iMotorEncoders |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< double > * | buffManager |
![]() | |
yarp::dev::ITorqueControlRaw * | iTorqueRaw |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
![]() | |
IControlLimitsRaw * | iLimits2 |
void * | helper |
![]() | |
IPositionDirectRaw * | iPDirect |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
![]() | |
yarp::dev::IInteractionModeRaw * | iInteraction |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::InteractionModeEnum > * | imodeBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
![]() | |
yarp::dev::ICurrentControlRaw * | iCurrentRaw |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< int > * | intBuffManager |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
![]() | |
IMotorRaw * | imotor |
void * | helper |
yarp::dev::impl::FixedSizeBuffersManager< double > * | doubleBuffManager |
![]() | |
IAxisInfoRaw * | iinfo |
void * | helper |
double * | temp1 |
double * | temp2 |
fakeMotionControl
: The aim of this device is to mimic the expected behavior of a real motion control device to help testing the high level software.
This device is implementing last version of interfaces and it is compatible with controlBoard_nws_yarp device.
Parameters required by this device are shown in class: FakeMotionControl_ParamsParser
WIP - Some interfaces could be not implemented.
Definition at line 86 of file FakeMotionControl.h.
FakeMotionControl::FakeMotionControl | ( | ) |
Definition at line 379 of file FakeMotionControl.cpp.
FakeMotionControl::~FakeMotionControl | ( | ) |
Definition at line 478 of file FakeMotionControl.cpp.
Allocated buffers.
Definition at line 199 of file FakeMotionControl.cpp.
|
overridevirtual |
Start calibration, this method is very often platform specific.
Implements yarp::dev::IControlCalibrationRaw.
Definition at line 1170 of file FakeMotionControl.cpp.
Check if the calibration is terminated, on a particular joint.
Non blocking.
Implements yarp::dev::IControlCalibrationRaw.
Definition at line 1176 of file FakeMotionControl.cpp.
Check if the current trajectory is terminated.
Non blocking.
flag | is a pointer to return value ("and" of all joints) |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1280 of file FakeMotionControl.cpp.
|
overridevirtual |
Check if the current trajectory is terminated.
Non blocking.
joints | pointer to the array of joint numbers |
flag | true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints') |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1439 of file FakeMotionControl.cpp.
Check if the current trajectory is terminated.
Non blocking.
j | is the axis number |
flag | is a pointer to return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1270 of file FakeMotionControl.cpp.
|
overridevirtual |
Close the DeviceDriver.
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 732 of file FakeMotionControl.cpp.
Disable the amplifier on a specific joint.
All computations within the board will be carried out normally, but the output will be disabled.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1832 of file FakeMotionControl.cpp.
|
overridevirtual |
Disable the pid computation for a joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
Implements yarp::dev::IPidControlRaw.
Definition at line 1007 of file FakeMotionControl.cpp.
Enable the amplifier on a specific joint.
Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1827 of file FakeMotionControl.cpp.
|
overridevirtual |
Enable the pid computation for a joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
Implements yarp::dev::IPidControlRaw.
Definition at line 1029 of file FakeMotionControl.cpp.
bool FakeMotionControl::fromConfig | ( | yarp::os::Searchable & | config | ) |
Definition at line 592 of file FakeMotionControl.cpp.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1873 of file FakeMotionControl.cpp.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1867 of file FakeMotionControl.cpp.
Get the number of controlled axes.
This command asks the number of controlled axes for the current physical interface.
Implements yarp::dev::IEncodersRaw.
Definition at line 1185 of file FakeMotionControl.cpp.
Implements yarp::dev::IAxisInfoRaw.
Definition at line 2016 of file FakeMotionControl.cpp.
Implements yarp::dev::IControlModeRaw.
Definition at line 1533 of file FakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IControlModeRaw.
Definition at line 1554 of file FakeMotionControl.cpp.
Implements yarp::dev::IControlModeRaw.
Definition at line 1544 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current impedandance limits for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2150 of file FakeMotionControl.cpp.
Get the full scale of the current measurement for a given motor (e.g.
-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.
m | motor number |
min | minimum current of the motor m |
max | maximum current of the motor m |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2499 of file FakeMotionControl.cpp.
Get the full scale of the current measurements for all motors motor (e.g.
-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.
min | pointer to the array that will store minimum currents |
max | pointer to the array that will store maximum currents |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2507 of file FakeMotionControl.cpp.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1837 of file FakeMotionControl.cpp.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1844 of file FakeMotionControl.cpp.
Gets the current dutycycle of the output of the amplifier (i.e.
pwm value sent to the motor)
m | motor number |
val | pointer to storage for return value, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2472 of file FakeMotionControl.cpp.
Gets the current dutycycle of the output of the amplifier (i.e.
pwm values sent to all motors)
vals | pointer to the vector that will store the values, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2478 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of an axis.
j | axis number |
spds | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 1674 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of all axes.
accs | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 1682 of file FakeMotionControl.cpp.
Read the value of an encoder.
j | encoder number |
v | pointer to storage for the return value |
Implements yarp::dev::IEncodersRaw.
Definition at line 1634 of file FakeMotionControl.cpp.
Read the instantaneous speed of an axis.
j | axis number |
sp | pointer to storage for the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 1657 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of an axis.
spds | pointer to storage for the output values |
Implements yarp::dev::IEncodersRaw.
Definition at line 1664 of file FakeMotionControl.cpp.
Read the position of all axes.
encs | pointer to the array that will contain the output |
Implements yarp::dev::IEncodersRaw.
Definition at line 1645 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of all axes.
encs | pointer to the array that will contain the output |
stamps | pointer to the array that will contain individual timestamps |
Implements yarp::dev::IEncodersTimedRaw.
Definition at line 1694 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of all axes.
j | axis index |
encs | encoder value |
stamp | corresponding timestamp |
Implements yarp::dev::IEncodersTimedRaw.
Definition at line 1705 of file FakeMotionControl.cpp.
Get the gearbox ratio for a specific motor.
m | motor number |
val | retrieved gearbox ratio |
Reimplemented from yarp::dev::IMotorRaw.
Definition at line 1946 of file FakeMotionControl.cpp.
Definition at line 1991 of file FakeMotionControl.cpp.
Definition at line 2001 of file FakeMotionControl.cpp.
Definition at line 1996 of file FakeMotionControl.cpp.
Definition at line 1986 of file FakeMotionControl.cpp.
Get current force Offset for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2145 of file FakeMotionControl.cpp.
|
overridevirtual |
Get current impedance parameters (stiffness,damping,offset) for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2130 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot, values can be stiff or compliant.
axis | joint number |
mode | contains the requested information about interaction mode of the joint |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2342 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
n_joints | how many joints this command is referring to |
joints | list of joints controlled. The size of this array is n_joints |
modes | array containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2351 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.
mode | array containing the requested information about interaction mode, one value for each joint. |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2362 of file FakeMotionControl.cpp.
Definition at line 1966 of file FakeMotionControl.cpp.
Definition at line 1971 of file FakeMotionControl.cpp.
|
overridevirtual |
Reimplemented from yarp::dev::IAxisInfoRaw.
Definition at line 2030 of file FakeMotionControl.cpp.
Definition at line 1981 of file FakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IJointFaultRaw.
Definition at line 2585 of file FakeMotionControl.cpp.
Get the software limits for a particular axis.
axis | joint number |
pointer | to store the value of the lower limit |
pointer | to store the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 1939 of file FakeMotionControl.cpp.
Returns the maximum electric current allowed for a given motor.
Exceeding this value will trigger instantaneous hardware fault.
j | motor number |
v | the return value |
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1861 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of a motor encoder.
m | motor number |
acc | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1786 of file FakeMotionControl.cpp.
Read the instantaneous acceleration of all motor encoders.
accs | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1792 of file FakeMotionControl.cpp.
|
overridevirtual |
Gets number of counts per revolution for motor encoder m.
m | motor number |
cpr | vals pointer to the new value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1738 of file FakeMotionControl.cpp.
Read the value of a motor encoder.
m | motor encoder number |
v | pointer to storage for the return value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1753 of file FakeMotionControl.cpp.
Read the istantaneous speed of a motor encoder.
m | motor number |
sp | pointer to storage for the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1770 of file FakeMotionControl.cpp.
Read the instantaneous speed of all motor encoders.
spds | pointer to storage for the output values |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1776 of file FakeMotionControl.cpp.
Read the position of all motor encoders.
encs | pointer to the array that will contain the output |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1759 of file FakeMotionControl.cpp.
Read the instantaneous position of all motor encoders.
encs | pointer to the array that will contain the output |
time | pointer to the array that will contain individual timestamps |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1802 of file FakeMotionControl.cpp.
|
overridevirtual |
Read the instantaneous position of a motor encoder.
m | motor index |
encs | encoder value (pointer to) |
time | corresponding timestamp (pointer to) |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1814 of file FakeMotionControl.cpp.
Definition at line 2006 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the motor parameters.
j | joint number |
params | a struct containing the motor parameters to be retrieved |
Reimplemented from yarp::dev::ITorqueControlRaw.
Definition at line 2155 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1895 of file FakeMotionControl.cpp.
Get the number of available motor encoders.
m | pointer to a value representing the number of available motor encoders. |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1717 of file FakeMotionControl.cpp.
Get the number of available motors.
num | retrieved number of available motors |
Implements yarp::dev::IMotorRaw.
Definition at line 2407 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1883 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the error limit for the controller on a specific joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
limit | pointer to storage |
Implements yarp::dev::IPidControlRaw.
Definition at line 970 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the error limit for all controllers.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
limits | pointer to the array that will store the output |
Implements yarp::dev::IPidControlRaw.
Definition at line 992 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current error for a joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
err | pointer to the storage for the return value |
Implements yarp::dev::IPidControlRaw.
Definition at line 867 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the error of all joints.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
errs | pointer to the vector that will store the errors |
Implements yarp::dev::IPidControlRaw.
Definition at line 889 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the output of the controller (e.g.
pwm value)
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
out | pointer to storage for return value |
Implements yarp::dev::IPidControlRaw.
Definition at line 1096 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the output of the controllers (e.g.
pwm value)
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
outs | pinter to the vector that will store the output values |
Implements yarp::dev::IPidControlRaw.
Definition at line 1119 of file FakeMotionControl.cpp.
|
overridevirtual |
Get current pid value for a specific joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
pid | pointer to storage for the return value. |
Implements yarp::dev::IPidControlRaw.
Definition at line 899 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current reference of the pid controller for a specific joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
ref | pointer to storage for return value |
Implements yarp::dev::IPidControlRaw.
Definition at line 935 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current reference of all pid controllers.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
refs | vector that will store the output. |
Implements yarp::dev::IPidControlRaw.
Definition at line 957 of file FakeMotionControl.cpp.
|
overridevirtual |
Get current pid value for a specific joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
pids | vector that will store the values of the pids. |
Implements yarp::dev::IPidControlRaw.
Definition at line 922 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1925 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1913 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1907 of file FakeMotionControl.cpp.
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
j | joint number |
acc | pointer to storage for the return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1373 of file FakeMotionControl.cpp.
|
overridevirtual |
Get reference acceleration for a joint.
Returns the acceleration used to generate the trajectory profile.
joints | pointer to the array of joint numbers |
accs | pointer to the array that will store the acceleration values |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1500 of file FakeMotionControl.cpp.
Get reference acceleration of all joints.
These are the values used during the interpolation of the trajectory.
accs | pointer to the array that will store the acceleration values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1379 of file FakeMotionControl.cpp.
Get the reference value of the current for a single motor.
m | motor number |
curr | the current reference value for motor m |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2554 of file FakeMotionControl.cpp.
Get the reference value of the currents for all motors.
currs | pointer to the array to be filled with reference current values. |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2545 of file FakeMotionControl.cpp.
Gets the last reference sent using the setRefDutyCycleRaw function.
m | motor number |
ref | pointer to storage for return value, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2457 of file FakeMotionControl.cpp.
Gets the last reference sent using the setRefDutyCyclesRaw function.
refs | pointer to the vector that will store the values, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2463 of file FakeMotionControl.cpp.
Get the last position reference for the specified axis.
This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.
ref | last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 2302 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the last position reference for the specified group of axes.
This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.
ref | array containing last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 2330 of file FakeMotionControl.cpp.
Get the last position reference for all axes.
This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.
ref | array containing last reference sent using setPosition(s) functions |
Reimplemented from yarp::dev::IPositionDirectRaw.
Definition at line 2320 of file FakeMotionControl.cpp.
Get reference speed for a joint.
Returns the speed used to generate the trajectory profile.
j | joint number |
ref | pointer to storage for the return value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1361 of file FakeMotionControl.cpp.
|
overridevirtual |
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
joints | pointer to the array of joint numbers |
spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1486 of file FakeMotionControl.cpp.
Get reference speed of all joints.
These are the values used during the interpolation of the trajectory.
spds | pointer to the array that will store the speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1367 of file FakeMotionControl.cpp.
Set the reference value of the torque for a given joint.
This is NOT the feedback (see getTorque instead).
j | joint number |
t | new value |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2122 of file FakeMotionControl.cpp.
Get the reference value of the torque for all joints.
This is NOT the feedback (see getTorques instead).
t | pointer to the array of torque values |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2113 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the last reference speed set by velocityMove for a group of joints.
n_joint | how many joints this command is referring to |
joints | of joints controlled. The size of this array is n_joints |
vels | pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints. |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 2292 of file FakeMotionControl.cpp.
Get the last reference speed set by velocityMove for all joints.
vels | pointer to the array containing the new speed values, one value for each joint |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 2282 of file FakeMotionControl.cpp.
Get the last reference speed set by velocityMove for single joint.
j | joint number |
vel | returns the requested reference. |
Reimplemented from yarp::dev::IVelocityControlRaw.
Definition at line 2276 of file FakeMotionControl.cpp.
Definition at line 1961 of file FakeMotionControl.cpp.
Definition at line 1976 of file FakeMotionControl.cpp.
Definition at line 2011 of file FakeMotionControl.cpp.
Get the last position reference for the specified axis.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 2238 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the last position reference for the specified group of axes.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 2266 of file FakeMotionControl.cpp.
Get the last position reference for all axes.
This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition
ref | last reference sent using PositionMove functions |
Reimplemented from yarp::dev::IPositionControlRaw.
Definition at line 2257 of file FakeMotionControl.cpp.
Retreives the current temperature limit for a specific motor.
The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
m | motor number |
temp | the current temperature limit. |
Implements yarp::dev::IMotorRaw.
Definition at line 2429 of file FakeMotionControl.cpp.
Get temperature of a motor.
m | motor number |
val | retrieved motor temperature |
Implements yarp::dev::IMotorRaw.
Definition at line 2413 of file FakeMotionControl.cpp.
Get temperature of all the motors.
vals | pointer to an array containing all motor temperatures |
Implements yarp::dev::IMotorRaw.
Definition at line 2419 of file FakeMotionControl.cpp.
Definition at line 1956 of file FakeMotionControl.cpp.
Get the full scale of the torque sensor of a given joint.
j | joint number |
min | minimum torque of the joint j |
max | maximum torque of the joint j |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2073 of file FakeMotionControl.cpp.
Get the full scale of the torque sensors of all joints.
min | pointer to the array that will store minimum torques of the joints |
max | pointer to the array that will store maximum torques of the joints |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2078 of file FakeMotionControl.cpp.
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).
j | joint number |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2058 of file FakeMotionControl.cpp.
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
t | pointer to the array that will store the output |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2064 of file FakeMotionControl.cpp.
Get the software speed limits for a particular axis.
axis | joint number |
min | pointer to store the value of the lower limit |
max | pointer to store the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 2049 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the number of channels of the virtual sensor.
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 2565 of file FakeMotionControl.cpp.
|
overridevirtual |
Check the status of a given channel.
ch | channel number. |
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 2560 of file FakeMotionControl.cpp.
|
virtual |
Definition at line 484 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the current status (enabled/disabled) of the pid controller.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
enabled | the current status of the pid controller. |
Implements yarp::dev::IPidControlRaw.
Definition at line 1074 of file FakeMotionControl.cpp.
|
overridevirtual |
Open the DeviceDriver.
config | is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device). |
Reimplemented from yarp::dev::DeviceDriver.
Definition at line 514 of file FakeMotionControl.cpp.
Set new reference point for all axes.
refs | array, new reference points. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1217 of file FakeMotionControl.cpp.
|
overridevirtual |
Set new reference point for a subset of joints.
joints | pointer to the array of joint numbers |
refs | pointer to the array specifies the new reference points |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1406 of file FakeMotionControl.cpp.
Set new reference point for a single axis.
j | joint number |
ref | specifies the new ref point |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1192 of file FakeMotionControl.cpp.
Set relative position, all joints.
deltas | pointer to the relative commands |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1255 of file FakeMotionControl.cpp.
|
overridevirtual |
Set relative position for a subset of joints.
joints | pointer to the array of joint numbers |
deltas | pointer to the array of relative commands |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1425 of file FakeMotionControl.cpp.
Set relative position.
The command is relative to the current position of the axis.
j | joint axis number |
delta | relative command |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1231 of file FakeMotionControl.cpp.
Reset encoder, single joint.
Set the encoder value to zero
j | encoder number |
Implements yarp::dev::IEncodersRaw.
Definition at line 1624 of file FakeMotionControl.cpp.
|
overridevirtual |
Reset encoders.
Set the encoders value to zero
Implements yarp::dev::IEncodersRaw.
Definition at line 1629 of file FakeMotionControl.cpp.
Reset motor encoder, single motor.
Set the encoder value to zero.
m | motor number |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1743 of file FakeMotionControl.cpp.
|
overridevirtual |
Reset motor encoders.
Set the motor encoders value to zero.
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1748 of file FakeMotionControl.cpp.
|
overridevirtual |
Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
Implements yarp::dev::IPidControlRaw.
Definition at line 1002 of file FakeMotionControl.cpp.
void FakeMotionControl::resizeBuffers | ( | ) |
Resize previously allocated buffers.
Definition at line 159 of file FakeMotionControl.cpp.
|
overridevirtual |
Loop function.
This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.
Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.
Implements yarp::os::PeriodicThread.
Definition at line 34 of file FakeMotionControl.cpp.
|
overridevirtual |
Start calibration, this method is very often platform specific.
Reimplemented from yarp::dev::IControlCalibrationRaw.
Definition at line 1164 of file FakeMotionControl.cpp.
Implements yarp::dev::IControlModeRaw.
Definition at line 1564 of file FakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IControlModeRaw.
Definition at line 1583 of file FakeMotionControl.cpp.
Implements yarp::dev::IControlModeRaw.
Definition at line 1597 of file FakeMotionControl.cpp.
Set the value of the encoder for a given joint.
j | encoder number |
val | new value |
Implements yarp::dev::IEncodersRaw.
Definition at line 1614 of file FakeMotionControl.cpp.
Set the value of all encoders.
vals | pointer to the new values |
Implements yarp::dev::IEncodersRaw.
Definition at line 1619 of file FakeMotionControl.cpp.
Set the gearbox ratio for a specific motor.
m | motor number |
gearbox | ratio to be set |
Reimplemented from yarp::dev::IMotorRaw.
Definition at line 1951 of file FakeMotionControl.cpp.
Set current force Offset for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2140 of file FakeMotionControl.cpp.
Set current impedance parameters (stiffness,damping) for a specific joint.
Implements yarp::dev::IImpedanceControlRaw.
Definition at line 2135 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the interaction mode of the robot, values can be stiff or compliant.
Please note that some robot may not implement certain types of interaction, so always check the return value.
axis | joint number |
mode | the desired interaction mode |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2374 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.
Please note that some robot may not implement certain types of interaction, so always check the return value.
n_joints | how many joints this command is referring to |
joints | list of joints controlled. The size of this array is n_joints |
modes | array containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2386 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.
Some robot may not implement some types of interaction, so always check the return value
mode | array with the desired interaction mode for all joints, length is the total number of joints for the part |
Implements yarp::dev::IInteractionModeRaw.
Definition at line 2396 of file FakeMotionControl.cpp.
Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.
axis | joint number (why am I telling you this) |
min | the value of the lower limit |
max | the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 1933 of file FakeMotionControl.cpp.
Implements yarp::dev::IAmplifierControlRaw.
Definition at line 1855 of file FakeMotionControl.cpp.
|
overridevirtual |
Sets number of counts per revolution for motor encoder m.
m | motor number |
cpr | new value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1733 of file FakeMotionControl.cpp.
Set the value of the motor encoder for a given motor.
m | motor number |
val | new value |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1723 of file FakeMotionControl.cpp.
Set the value of all motor encoders.
vals | pointer to the new values |
Implements yarp::dev::IMotorEncodersRaw.
Definition at line 1728 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the motor parameters.
j | joint number |
params | a struct containing the motor parameters to be set |
Reimplemented from yarp::dev::ITorqueControlRaw.
Definition at line 2178 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1901 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1889 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the error limit for the controller on a specific joint.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
limit | limit value |
Implements yarp::dev::IPidControlRaw.
Definition at line 835 of file FakeMotionControl.cpp.
|
overridevirtual |
Get the error limit for the controller on all joints.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
limits | pointer to the vector with the new limits |
Implements yarp::dev::IPidControlRaw.
Definition at line 857 of file FakeMotionControl.cpp.
|
overridevirtual |
Set an offset value on the ourput of pid controller.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
v | the offset to be added to the output of the pid controller |
Implements yarp::dev::IPidControlRaw.
Definition at line 1051 of file FakeMotionControl.cpp.
|
overridevirtual |
Set new pid value for a joint axis.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
pid | new pid value |
Implements yarp::dev::IPidControlRaw.
Definition at line 770 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the controller reference for a given axis.
Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
j | joint number |
ref | new reference point |
Implements yarp::dev::IPidControlRaw.
Definition at line 803 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the controller reference, multiple axes.
Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
refs | pointer to the vector that contains the new reference points. |
Implements yarp::dev::IPidControlRaw.
Definition at line 825 of file FakeMotionControl.cpp.
|
overridevirtual |
Set new pid value on multiple axes.
pidtype | the id of the pid that will be affected by the command (e.g. position, velocity etc) |
pids | pointer to a vector of pids |
Implements yarp::dev::IPidControlRaw.
Definition at line 793 of file FakeMotionControl.cpp.
Set new position for a single axis.
j | joint number |
ref | specifies the new ref point |
Implements yarp::dev::IPositionDirectRaw.
Definition at line 2213 of file FakeMotionControl.cpp.
Set new position for a set of axes.
refs | specifies the new reference points |
Implements yarp::dev::IPositionDirectRaw.
Definition at line 2228 of file FakeMotionControl.cpp.
|
overridevirtual |
Set new reference point for all axes.
n_joint | how many joints this command is referring to |
joints | list of joints controlled. The size of this array is n_joints |
refs | array, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40 |
Implements yarp::dev::IPositionDirectRaw.
Definition at line 2219 of file FakeMotionControl.cpp.
Reimplemented from yarp::dev::IAmplifierControlRaw.
Definition at line 1919 of file FakeMotionControl.cpp.
Set reference acceleration for a joint.
This value is used during the trajectory generation.
j | joint number |
acc | acceleration value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1318 of file FakeMotionControl.cpp.
Set reference acceleration on all joints.
This is the valure that is used during the generation of the trajectory.
accs | pointer to the array of acceleration values |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1339 of file FakeMotionControl.cpp.
|
overridevirtual |
Set reference acceleration on all joints.
This is the valure that is used during the generation of the trajectory.
joints | pointer to the array of joint numbers |
accs | pointer to the array with acceleration values |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1472 of file FakeMotionControl.cpp.
Set the reference value of the current for a single motor.
m | motor number |
curr | the current reference value for motor m |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2528 of file FakeMotionControl.cpp.
Set the reference value of the currents for all motors.
currs | the array containt the reference current values |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2518 of file FakeMotionControl.cpp.
|
overridevirtual |
Set the reference value of the current for a group of motors.
n_motor | size of motors ans currs arrays |
motors | pointer to the array of motor numbers |
refs | pointer to the array specifying the new current reference |
Implements yarp::dev::ICurrentControlRaw.
Definition at line 2535 of file FakeMotionControl.cpp.
Sets the reference dutycycle of a single motor.
m | motor number |
ref | the dutycycle, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2440 of file FakeMotionControl.cpp.
Sets the reference dutycycle for all motors.
refs | the dutycycle, expressed as percentage (-100% +100%) |
Implements yarp::dev::IPWMControlRaw.
Definition at line 2448 of file FakeMotionControl.cpp.
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
j | joint number |
sp | speed value |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1298 of file FakeMotionControl.cpp.
Set reference speed on all joints.
These values are used during the interpolation of the trajectory.
spds | pointer to the array of speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1307 of file FakeMotionControl.cpp.
|
overridevirtual |
Set reference speed on all joints.
These values are used during the interpolation of the trajectory.
joints | pointer to the array of joint numbers |
spds | pointer to the array with speed values. |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1458 of file FakeMotionControl.cpp.
Set the reference value of the torque for a given joint.
j | joint number |
t | new value |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2092 of file FakeMotionControl.cpp.
Set the reference value of the torque for all joints.
t | pointer to the array of torque values |
Implements yarp::dev::ITorqueControlRaw.
Definition at line 2083 of file FakeMotionControl.cpp.
|
overridevirtual |
Set new torque reference for a subset of joints.
joints | pointer to the array of joint numbers |
refs | pointer to the array specifying the new torque reference |
Reimplemented from yarp::dev::ITorqueControlRaw.
Definition at line 2108 of file FakeMotionControl.cpp.
Set the temperature limit for a specific motor.
The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)
m | motor number |
temp | the temperature limit to be set |
Implements yarp::dev::IMotorRaw.
Definition at line 2434 of file FakeMotionControl.cpp.
Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.
axis | joint number |
min | the value of the lower limit |
max | the value of the upper limit |
Implements yarp::dev::IControlLimitsRaw.
Definition at line 2044 of file FakeMotionControl.cpp.
|
overridevirtual |
Stop motion, multiple joints.
Implements yarp::dev::IPositionControlRaw.
Definition at line 1391 of file FakeMotionControl.cpp.
Stop motion for subset of joints.
joints | pointer to the array of joint numbers |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1514 of file FakeMotionControl.cpp.
Stop motion, single joint.
j | joint number |
Implements yarp::dev::IPositionControlRaw.
Definition at line 1385 of file FakeMotionControl.cpp.
|
overridevirtual |
Initialization method.
The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.
Reimplemented from yarp::os::PeriodicThread.
Definition at line 489 of file FakeMotionControl.cpp.
|
overridevirtual |
Release method.
The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).
Reimplemented from yarp::os::PeriodicThread.
Definition at line 510 of file FakeMotionControl.cpp.
|
overridevirtual |
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 2579 of file FakeMotionControl.cpp.
|
overridevirtual |
Set a vector of torque values for virtual sensor.
measure | a vector containing the sensor's last readings. |
Implements yarp::dev::IVirtualAnalogSensorRaw.
Definition at line 2570 of file FakeMotionControl.cpp.
Start motion at a given speed, multiple joints.
sp | pointer to the array containing the new speed values |
Implements yarp::dev::IVelocityControlRaw.
Definition at line 1149 of file FakeMotionControl.cpp.
|
overridevirtual |
Start motion at a given speed for a subset of joints.
n_joint | how many joints this command is referring to |
joints | pointer to the array of joint numbers |
spds | pointer to the array containing the new speed values |
Implements yarp::dev::IVelocityControlRaw.
Definition at line 2202 of file FakeMotionControl.cpp.
Start motion at a given speed, single joint.
j | joint number |
sp | speed value |
Implements yarp::dev::IVelocityControlRaw.
Definition at line 1133 of file FakeMotionControl.cpp.