YARP
Yet Another Robot Platform

fakeMotor deprecated: A fake motor control board for testing. More...

#include <fakeMotor/FakeMotor.h>

+ Inheritance diagram for FakeMotor:

Public Member Functions

 FakeMotor ()=default
 
 FakeMotor (const FakeMotor &)=delete
 
 FakeMotor (FakeMotor &&)=delete
 
FakeMotoroperator= (const FakeMotor &)=delete
 
FakeMotoroperator= (FakeMotor &&)=delete
 
 ~FakeMotor () override=default
 
bool getAxes (int *ax) override
 Get the number of controlled axes. More...
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool positionMove (int j, double ref) override
 Set new reference point for a single axis. More...
 
bool positionMove (const double *refs) override
 Set new reference point for all axes. More...
 
bool relativeMove (int j, double delta) override
 Set relative position. More...
 
bool relativeMove (const double *deltas) override
 Set relative position, all joints. More...
 
bool checkMotionDone (int j, bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool checkMotionDone (bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeed (int j, double sp) override
 Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...
 
bool setRefSpeeds (const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAcceleration (int j, double acc) override
 Set reference acceleration for a joint. More...
 
bool setRefAccelerations (const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeed (int j, double *ref) override
 Get reference speed for a joint. More...
 
bool getRefSpeeds (double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAcceleration (int j, double *acc) override
 Get reference acceleration for a joint. More...
 
bool getRefAccelerations (double *accs) override
 Get reference acceleration of all joints. More...
 
bool stop (int j) override
 Stop motion, single joint. More...
 
bool stop () override
 Stop motion, multiple joints. More...
 
bool positionMove (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for a subset of joints. More...
 
bool relativeMove (const int n_joint, const int *joints, const double *deltas) override
 Set relative position for a subset of joints. More...
 
bool checkMotionDone (const int n_joint, const int *joints, bool *flags) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeeds (const int n_joint, const int *joints, const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAccelerations (const int n_joint, const int *joints, const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeeds (const int n_joint, const int *joints, double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAccelerations (const int n_joint, const int *joints, double *accs) override
 Get reference acceleration for a joint. More...
 
bool stop (const int n_joint, const int *joints) override
 Stop motion for subset of joints. More...
 
bool getTargetPosition (const int joint, double *ref) override
 Get the last position reference for the specified axis. More...
 
bool getTargetPositions (double *refs) override
 Get the last position reference for all axes. More...
 
bool getTargetPositions (const int n_joint, const int *joints, double *refs) override
 Get the last position reference for the specified group of axes. More...
 
bool velocityMove (const int n_joint, const int *joints, const double *spds) override
 Start motion at a given speed for a subset of joints. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool resetEncoder (int j) override
 Reset encoder, single joint. More...
 
bool resetEncoders () override
 Reset encoders. More...
 
bool setEncoder (int j, double val) override
 Set the value of the encoder for a given joint. More...
 
bool setEncoders (const double *vals) override
 Set the value of all encoders. More...
 
bool getEncoder (int j, double *v) override
 Read the value of an encoder. More...
 
bool getEncoders (double *encs) override
 Read the position of all axes. More...
 
bool getEncoderTimed (int j, double *encs, double *time) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncodersTimed (double *encs, double *time) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoderSpeed (int j, double *sp) override
 Read the istantaneous speed of an axis. More...
 
bool getEncoderSpeeds (double *spds) override
 Read the instantaneous speed of all axes. More...
 
bool getEncoderAcceleration (int j, double *spds) override
 Read the instantaneous acceleration of an axis. More...
 
bool getEncoderAccelerations (double *accs) override
 Read the instantaneous acceleration of all axes. More...
 
bool velocityMove (int j, double sp) override
 Start motion at a given speed, single joint. More...
 
bool velocityMove (const double *sp) override
 Start motion at a given speed, multiple joints. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::dev::IPositionControl
virtual ~IPositionControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual ~IEncodersTimed ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IEncoders
virtual ~IEncoders ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IVelocityControl
virtual ~IVelocityControl ()
 Destructor. More...
 
virtual bool getRefVelocity (const int joint, double *vel)
 Get the last reference speed set by velocityMove for single joint. More...
 
virtual bool getRefVelocities (double *vels)
 Get the last reference speed set by velocityMove for all joints. More...
 
virtual bool getRefVelocities (const int n_joint, const int *joints, double *vels)
 Get the last reference speed set by velocityMove for a group of joints. More...
 

Detailed Description

fakeMotor deprecated: A fake motor control board for testing.

Implements the IPositionControl, IEncoders and IVelocityControl interfaces.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 30 of file FakeMotor.h.

Constructor & Destructor Documentation

◆ FakeMotor() [1/3]

FakeMotor::FakeMotor ( )
default

◆ FakeMotor() [2/3]

FakeMotor::FakeMotor ( const FakeMotor )
delete

◆ FakeMotor() [3/3]

FakeMotor::FakeMotor ( FakeMotor &&  )
delete

◆ ~FakeMotor()

FakeMotor::~FakeMotor ( )
overridedefault

Member Function Documentation

◆ checkMotionDone() [1/3]

bool FakeMotor::checkMotionDone ( bool *  flag)
inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

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

Implements yarp::dev::IPositionControl.

Definition at line 129 of file FakeMotor.h.

◆ checkMotionDone() [2/3]

bool FakeMotor::checkMotionDone ( const int  n_joint,
const int *  joints,
bool *  flag 
)
inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
jointspointer to the array of joint numbers
flagpointer to return value (logical "and" of all set of joints)
Returns
true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 228 of file FakeMotor.h.

◆ checkMotionDone() [3/3]

bool FakeMotor::checkMotionDone ( int  j,
bool *  flag 
)
inlineoverridevirtual

Check if the current trajectory is terminated.

Non blocking.

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 122 of file FakeMotor.h.

◆ close()

bool FakeMotor::close ( )
inlineoverridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 278 of file FakeMotor.h.

◆ getAxes()

bool FakeMotor::getAxes ( int *  ax)
inlineoverridevirtual

Get the number of controlled axes.

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

Parameters
axpointer to storage
Returns
true/false.

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 56 of file FakeMotor.h.

◆ getEncoder()

bool FakeMotor::getEncoder ( int  j,
double *  v 
)
inlineoverridevirtual

Read the value of an encoder.

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

Implements yarp::dev::IEncoders.

Definition at line 318 of file FakeMotor.h.

◆ getEncoderAcceleration()

bool FakeMotor::getEncoderAcceleration ( int  j,
double *  spds 
)
inlineoverridevirtual

Read the instantaneous acceleration of an axis.

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

Implements yarp::dev::IEncoders.

Definition at line 369 of file FakeMotor.h.

◆ getEncoderAccelerations()

bool FakeMotor::getEncoderAccelerations ( double *  accs)
inlineoverridevirtual

Read the instantaneous acceleration of all axes.

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

Implements yarp::dev::IEncoders.

Definition at line 377 of file FakeMotor.h.

◆ getEncoders()

bool FakeMotor::getEncoders ( double *  encs)
inlineoverridevirtual

Read the position of all axes.

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

Implements yarp::dev::IEncoders.

Definition at line 327 of file FakeMotor.h.

◆ getEncoderSpeed()

bool FakeMotor::getEncoderSpeed ( int  j,
double *  sp 
)
inlineoverridevirtual

Read the istantaneous speed of an axis.

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

Implements yarp::dev::IEncoders.

Definition at line 353 of file FakeMotor.h.

◆ getEncoderSpeeds()

bool FakeMotor::getEncoderSpeeds ( double *  spds)
inlineoverridevirtual

Read the instantaneous speed of all axes.

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

Implements yarp::dev::IEncoders.

Definition at line 361 of file FakeMotor.h.

◆ getEncodersTimed()

bool FakeMotor::getEncodersTimed ( double *  encs,
double *  time 
)
inlineoverridevirtual

Read the instantaneous acceleration of all axes.

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

Implements yarp::dev::IEncodersTimed.

Definition at line 344 of file FakeMotor.h.

◆ getEncoderTimed()

bool FakeMotor::getEncoderTimed ( int  j,
double *  encs,
double *  time 
)
inlineoverridevirtual

Read the instantaneous acceleration of all axes.

Parameters
jaxis index
encsencoder value (pointer to)
timecorresponding timestamp (pointer to)
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 337 of file FakeMotor.h.

◆ getRefAcceleration()

bool FakeMotor::getRefAcceleration ( int  j,
double *  acc 
)
inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 189 of file FakeMotor.h.

◆ getRefAccelerations() [1/2]

bool FakeMotor::getRefAccelerations ( const int  n_joint,
const int *  joints,
double *  accs 
)
inlineoverridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

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

Implements yarp::dev::IPositionControl.

Definition at line 248 of file FakeMotor.h.

◆ getRefAccelerations() [2/2]

bool FakeMotor::getRefAccelerations ( double *  accs)
inlineoverridevirtual

Get reference acceleration of all joints.

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

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 198 of file FakeMotor.h.

◆ getRefSpeed()

bool FakeMotor::getRefSpeed ( int  j,
double *  ref 
)
inlineoverridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 171 of file FakeMotor.h.

◆ getRefSpeeds() [1/2]

bool FakeMotor::getRefSpeeds ( const int  n_joint,
const int *  joints,
double *  spds 
)
inlineoverridevirtual

Get reference speed of all joints.

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

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

Implements yarp::dev::IPositionControl.

Definition at line 243 of file FakeMotor.h.

◆ getRefSpeeds() [2/2]

bool FakeMotor::getRefSpeeds ( double *  spds)
inlineoverridevirtual

Get reference speed of all joints.

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

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 180 of file FakeMotor.h.

◆ getTargetPosition()

bool FakeMotor::getTargetPosition ( const int  joint,
double *  ref 
)
inlineoverridevirtual

Get the last position reference for the specified axis.

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

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

Reimplemented from yarp::dev::IPositionControl.

Definition at line 258 of file FakeMotor.h.

◆ getTargetPositions() [1/2]

bool FakeMotor::getTargetPositions ( const int  n_joint,
const int *  joints,
double *  refs 
)
inlineoverridevirtual

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

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

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

Reimplemented from yarp::dev::IPositionControl.

Definition at line 268 of file FakeMotor.h.

◆ getTargetPositions() [2/2]

bool FakeMotor::getTargetPositions ( double *  refs)
inlineoverridevirtual

Get the last position reference for all axes.

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

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

Reimplemented from yarp::dev::IPositionControl.

Definition at line 263 of file FakeMotor.h.

◆ open()

bool FakeMotor::open ( yarp::os::Searchable config)
inlineoverridevirtual

Open the DeviceDriver.

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

Reimplemented from yarp::dev::DeviceDriver.

Reimplemented in TestMotor.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 63 of file FakeMotor.h.

◆ operator=() [1/2]

FakeMotor& FakeMotor::operator= ( const FakeMotor )
delete

◆ operator=() [2/2]

FakeMotor& FakeMotor::operator= ( FakeMotor &&  )
delete

◆ positionMove() [1/3]

bool FakeMotor::positionMove ( const double *  refs)
inlineoverridevirtual

Set new reference point for all axes.

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

Implements yarp::dev::IPositionControl.

Definition at line 92 of file FakeMotor.h.

◆ positionMove() [2/3]

bool FakeMotor::positionMove ( const int  n_joint,
const int *  joints,
const double *  refs 
)
inlineoverridevirtual

Set new reference point for a subset of joints.

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

Implements yarp::dev::IPositionControl.

Definition at line 218 of file FakeMotor.h.

◆ positionMove() [3/3]

bool FakeMotor::positionMove ( int  j,
double  ref 
)
inlineoverridevirtual

Set new reference point for a single axis.

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 82 of file FakeMotor.h.

◆ relativeMove() [1/3]

bool FakeMotor::relativeMove ( const double *  deltas)
inlineoverridevirtual

Set relative position, all joints.

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

Implements yarp::dev::IPositionControl.

Definition at line 112 of file FakeMotor.h.

◆ relativeMove() [2/3]

bool FakeMotor::relativeMove ( const int  n_joint,
const int *  joints,
const double *  deltas 
)
inlineoverridevirtual

Set relative position for a subset of joints.

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

Implements yarp::dev::IPositionControl.

Definition at line 223 of file FakeMotor.h.

◆ relativeMove() [3/3]

bool FakeMotor::relativeMove ( int  j,
double  delta 
)
inlineoverridevirtual

Set relative position.

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

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

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 102 of file FakeMotor.h.

◆ resetEncoder()

bool FakeMotor::resetEncoder ( int  j)
inlineoverridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 283 of file FakeMotor.h.

◆ resetEncoders()

bool FakeMotor::resetEncoders ( )
inlineoverridevirtual

Reset encoders.

Set the encoders value to zero

Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 291 of file FakeMotor.h.

◆ setEncoder()

bool FakeMotor::setEncoder ( int  j,
double  val 
)
inlineoverridevirtual

Set the value of the encoder for a given joint.

Parameters
jencoder number
valnew value
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 300 of file FakeMotor.h.

◆ setEncoders()

bool FakeMotor::setEncoders ( const double *  vals)
inlineoverridevirtual

Set the value of all encoders.

Parameters
valspointer to the new values
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 309 of file FakeMotor.h.

◆ setRefAcceleration()

bool FakeMotor::setRefAcceleration ( int  j,
double  acc 
)
inlineoverridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters
jjoint number
accacceleration value
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 153 of file FakeMotor.h.

◆ setRefAccelerations() [1/2]

bool FakeMotor::setRefAccelerations ( const double *  accs)
inlineoverridevirtual

Set reference acceleration on all joints.

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

Parameters
accspointer to the array of acceleration values
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 162 of file FakeMotor.h.

◆ setRefAccelerations() [2/2]

bool FakeMotor::setRefAccelerations ( const int  n_joint,
const int *  joints,
const double *  accs 
)
inlineoverridevirtual

Set reference acceleration on all joints.

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

Parameters
jointspointer to the array of joint numbers
accspointer to the array with acceleration values
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 238 of file FakeMotor.h.

◆ setRefSpeed()

bool FakeMotor::setRefSpeed ( int  j,
double  sp 
)
inlineoverridevirtual

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

Parameters
jjoint number
spspeed value
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 135 of file FakeMotor.h.

◆ setRefSpeeds() [1/2]

bool FakeMotor::setRefSpeeds ( const double *  spds)
inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters
spdspointer to the array of speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 144 of file FakeMotor.h.

◆ setRefSpeeds() [2/2]

bool FakeMotor::setRefSpeeds ( const int  n_joint,
const int *  joints,
const double *  spds 
)
inlineoverridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

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

Implements yarp::dev::IPositionControl.

Definition at line 233 of file FakeMotor.h.

◆ stop() [1/3]

bool FakeMotor::stop ( )
inlineoverridevirtual

Stop motion, multiple joints.

Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Examples
dev/fake_motor/fake_motor.cpp.

Definition at line 213 of file FakeMotor.h.

◆ stop() [2/3]

bool FakeMotor::stop ( const int  n_joint,
const int *  joints 
)
inlineoverridevirtual

Stop motion for subset of joints.

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

Implements yarp::dev::IPositionControl.

Definition at line 253 of file FakeMotor.h.

◆ stop() [3/3]

bool FakeMotor::stop ( int  j)
inlineoverridevirtual

Stop motion, single joint.

Parameters
jjoint number
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 207 of file FakeMotor.h.

◆ velocityMove() [1/3]

bool FakeMotor::velocityMove ( const double *  sp)
inlineoverridevirtual

Start motion at a given speed, multiple joints.

Parameters
sppointer to the array containing the new speed values
Returns
true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 394 of file FakeMotor.h.

◆ velocityMove() [2/3]

bool FakeMotor::velocityMove ( const int  n_joint,
const int *  joints,
const double *  spds 
)
inlineoverridevirtual

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

Parameters
n_jointhow many joints this command is referring to
jointsof joints controlled. The size of this array is n_joints
spdspointer to the array containing the new speed values, one value for each joint, the size of the array 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 spds 10 30 40
Returns
true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 273 of file FakeMotor.h.

◆ velocityMove() [3/3]

bool FakeMotor::velocityMove ( int  j,
double  sp 
)
inlineoverridevirtual

Start motion at a given speed, single joint.

Parameters
jjoint number
spspeed value
Returns
bool/false upone success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 385 of file FakeMotor.h.


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