fakeMotionControlMicro: This device implements a minimal subset of mandatory interfaces to run with controlBoard_nws_yarp. More...

#include <fake/fakeMotionControlMicro/FakeMotionControlMicro.h>

Inheritance diagram for FakeMotionControlMicro:

Public Member Functions
	FakeMotionControlMicro ()

	~FakeMotionControlMicro ()

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

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

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

bool	resetMotorEncodersRaw () override
	Reset motor encoders.

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

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

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

void	run () override
	Loop function.

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

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

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

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

void	askToStop ()
	Stop the thread.

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

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

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

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

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

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

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

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

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

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

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

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

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

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

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

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

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

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

virtual	~DeviceDriver ()

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

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

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

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

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

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

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

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

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

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

virtual	~ImplementJointFault ()
	Destructor.

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

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

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

virtual	~ImplementAxisInfo ()

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

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

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

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

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

virtual	~ImplementEncodersTimed ()

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

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

bool	resetEncoders () override
	Reset encoders.

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual	~ImplementMotorEncoders ()

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

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

bool	resetMotorEncoders () override
	Reset motor encoders.

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

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

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

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from FakeMotionControlMicro_ParamsParser
	FakeMotionControlMicro_ParamsParser ()

	~FakeMotionControlMicro_ParamsParser () override=default

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

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

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

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

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

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

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

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

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_Encoder_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< int >	m_GENERAL_Encoder = {}

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

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

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

bool	uninitialize ()
	Clean up internal data and memory.

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

bool	uninitialize ()
	Clean up internal data and memory.

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

bool	uninitialize ()
	Clean up internal data and memory.

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

bool	uninitialize ()
	Clean up internal data and memory.

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

void *	helper

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

void *	helper

double *	temp1

double *	temp2

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

void *	helper

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

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

void *	helper

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

Detailed Description

fakeMotionControlMicro: This device implements a minimal subset of mandatory interfaces to run with controlBoard_nws_yarp.

It is thus a smaller, limited version than fakeMotionControl.

Parameters required by this device are shown in class: FakeMotionControlMicro_ParamsParser

Definition at line 30 of file FakeMotionControlMicro.h.

Constructor & Destructor Documentation

◆ FakeMotionControlMicro()

FakeMotionControlMicro::FakeMotionControlMicro ( )

Definition at line 145 of file FakeMotionControlMicro.cpp.

◆ ~FakeMotionControlMicro()

FakeMotionControlMicro::~FakeMotionControlMicro ( )

Definition at line 169 of file FakeMotionControlMicro.cpp.

Member Function Documentation

◆ alloc()

bool FakeMotionControlMicro::alloc ( int njoints )

Allocated buffers.

Definition at line 112 of file FakeMotionControlMicro.cpp.

◆ close()

bool FakeMotionControlMicro::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 330 of file FakeMotionControlMicro.cpp.

◆ fromConfig()

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

Definition at line 247 of file FakeMotionControlMicro.cpp.

◆ getAxes()

bool FakeMotionControlMicro::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

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

Returns: the number of controlled axes.

Implements yarp::dev::IEncodersRaw.

Definition at line 602 of file FakeMotionControlMicro.cpp.

◆ getAxisNameRaw()

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

overridevirtual

Implements yarp::dev::IAxisInfoRaw.

Definition at line 566 of file FakeMotionControlMicro.cpp.

◆ getEncoderAccelerationRaw()

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

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

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

Implements yarp::dev::IEncodersRaw.

Definition at line 414 of file FakeMotionControlMicro.cpp.

◆ getEncoderAccelerationsRaw()

bool FakeMotionControlMicro::getEncoderAccelerationsRaw ( double * accs )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

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

Implements yarp::dev::IEncodersRaw.

Definition at line 422 of file FakeMotionControlMicro.cpp.

◆ getEncoderRaw()

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

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

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

Implements yarp::dev::IEncodersRaw.

Definition at line 374 of file FakeMotionControlMicro.cpp.

◆ getEncoderSpeedRaw()

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

overridevirtual

Read the instantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

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

Implements yarp::dev::IEncodersRaw.

Definition at line 397 of file FakeMotionControlMicro.cpp.

◆ getEncoderSpeedsRaw()

bool FakeMotionControlMicro::getEncoderSpeedsRaw ( double * spds )

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

spds	pointer to storage for the output values

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

Implements yarp::dev::IEncodersRaw.

Definition at line 404 of file FakeMotionControlMicro.cpp.

◆ getEncodersRaw()

bool FakeMotionControlMicro::getEncodersRaw ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncodersRaw.

Definition at line 385 of file FakeMotionControlMicro.cpp.

◆ getEncodersTimedRaw()

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

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

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

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

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 434 of file FakeMotionControlMicro.cpp.

◆ getEncoderTimedRaw()

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

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value
stamp	corresponding timestamp

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

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 445 of file FakeMotionControlMicro.cpp.

◆ getJointTypeRaw()

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

overridevirtual

Reimplemented from yarp::dev::IAxisInfoRaw.

Definition at line 580 of file FakeMotionControlMicro.cpp.

◆ getLastJointFaultRaw()

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

overridevirtual

Implements yarp::dev::IJointFaultRaw.

Definition at line 593 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderAccelerationRaw()

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

overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters

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

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 526 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool FakeMotionControlMicro::getMotorEncoderAccelerationsRaw ( double * accs )

overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 532 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

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

overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 478 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderRaw()

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

overridevirtual

Read the value of a motor encoder.

Parameters

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

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 493 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderSpeedRaw()

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

overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 510 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderSpeedsRaw()

bool FakeMotionControlMicro::getMotorEncoderSpeedsRaw ( double * spds )

overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 516 of file FakeMotionControlMicro.cpp.

◆ getMotorEncodersRaw()

bool FakeMotionControlMicro::getMotorEncodersRaw ( double * encs )

overridevirtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 499 of file FakeMotionControlMicro.cpp.

◆ getMotorEncodersTimedRaw()

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

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

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

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 542 of file FakeMotionControlMicro.cpp.

◆ getMotorEncoderTimedRaw()

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

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

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

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 554 of file FakeMotionControlMicro.cpp.

◆ getNumberOfMotorEncodersRaw()

bool FakeMotionControlMicro::getNumberOfMotorEncodersRaw ( int * num )

overridevirtual

Get the number of available motor encoders.

Parameters

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

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 457 of file FakeMotionControlMicro.cpp.

◆ initialised()

bool FakeMotionControlMicro::initialised ( )

virtual

Definition at line 175 of file FakeMotionControlMicro.cpp.

◆ open()

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

overridevirtual

Open the DeviceDriver.

Parameters

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

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 195 of file FakeMotionControlMicro.cpp.

◆ resetEncoderRaw()

bool FakeMotionControlMicro::resetEncoderRaw ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 364 of file FakeMotionControlMicro.cpp.

◆ resetEncodersRaw()

bool FakeMotionControlMicro::resetEncodersRaw ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 369 of file FakeMotionControlMicro.cpp.

◆ resetMotorEncoderRaw()

bool FakeMotionControlMicro::resetMotorEncoderRaw ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 483 of file FakeMotionControlMicro.cpp.

◆ resetMotorEncodersRaw()

bool FakeMotionControlMicro::resetMotorEncodersRaw ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 488 of file FakeMotionControlMicro.cpp.

◆ resizeBuffers()

void FakeMotionControlMicro::resizeBuffers ( )

Resize previously allocated buffers.

Definition at line 93 of file FakeMotionControlMicro.cpp.

◆ run()

void FakeMotionControlMicro::run ( )

overridevirtual

Loop function.

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

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

Implements yarp::os::PeriodicThread.

Definition at line 34 of file FakeMotionControlMicro.cpp.

◆ setEncoderRaw()

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

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 354 of file FakeMotionControlMicro.cpp.

◆ setEncodersRaw()

bool FakeMotionControlMicro::setEncodersRaw ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 359 of file FakeMotionControlMicro.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

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

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 473 of file FakeMotionControlMicro.cpp.

◆ setMotorEncoderRaw()

bool FakeMotionControlMicro::setMotorEncoderRaw	(	int	m,
		double	val
	)

overridevirtual

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

Parameters

m	motor number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 463 of file FakeMotionControlMicro.cpp.

◆ setMotorEncodersRaw()

bool FakeMotionControlMicro::setMotorEncodersRaw ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 468 of file FakeMotionControlMicro.cpp.

◆ threadInit()

bool FakeMotionControlMicro::threadInit ( )

overridevirtual

Initialization method.

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

Reimplemented from yarp::os::PeriodicThread.

Definition at line 180 of file FakeMotionControlMicro.cpp.

◆ threadRelease()

void FakeMotionControlMicro::threadRelease ( )

overridevirtual

Release method.

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

Reimplemented from yarp::os::PeriodicThread.

Definition at line 191 of file FakeMotionControlMicro.cpp.

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

src/devices/fake/fakeMotionControlMicro/FakeMotionControlMicro.h
src/devices/fake/fakeMotionControlMicro/FakeMotionControlMicro.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FakeMotionControlMicro()

◆ ~FakeMotionControlMicro()

Member Function Documentation

◆ alloc()

◆ close()

◆ fromConfig()

◆ getAxes()

◆ getAxisNameRaw()

◆ getEncoderAccelerationRaw()

◆ getEncoderAccelerationsRaw()

◆ getEncoderRaw()

◆ getEncoderSpeedRaw()

◆ getEncoderSpeedsRaw()

◆ getEncodersRaw()

◆ getEncodersTimedRaw()

◆ getEncoderTimedRaw()

◆ getJointTypeRaw()

◆ getLastJointFaultRaw()

◆ getMotorEncoderAccelerationRaw()

◆ getMotorEncoderAccelerationsRaw()

◆ getMotorEncoderCountsPerRevolutionRaw()

◆ getMotorEncoderRaw()

◆ getMotorEncoderSpeedRaw()

◆ getMotorEncoderSpeedsRaw()

◆ getMotorEncodersRaw()

◆ getMotorEncodersTimedRaw()

◆ getMotorEncoderTimedRaw()

◆ getNumberOfMotorEncodersRaw()

◆ initialised()

◆ open()

◆ resetEncoderRaw()

◆ resetEncodersRaw()

◆ resetMotorEncoderRaw()

◆ resetMotorEncodersRaw()

◆ resizeBuffers()

◆ run()

◆ setEncoderRaw()

◆ setEncodersRaw()

◆ setMotorEncoderCountsPerRevolutionRaw()

◆ setMotorEncoderRaw()

◆ setMotorEncodersRaw()

◆ threadInit()

◆ threadRelease()