remote_controlboard: The client side of the control board, connects to a remote controlboard using the YARP network. More...

#include <networkWrappers/RemoteControlBoard/RemoteControlBoard.h>

Inheritance diagram for RemoteControlBoard:

Public Member Functions
	RemoteControlBoard ()=default

	RemoteControlBoard (const RemoteControlBoard &)=delete

	RemoteControlBoard (RemoteControlBoard &&)=delete

RemoteControlBoard &	operator= (const RemoteControlBoard &)=delete

RemoteControlBoard &	operator= (RemoteControlBoard &&)=delete

	~RemoteControlBoard () override=default

bool	open (Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the device driver and stop the port connections.

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

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	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 *limit) override
	Get the error limit for the controller on a specific joint.

bool	getPidErrorLimits (const PidControlTypeEnum &pidtype, double *limits) 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	disablePid (const PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint.

bool	enablePid (const PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint.

bool	isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid.

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	setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller.

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

bool	getEncoderSpeed (int j, double *sp) 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 *acc) override
	Read the instantaneous acceleration of an axis.

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

bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override

bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override

bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override

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.

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

bool	resetMotorEncoders () override
	Reset motor encoders.

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

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

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

bool	getMotorEncoderTimed (int j, 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	getMotorEncodersTimed (double encs, double ts) override
	Read the instantaneous position of all motor encoders.

bool	getMotorEncoderSpeed (int j, double *sp) 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 j, double *acc) override
	Read the instantaneous acceleration of a motor encoder.

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

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

Stamp	getLastInputStamp () override
	Get the time stamp for the last read data.

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	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.

bool	relativeMove (int j, double delta) override
	Set relative position.

bool	relativeMove (const int n_joint, const int joints, const double refs) override
	Set relative position for a subset of joints.

bool	relativeMove (const double *deltas) override
	Set relative position, all joints.

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (const int n_joint, const int joints, bool flag) override
	Check if the current trajectory is terminated.

bool	checkMotionDone (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 len, const int *val1) override
	Stop motion for subset of joints.

bool	stop () override
	Stop motion, multiple joints.

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

bool	velocityMove (int j, double v) override
	Start motion at a given speed, single joint.

bool	velocityMove (const double *v) override
	Start motion at a given speed, multiple joints.

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	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 m, double *val) override

bool	getPWMLimit (int m, double *val) override

bool	setPWMLimit (int m, const double val) override

bool	getPowerSupplyVoltage (int m, double *val) override

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.

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

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

bool	calibrateRobot () override
	Calibrate robot by using an external calibrator.

bool	abortCalibration () override

bool	abortPark () override

bool	park (bool wait=true) override

bool	calibrateAxisWithParams (int j, unsigned int ui, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific.

bool	setCalibrationParameters (int j, const CalibrationParameters &params) 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.

bool	getRefTorque (int j, double *t) 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 v) 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	setMotorTorqueParams (int j, const MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

bool	getMotorTorqueParams (int j, MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

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	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors).

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.

bool	getImpedance (int j, double stiffness, double damping) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint.

bool	getImpedanceOffset (int j, double *offset) override
	Get current force 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	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.

bool	getControlMode (int j, int *mode) 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).

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.

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	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.

bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set

bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint

bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device

bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint

bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device

bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint

bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part

bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure

bool	quitPark () override
	quitPark: interrupt the park procedure

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors.

bool	getRefCurrent (int j, double *t) override
	Get the reference value of the current for a single motor.

bool	setRefCurrents (const double *refs) override
	Set the reference value of the currents for all motors.

bool	setRefCurrent (int j, double ref) override
	Set the reference value of the current for a single motor.

bool	setRefCurrents (const int n_joint, const int joints, const double refs) override
	Set the reference value of the current for a group of motors.

bool	getCurrents (double *vals) override

bool	getCurrent (int j, double *val) override

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.

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 *ref) override
	Gets the last reference sent using the setRefDutyCycle function.

bool	getRefDutyCycles (double *refs) override
	Gets the last reference sent using the setRefDutyCycles function.

bool	getDutyCycle (int j, double *out) override
	Gets the current dutycycle of the output of the amplifier (i.e.

bool	getDutyCycles (double *outs) override
	Gets the current dutycycle of the output of the amplifier (i.e.

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

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

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

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::IMotorEncoders
virtual	~IMotorEncoders ()
	Destructor.

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

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

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

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

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

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

virtual	~IControlCalibration ()
	Destructor.

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot.

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

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

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

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::IPositionDirect
virtual	~IPositionDirect ()
	Destructor.

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

Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job.

virtual	~IRemoteCalibrator ()=default

virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device.

virtual yarp::dev::IRemoteCalibrator *	getCalibratorDevice ()
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice

virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator

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

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

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

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

Public Member Functions inherited from RemoteControlBoard_ParamsParser
	RemoteControlBoard_ParamsParser ()

	~RemoteControlBoard_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.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

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

Protected Member Functions
bool	isLive ()

bool	checkProtocolVersion (bool ignore)

bool	send1V (int v)

bool	send2V (int v1, int v2)

bool	send2V1I (int v1, int v2, int axis)

bool	send1V1I (int v, int axis)

bool	send3V1I (int v1, int v2, int v3, int j)

bool	set1V (int code)
	Send a SET command without parameters and wait for a reply.

bool	set1V2D (int code, double v)
	Send a SET command and an additional double valued variable and then wait for a reply.

bool	set1V1I (int code, int v)
	Send a SET command with an additional integer valued variable and then wait for a reply.

bool	get1V1D (int code, double &v) const
	Send a GET command expecting a double value in return.

bool	get1V1I (int code, int &v) const
	Send a GET command expecting an integer value in return.

bool	set1V1I1D (int code, int j, double val)
	Helper method to set a double value to a single axis.

bool	set1V1I2D (int code, int j, double val1, double val2)

bool	set1VDA (int v, const double *val)
	Helper method used to set an array of double to all axes.

bool	set2V1DA (int v1, int v2, const double *val)

bool	set2V2DA (int v1, int v2, const double val1, const double val2)

bool	set1V1I1IA1DA (int v, const int len, const int val1, const double val2)

bool	set2V1I1D (int v1, int v2, int axis, double val)

bool	setValWithPidType (int voc, PidControlTypeEnum type, int axis, double val)

bool	setValWithPidType (int voc, PidControlTypeEnum type, const double *val_arr)

bool	getValWithPidType (int voc, PidControlTypeEnum type, int j, double *val)

bool	getValWithPidType (int voc, PidControlTypeEnum type, double *val)

bool	set2V1I (int v1, int v2, int axis)

bool	get1V1I1D (int v, int j, double *val)
	Helper method used to get a double value from the remote peer.

bool	get1V1I1I (int v, int j, int *val)
	Helper method used to get an integer value from the remote peer.

bool	get2V1I1D (int v1, int v2, int j, double *val)

bool	get2V1I2D (int v1, int v2, int j, double val1, double val2)

bool	get1V1I2D (int code, int axis, double v1, double v2)

bool	get1V1I1B (int v, int j, bool &val)
	Helper method used to get a double value from the remote peer.

bool	get1V1I1IA1B (int v, const int len, const int *val1, bool &retVal)

bool	get2V1I1IA1DA (int v1, int v2, const int n_joints, const int joints, double retVals, std::string functionName="")

bool	get1V1B (int v, bool &val)

bool	get1VIA (int v, int *val)
	Helper method to get an array of integers from the remote peer.

bool	get1VDA (int v, double *val)
	Helper method to get an array of double from the remote peer.

bool	get1V1DA (int v1, double *val)
	Helper method to get an array of double from the remote peer.

bool	get2V1DA (int v1, int v2, double *val)
	Helper method to get an array of double from the remote peer.

bool	get2V2DA (int v1, int v2, double val1, double val2)

bool	get1V1I1S (int code, int j, std::string &name)

bool	get1V1I1IA1DA (int v, const int len, const int val1, double val2)

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_remote_defaultValue = {""}

const std::string	m_local_defaultValue = {""}

const std::string	m_writeStrict_defaultValue = {""}

const std::string	m_carrier_defaultValue = {"udp"}

const std::string	m_timeout_defaultValue = {"0.5"}

const std::string	m_local_qos_enable_defaultValue = {"false"}

const std::string	m_local_qos_thread_priority_defaultValue = {"0"}

const std::string	m_local_qos_thread_policy_defaultValue = {"0"}

const std::string	m_local_qos_packet_priority_defaultValue = {""}

const std::string	m_remote_qos_enable_defaultValue = {"false"}

const std::string	m_remote_qos_thread_priority_defaultValue = {"0"}

const std::string	m_remote_qos_thread_policy_defaultValue = {"0"}

const std::string	m_remote_qos_packet_priority_defaultValue = {""}

const std::string	m_ignoreProtocolCheck_defaultValue = {"false"}

const std::string	m_diagnostic_defaultValue = {"false"}

std::string	m_remote = {}

std::string	m_local = {}

std::string	m_writeStrict = {}

std::string	m_carrier = {"udp"}

float	m_timeout = {0.5}

bool	m_local_qos_enable = {false}

int	m_local_qos_thread_priority = {0}

int	m_local_qos_thread_policy = {0}

std::string	m_local_qos_packet_priority = {}

bool	m_remote_qos_enable = {false}

int	m_remote_qos_thread_priority = {0}

int	m_remote_qos_thread_policy = {0}

std::string	m_remote_qos_packet_priority = {}

bool	m_ignoreProtocolCheck = {false}

bool	m_diagnostic = {false}

Detailed Description

remote_controlboard: The client side of the control board, connects to a remote controlboard using the YARP network.

This device communicates using the YARP ports opened the controlBoard_nws_yarp device to use a device exposing controlboard method even from a different process (or even computer) from the one that opened the controlboard device.

Parameters required by this device are shown in class: RemoteControlBoard_ParamsParser

Definition at line 60 of file RemoteControlBoard.h.

Constructor & Destructor Documentation

◆ RemoteControlBoard() [1/3]

RemoteControlBoard::RemoteControlBoard ( )

default

◆ RemoteControlBoard() [2/3]

RemoteControlBoard::RemoteControlBoard ( const RemoteControlBoard & )

delete

◆ RemoteControlBoard() [3/3]

RemoteControlBoard::RemoteControlBoard ( RemoteControlBoard && )

delete

◆ ~RemoteControlBoard()

RemoteControlBoard::~RemoteControlBoard ( )

overridedefault

Member Function Documentation

◆ abortCalibration()

bool RemoteControlBoard::abortCalibration ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2043 of file RemoteControlBoard.cpp.

◆ abortPark()

bool RemoteControlBoard::abortPark ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2048 of file RemoteControlBoard.cpp.

◆ calibrateAxisWithParams()

bool RemoteControlBoard::calibrateAxisWithParams	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3
	)

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 2058 of file RemoteControlBoard.cpp.

◆ calibrateRobot()

bool RemoteControlBoard::calibrateRobot ( )

overridevirtual

Calibrate robot by using an external calibrator.

The external calibrator must be previously set by calling the setCalibration() method.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2038 of file RemoteControlBoard.cpp.

◆ calibrateSingleJoint()

bool RemoteControlBoard::calibrateSingleJoint ( int j )

overridevirtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters

j	joint to be calibrated

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2688 of file RemoteControlBoard.cpp.

◆ calibrateWholePart()

bool RemoteControlBoard::calibrateWholePart ( )

overridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2693 of file RemoteControlBoard.cpp.

◆ calibrationDone()

bool RemoteControlBoard::calibrationDone ( int j )

overridevirtual

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

Non blocking.

Returns: true/false

Implements yarp::dev::IControlCalibration.

Definition at line 2097 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [1/3]

bool RemoteControlBoard::checkMotionDone ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is 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 1767 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [2/3]

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

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	pointer 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 1762 of file RemoteControlBoard.cpp.

◆ checkMotionDone() [3/3]

bool RemoteControlBoard::checkMotionDone	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 1757 of file RemoteControlBoard.cpp.

◆ checkProtocolVersion()

bool RemoteControlBoard::checkProtocolVersion ( bool ignore )

protected

Definition at line 118 of file RemoteControlBoard.cpp.

◆ close()

bool RemoteControlBoard::close ( )

overridevirtual

Close the device driver and stop the port connections.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 367 of file RemoteControlBoard.cpp.

◆ disableAmp()

bool RemoteControlBoard::disableAmp ( int j )

overridevirtual

Disable the amplifier on a specific joint.

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

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 1928 of file RemoteControlBoard.cpp.

◆ disablePid()

bool RemoteControlBoard::disablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1315 of file RemoteControlBoard.cpp.

◆ enableAmp()

bool RemoteControlBoard::enableAmp ( int j )

overridevirtual

Enable the amplifier on a specific joint.

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

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 1923 of file RemoteControlBoard.cpp.

◆ enablePid()

bool RemoteControlBoard::enablePid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1330 of file RemoteControlBoard.cpp.

◆ get1V1B()

bool RemoteControlBoard::get1V1B	(	int	v,
		bool &	val
	)

protected

Definition at line 899 of file RemoteControlBoard.cpp.

◆ get1V1D()

bool RemoteControlBoard::get1V1D	(	int	code,
		double &	v
	)		const

protected

Send a GET command expecting a double value in return.

Parameters

code	is the Vocab code of the GET command.
v	is a reference to the return variable.

Returns: true/false on success/failure.

Definition at line 483 of file RemoteControlBoard.cpp.

◆ get1V1DA()

bool RemoteControlBoard::get1V1DA	(	int	v1,
		double *	val
	)

protected

Helper method to get an array of double from the remote peer.

Parameters

v1	is the name of the command
val	is the array of double

Returns: true/false on success/failure

Definition at line 967 of file RemoteControlBoard.cpp.

◆ get1V1I()

bool RemoteControlBoard::get1V1I	(	int	code,
		int &	v
	)		const

protected

Send a GET command expecting an integer value in return.

Parameters

code	is the Vocab code of the GET command.
v	is a reference to the return variable.

Returns: true/false on success/failure.

Definition at line 503 of file RemoteControlBoard.cpp.

◆ get1V1I1B()

bool RemoteControlBoard::get1V1I1B	(	int	v,
		int	j,
		bool &	val
	)

protected

Helper method used to get a double value from the remote peer.

Parameters

v	is the command to query for
j	is the axis number
val	is the return value

Returns: true/false on success/failure

Definition at line 817 of file RemoteControlBoard.cpp.

◆ get1V1I1D()

bool RemoteControlBoard::get1V1I1D	(	int	v,
		int	j,
		double *	val
	)

protected

Helper method used to get a double value from the remote peer.

Parameters

v	is the command to query for
j	is the axis number
val	is the return value

Returns: true/false on success/failure

Definition at line 727 of file RemoteControlBoard.cpp.

◆ get1V1I1I()

bool RemoteControlBoard::get1V1I1I	(	int	v,
		int	j,
		int *	val
	)

protected

Helper method used to get an integer value from the remote peer.

Parameters

v	is the command to query for
j	is the axis number
val	is the return value

Returns: true/false on success/failure

Definition at line 745 of file RemoteControlBoard.cpp.

◆ get1V1I1IA1B()

bool RemoteControlBoard::get1V1I1IA1B	(	int	v,
		const int	len,
		const int *	val1,
		bool &	retVal
	)

protected

Definition at line 832 of file RemoteControlBoard.cpp.

◆ get1V1I1IA1DA()

bool RemoteControlBoard::get1V1I1IA1DA	(	int	v,
		const int	len,
		const int *	val1,
		double *	val2
	)

protected

Definition at line 1078 of file RemoteControlBoard.cpp.

◆ get1V1I1S()

bool RemoteControlBoard::get1V1I1S	(	int	code,
		int	j,
		std::string &	name
	)

protected

Definition at line 1062 of file RemoteControlBoard.cpp.

◆ get1V1I2D()

bool RemoteControlBoard::get1V1I2D	(	int	code,
		int	axis,
		double *	v1,
		double *	v2
	)

protected

Definition at line 800 of file RemoteControlBoard.cpp.

◆ get1VDA()

bool RemoteControlBoard::get1VDA	(	int	v,
		double *	val
	)

protected

Helper method to get an array of double from the remote peer.

Parameters

v	is the name of the command
val	is the array of double

Returns: true/false on success/failure

Definition at line 940 of file RemoteControlBoard.cpp.

◆ get1VIA()

bool RemoteControlBoard::get1VIA	(	int	v,
		int *	val
	)

protected

Helper method to get an array of integers from the remote peer.

Parameters

v	is the name of the command
val	is the array of double

Returns: true/false on success/failure

Definition at line 913 of file RemoteControlBoard.cpp.

◆ get2V1DA()

bool RemoteControlBoard::get2V1DA	(	int	v1,
		int	v2,
		double *	val
	)

protected

Helper method to get an array of double from the remote peer.

Parameters

v1	is the name of the command
v2	v2
val	is the array of double

Returns: true/false on success/failure

Definition at line 994 of file RemoteControlBoard.cpp.

◆ get2V1I1D()

bool RemoteControlBoard::get2V1I1D	(	int	v1,
		int	v2,
		int	j,
		double *	val
	)

protected

Definition at line 762 of file RemoteControlBoard.cpp.

◆ get2V1I1IA1DA()

bool RemoteControlBoard::get2V1I1IA1DA	(	int	v1,
		int	v2,
		const int	n_joints,
		const int *	joints,
		double *	retVals,
		std::string	functionName = `""`
	)

protected

Definition at line 853 of file RemoteControlBoard.cpp.

◆ get2V1I2D()

bool RemoteControlBoard::get2V1I2D	(	int	v1,
		int	v2,
		int	j,
		double *	val1,
		double *	val2
	)

protected

Definition at line 781 of file RemoteControlBoard.cpp.

◆ get2V2DA()

bool RemoteControlBoard::get2V2DA	(	int	v1,
		int	v2,
		double *	val1,
		double *	val2
	)

protected

Definition at line 1022 of file RemoteControlBoard.cpp.

◆ getAmpStatus() [1/2]

bool RemoteControlBoard::getAmpStatus ( int * st )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 1933 of file RemoteControlBoard.cpp.

◆ getAmpStatus() [2/2]

bool RemoteControlBoard::getAmpStatus	(	int	j,
		int *	st
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 1938 of file RemoteControlBoard.cpp.

◆ getAxes()

bool RemoteControlBoard::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

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

Parameters

ax	pointer to storage

Returns: true/false.

Implements yarp::dev::IPositionControl.

Definition at line 1120 of file RemoteControlBoard.cpp.

◆ getAxisName()

bool RemoteControlBoard::getAxisName	(	int	j,
		std::string &	name
	)

overridevirtual

Implements yarp::dev::IAxisInfo.

Definition at line 2025 of file RemoteControlBoard.cpp.

◆ getControlMode()

bool RemoteControlBoard::getControlMode	(	int	j,
		int *	mode
	)

overridevirtual

Get the current control mode.

Parameters

j	joint number
mode	a vocab of the current control mode for joint j.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2362 of file RemoteControlBoard.cpp.

◆ getControlModes() [1/2]

bool RemoteControlBoard::getControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Get the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, 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 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2380 of file RemoteControlBoard.cpp.

◆ getControlModes() [2/2]

bool RemoteControlBoard::getControlModes ( int * modes )

overridevirtual

Get the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the current control modes of the joints.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 2371 of file RemoteControlBoard.cpp.

◆ getCurrent()

bool RemoteControlBoard::getCurrent	(	int	j,
		double *	val
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2828 of file RemoteControlBoard.cpp.

◆ getCurrentImpedanceLimit()

bool RemoteControlBoard::getCurrentImpedanceLimit	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)

overridevirtual

Get the current impedandance limits for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2335 of file RemoteControlBoard.cpp.

◆ getCurrentRange()

bool RemoteControlBoard::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

overridevirtual

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

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

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2837 of file RemoteControlBoard.cpp.

◆ getCurrentRanges()

bool RemoteControlBoard::getCurrentRanges	(	double *	min,
		double *	max
	)

overridevirtual

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

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

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2842 of file RemoteControlBoard.cpp.

◆ getCurrents()

bool RemoteControlBoard::getCurrents ( double * vals )

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 2819 of file RemoteControlBoard.cpp.

◆ getDutyCycle()

bool RemoteControlBoard::getDutyCycle	(	int	m,
		double *	val
	)

overridevirtual

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

pwm value sent to the motor)

Parameters

m	motor number
val	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2918 of file RemoteControlBoard.cpp.

◆ getDutyCycles()

bool RemoteControlBoard::getDutyCycles ( double * vals )

overridevirtual

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

pwm values sent to all motors)

Parameters

vals	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2927 of file RemoteControlBoard.cpp.

◆ getEncoder()

bool RemoteControlBoard::getEncoder	(	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::IEncoders.

Definition at line 1401 of file RemoteControlBoard.cpp.

◆ getEncoderAcceleration()

bool RemoteControlBoard::getEncoderAcceleration	(	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::IEncoders.

Definition at line 1464 of file RemoteControlBoard.cpp.

◆ getEncoderAccelerations()

bool RemoteControlBoard::getEncoderAccelerations ( 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::IEncoders.

Definition at line 1473 of file RemoteControlBoard.cpp.

◆ getEncoders()

bool RemoteControlBoard::getEncoders ( 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::IEncoders.

Definition at line 1422 of file RemoteControlBoard.cpp.

◆ getEncoderSpeed()

bool RemoteControlBoard::getEncoderSpeed	(	int	j,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

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

Implements yarp::dev::IEncoders.

Definition at line 1444 of file RemoteControlBoard.cpp.

◆ getEncoderSpeeds()

bool RemoteControlBoard::getEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

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

Implements yarp::dev::IEncoders.

Definition at line 1454 of file RemoteControlBoard.cpp.

◆ getEncodersTimed()

bool RemoteControlBoard::getEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
time	pointer 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 1433 of file RemoteControlBoard.cpp.

◆ getEncoderTimed()

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

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

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

Implements yarp::dev::IEncodersTimed.

Definition at line 1411 of file RemoteControlBoard.cpp.

◆ getGearboxRatio()

bool RemoteControlBoard::getGearboxRatio	(	int	m,
		double *	val
	)

overridevirtual

Get the gearbox ratio for a specific motor.

Parameters

m	motor number
val	retrieved gearbox ratio

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 1563 of file RemoteControlBoard.cpp.

◆ getImpedance()

bool RemoteControlBoard::getImpedance	(	int	j,
		double *	stiffness,
		double *	damping
	)

overridevirtual

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

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2263 of file RemoteControlBoard.cpp.

◆ getImpedanceOffset()

bool RemoteControlBoard::getImpedanceOffset	(	int	j,
		double *	offset
	)

overridevirtual

Get current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2284 of file RemoteControlBoard.cpp.

◆ getInteractionMode()

bool RemoteControlBoard::getInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

overridevirtual

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

Parameters

axis	joint number
mode	contains the requested information about interaction mode of the joint

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2569 of file RemoteControlBoard.cpp.

◆ getInteractionModes() [1/2]

bool RemoteControlBoard::getInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

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

Parameters

n_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

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2578 of file RemoteControlBoard.cpp.

◆ getInteractionModes() [2/2]

bool RemoteControlBoard::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

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

Parameters

mode	array containing the requested information about interaction mode, one value for each joint.

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2597 of file RemoteControlBoard.cpp.

◆ getJointType()

bool RemoteControlBoard::getJointType	(	int	j,
		yarp::dev::JointTypeEnum &	type
	)

overridevirtual

Reimplemented from yarp::dev::IAxisInfo.

Definition at line 2030 of file RemoteControlBoard.cpp.

◆ getLastInputStamp()

Stamp RemoteControlBoard::getLastInputStamp ( )

overridevirtual

Get the time stamp for the last read data.

Returns: last time stamp.

Implements yarp::dev::IPreciselyTimed.

Definition at line 1699 of file RemoteControlBoard.cpp.

◆ getLastJointFault()

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

overridevirtual

Implements yarp::dev::IJointFault.

Definition at line 1864 of file RemoteControlBoard.cpp.

◆ getLimits()

bool RemoteControlBoard::getLimits	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
pointer	to store the value of the lower limit
pointer	to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 2006 of file RemoteControlBoard.cpp.

◆ getMaxCurrent()

bool RemoteControlBoard::getMaxCurrent	(	int	j,
		double *	v
	)

overridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 1948 of file RemoteControlBoard.cpp.

◆ getMotorEncoder()

bool RemoteControlBoard::getMotorEncoder	(	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::IMotorEncoders.

Definition at line 1607 of file RemoteControlBoard.cpp.

◆ getMotorEncoderAcceleration()

bool RemoteControlBoard::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

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::IMotorEncoders.

Definition at line 1668 of file RemoteControlBoard.cpp.

◆ getMotorEncoderAccelerations()

bool RemoteControlBoard::getMotorEncoderAccelerations ( 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::IMotorEncoders.

Definition at line 1677 of file RemoteControlBoard.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool RemoteControlBoard::getMotorEncoderCountsPerRevolution	(	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::IMotorEncoders.

Definition at line 1597 of file RemoteControlBoard.cpp.

◆ getMotorEncoders()

bool RemoteControlBoard::getMotorEncoders ( 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::IMotorEncoders.

Definition at line 1628 of file RemoteControlBoard.cpp.

◆ getMotorEncoderSpeed()

bool RemoteControlBoard::getMotorEncoderSpeed	(	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::IMotorEncoders.

Definition at line 1650 of file RemoteControlBoard.cpp.

◆ getMotorEncoderSpeeds()

bool RemoteControlBoard::getMotorEncoderSpeeds ( 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::IMotorEncoders.

Definition at line 1659 of file RemoteControlBoard.cpp.

◆ getMotorEncodersTimed()

bool RemoteControlBoard::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

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::IMotorEncoders.

Definition at line 1639 of file RemoteControlBoard.cpp.

◆ getMotorEncoderTimed()

bool RemoteControlBoard::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

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::IMotorEncoders.

Definition at line 1617 of file RemoteControlBoard.cpp.

◆ getMotorTorqueParams()

bool RemoteControlBoard::getMotorTorqueParams	(	int	j,
		MotorTorqueParameters *	params
	)

overridevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2198 of file RemoteControlBoard.cpp.

◆ getNominalCurrent()

bool RemoteControlBoard::getNominalCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1953 of file RemoteControlBoard.cpp.

◆ getNumberOfMotorEncoders()

bool RemoteControlBoard::getNumberOfMotorEncoders ( 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::IMotorEncoders.

Definition at line 1686 of file RemoteControlBoard.cpp.

◆ getNumberOfMotors()

bool RemoteControlBoard::getNumberOfMotors ( int * num )

overridevirtual

Get the number of available motors.

Parameters

num	retrieved number of available motors

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1538 of file RemoteControlBoard.cpp.

◆ getPeakCurrent()

bool RemoteControlBoard::getPeakCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1963 of file RemoteControlBoard.cpp.

◆ getPid()

bool RemoteControlBoard::getPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		Pid *	pid
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

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.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1209 of file RemoteControlBoard.cpp.

◆ getPidError()

bool RemoteControlBoard::getPidError	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

overridevirtual

Get the current error for a joint.

Parameters

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

Returns: true/false on success failure

Implements yarp::dev::IPidControl.

Definition at line 1199 of file RemoteControlBoard.cpp.

◆ getPidErrorLimit()

bool RemoteControlBoard::getPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

overridevirtual

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

Parameters

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

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1290 of file RemoteControlBoard.cpp.

◆ getPidErrorLimits()

bool RemoteControlBoard::getPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		double *	limits
	)

overridevirtual

Get the error limit for all controllers.

Parameters

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

Returns: success or failure

Implements yarp::dev::IPidControl.

Definition at line 1295 of file RemoteControlBoard.cpp.

◆ getPidErrors()

bool RemoteControlBoard::getPidErrors	(	const PidControlTypeEnum &	pidtype,
		double *	errs
	)

overridevirtual

Get the error of all joints.

Parameters

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::IPidControl.

Definition at line 1204 of file RemoteControlBoard.cpp.

◆ getPidOutput()

bool RemoteControlBoard::getPidOutput	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

overridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters

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

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1362 of file RemoteControlBoard.cpp.

◆ getPidOutputs()

bool RemoteControlBoard::getPidOutputs	(	const PidControlTypeEnum &	pidtype,
		double *	outs
	)

overridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters

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::IPidControl.

Definition at line 1367 of file RemoteControlBoard.cpp.

◆ getPidReference()

bool RemoteControlBoard::getPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

overridevirtual

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

Parameters

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

Returns: reference value

Implements yarp::dev::IPidControl.

Definition at line 1280 of file RemoteControlBoard.cpp.

◆ getPidReferences()

bool RemoteControlBoard::getPidReferences	(	const PidControlTypeEnum &	pidtype,
		double *	refs
	)

overridevirtual

Get the current reference of all pid controllers.

Parameters

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::IPidControl.

Definition at line 1285 of file RemoteControlBoard.cpp.

◆ getPids()

bool RemoteControlBoard::getPids	(	const PidControlTypeEnum &	pidtype,
		Pid *	pids
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

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.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1239 of file RemoteControlBoard.cpp.

◆ getPowerSupplyVoltage()

bool RemoteControlBoard::getPowerSupplyVoltage	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1992 of file RemoteControlBoard.cpp.

◆ getPWM()

bool RemoteControlBoard::getPWM	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1973 of file RemoteControlBoard.cpp.

◆ getPWMLimit()

bool RemoteControlBoard::getPWMLimit	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1982 of file RemoteControlBoard.cpp.

◆ getRefAcceleration()

bool RemoteControlBoard::getRefAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1817 of file RemoteControlBoard.cpp.

◆ getRefAccelerations() [1/2]

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

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1822 of file RemoteControlBoard.cpp.

◆ getRefAccelerations() [2/2]

bool RemoteControlBoard::getRefAccelerations ( double * accs )

overridevirtual

Get reference acceleration of all joints.

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

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 1827 of file RemoteControlBoard.cpp.

◆ getRefCurrent()

bool RemoteControlBoard::getRefCurrent	(	int	m,
		double *	curr
	)

overridevirtual

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

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2763 of file RemoteControlBoard.cpp.

◆ getRefCurrents()

bool RemoteControlBoard::getRefCurrents ( double * currs )

overridevirtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2758 of file RemoteControlBoard.cpp.

◆ getRefDutyCycle()

bool RemoteControlBoard::getRefDutyCycle	(	int	m,
		double *	ref
	)

overridevirtual

Gets the last reference sent using the setRefDutyCycle function.

Parameters

m	motor number
ref	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2890 of file RemoteControlBoard.cpp.

◆ getRefDutyCycles()

bool RemoteControlBoard::getRefDutyCycles ( double * refs )

overridevirtual

Gets the last reference sent using the setRefDutyCycles function.

Parameters

refs	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2913 of file RemoteControlBoard.cpp.

◆ getRefPosition()

bool RemoteControlBoard::getRefPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

Get the last position reference for the specified axis.

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

Parameters

ref	last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2511 of file RemoteControlBoard.cpp.

◆ getRefPositions() [1/2]

bool RemoteControlBoard::getRefPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

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

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

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2521 of file RemoteControlBoard.cpp.

◆ getRefPositions() [2/2]

bool RemoteControlBoard::getRefPositions ( double * refs )

overridevirtual

Get the last position reference for all axes.

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

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 2516 of file RemoteControlBoard.cpp.

◆ getRefSpeed()

bool RemoteControlBoard::getRefSpeed	(	int	j,
		double *	ref
	)

overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 1802 of file RemoteControlBoard.cpp.

◆ getRefSpeeds() [1/2]

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

overridevirtual

Get reference speed of all joints.

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

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1807 of file RemoteControlBoard.cpp.

◆ getRefSpeeds() [2/2]

bool RemoteControlBoard::getRefSpeeds ( double * spds )

overridevirtual

Get reference speed of all joints.

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

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 1812 of file RemoteControlBoard.cpp.

◆ getRefTorque()

bool RemoteControlBoard::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

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

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2106 of file RemoteControlBoard.cpp.

◆ getRefTorques()

bool RemoteControlBoard::getRefTorques ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2111 of file RemoteControlBoard.cpp.

◆ getRefVelocities() [1/2]

bool RemoteControlBoard::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

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

Parameters

n_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.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2560 of file RemoteControlBoard.cpp.

◆ getRefVelocities() [2/2]

bool RemoteControlBoard::getRefVelocities ( double * vels )

overridevirtual

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

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2555 of file RemoteControlBoard.cpp.

◆ getRefVelocity()

bool RemoteControlBoard::getRefVelocity	(	const int	joint,
		double *	vel
	)

overridevirtual

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

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 2550 of file RemoteControlBoard.cpp.

◆ getRemoteVariable()

bool RemoteControlBoard::getRemoteVariable	(	std::string	key,
		yarp::os::Bottle &	val
	)

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1486 of file RemoteControlBoard.cpp.

◆ getRemoteVariablesList()

bool RemoteControlBoard::getRemoteVariablesList ( yarp::os::Bottle * listOfKeys )

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1517 of file RemoteControlBoard.cpp.

◆ getTargetPosition()

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

overridevirtual

Get the last position reference for the specified axis.

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1727 of file RemoteControlBoard.cpp.

◆ getTargetPositions() [1/2]

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

overridevirtual

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

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1737 of file RemoteControlBoard.cpp.

◆ getTargetPositions() [2/2]

bool RemoteControlBoard::getTargetPositions ( double * refs )

overridevirtual

Get the last position reference for all axes.

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

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1732 of file RemoteControlBoard.cpp.

◆ getTemperature()

bool RemoteControlBoard::getTemperature	(	int	m,
		double *	val
	)

overridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1543 of file RemoteControlBoard.cpp.

◆ getTemperatureLimit()

bool RemoteControlBoard::getTemperatureLimit	(	int	m,
		double *	temp
	)

overridevirtual

Retreives the current temperature limit for a specific motor.

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

Parameters

m	motor number
temp	the current temperature limit.

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1553 of file RemoteControlBoard.cpp.

◆ getTemperatures()

bool RemoteControlBoard::getTemperatures ( double * vals )

overridevirtual

Get temperature of all the motors.

Parameters

vals	pointer to an array containing all motor temperatures

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1548 of file RemoteControlBoard.cpp.

◆ getTorque()

bool RemoteControlBoard::getTorque	(	int	j,
		double *	t
	)

overridevirtual

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

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2231 of file RemoteControlBoard.cpp.

◆ getTorqueRange()

bool RemoteControlBoard::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

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

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2249 of file RemoteControlBoard.cpp.

◆ getTorqueRanges()

bool RemoteControlBoard::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

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

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2254 of file RemoteControlBoard.cpp.

◆ getTorques()

bool RemoteControlBoard::getTorques ( double * t )

overridevirtual

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

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2240 of file RemoteControlBoard.cpp.

◆ getValWithPidType() [1/2]

bool RemoteControlBoard::getValWithPidType	(	int	voc,
		PidControlTypeEnum	type,
		double *	val
	)

protected

Definition at line 688 of file RemoteControlBoard.cpp.

◆ getValWithPidType() [2/2]

bool RemoteControlBoard::getValWithPidType	(	int	voc,
		PidControlTypeEnum	type,
		int	j,
		double *	val
	)

protected

Definition at line 669 of file RemoteControlBoard.cpp.

◆ getVelLimits()

bool RemoteControlBoard::getVelLimits	(	int	axis,
		double *	min,
		double *	max
	)

overridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 2016 of file RemoteControlBoard.cpp.

◆ homingSingleJoint()

bool RemoteControlBoard::homingSingleJoint ( int j )

overridevirtual

homingSingleJoint: call the homing procedure for a single joint

Parameters

j	joint to be calibrated

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2703 of file RemoteControlBoard.cpp.

◆ homingWholePart()

bool RemoteControlBoard::homingWholePart ( )

overridevirtual

homingWholePart: call the homing procedure for a the whole part/device

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2708 of file RemoteControlBoard.cpp.

◆ isCalibratorDevicePresent()

bool RemoteControlBoard::isCalibratorDevicePresent ( bool * isCalib )

overridevirtual

isCalibratorDevicePresent: check if a calibrator device has been set

Returns: true if a valid calibrator device has been found

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 2673 of file RemoteControlBoard.cpp.

◆ isLive()

bool RemoteControlBoard::isLive ( )

protected

Definition at line 102 of file RemoteControlBoard.cpp.

◆ isPidEnabled()

bool RemoteControlBoard::isPidEnabled	(	const PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

overridevirtual

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

Parameters

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.

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1345 of file RemoteControlBoard.cpp.

◆ open()

bool RemoteControlBoard::open ( 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 181 of file RemoteControlBoard.cpp.

◆ operator=() [1/2]

RemoteControlBoard & RemoteControlBoard::operator= ( const RemoteControlBoard & )

delete

◆ operator=() [2/2]

RemoteControlBoard & RemoteControlBoard::operator= ( RemoteControlBoard && )

delete

◆ park()

bool RemoteControlBoard::park ( bool wait = true )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2053 of file RemoteControlBoard.cpp.

◆ parkSingleJoint()

bool RemoteControlBoard::parkSingleJoint	(	int	j,
		bool	_wait = `true`
	)

overridevirtual

parkSingleJoint(): start the parking procedure for the single joint

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2719 of file RemoteControlBoard.cpp.

◆ parkWholePart()

bool RemoteControlBoard::parkWholePart ( )

overridevirtual

parkWholePart: start the parking procedure for the whole part

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2724 of file RemoteControlBoard.cpp.

◆ positionMove() [1/3]

bool RemoteControlBoard::positionMove ( const double * refs )

overridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1722 of file RemoteControlBoard.cpp.

◆ positionMove() [2/3]

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

overridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1717 of file RemoteControlBoard.cpp.

◆ positionMove() [3/3]

bool RemoteControlBoard::positionMove	(	int	j,
		double	ref
	)

overridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1712 of file RemoteControlBoard.cpp.

◆ quitCalibrate()

bool RemoteControlBoard::quitCalibrate ( )

overridevirtual

quitCalibrate: interrupt the calibration procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2734 of file RemoteControlBoard.cpp.

◆ quitPark()

bool RemoteControlBoard::quitPark ( )

overridevirtual

quitPark: interrupt the park procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 2744 of file RemoteControlBoard.cpp.

◆ relativeMove() [1/3]

bool RemoteControlBoard::relativeMove ( const double * deltas )

overridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1752 of file RemoteControlBoard.cpp.

◆ relativeMove() [2/3]

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

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1747 of file RemoteControlBoard.cpp.

◆ relativeMove() [3/3]

bool RemoteControlBoard::relativeMove	(	int	j,
		double	delta
	)

overridevirtual

Set relative position.

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

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1742 of file RemoteControlBoard.cpp.

◆ resetEncoder()

bool RemoteControlBoard::resetEncoder ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1381 of file RemoteControlBoard.cpp.

◆ resetEncoders()

bool RemoteControlBoard::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1386 of file RemoteControlBoard.cpp.

◆ resetMotorEncoder()

bool RemoteControlBoard::resetMotorEncoder ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1577 of file RemoteControlBoard.cpp.

◆ resetMotorEncoders()

bool RemoteControlBoard::resetMotorEncoders ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1582 of file RemoteControlBoard.cpp.

◆ resetPid()

bool RemoteControlBoard::resetPid	(	const PidControlTypeEnum &	pidtype,
		int	j
	)

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.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1300 of file RemoteControlBoard.cpp.

◆ send1V()

bool RemoteControlBoard::send1V ( int v )

protected

Definition at line 387 of file RemoteControlBoard.cpp.

◆ send1V1I()

bool RemoteControlBoard::send1V1I	(	int	v,
		int	axis
	)

protected

Definition at line 423 of file RemoteControlBoard.cpp.

◆ send2V()

bool RemoteControlBoard::send2V	(	int	v1,
		int	v2
	)

protected

Definition at line 398 of file RemoteControlBoard.cpp.

◆ send2V1I()

bool RemoteControlBoard::send2V1I	(	int	v1,
		int	v2,
		int	axis
	)

protected

Definition at line 410 of file RemoteControlBoard.cpp.

◆ send3V1I()

bool RemoteControlBoard::send3V1I	(	int	v1,
		int	v2,
		int	v3,
		int	j
	)

protected

Definition at line 435 of file RemoteControlBoard.cpp.

◆ set1V()

bool RemoteControlBoard::set1V ( int code )

protected

Send a SET command without parameters and wait for a reply.

Parameters

code	is the command Vocab identifier.

Returns: true/false on success/failure.

Definition at line 449 of file RemoteControlBoard.cpp.

◆ set1V1I()

bool RemoteControlBoard::set1V1I	(	int	code,
		int	v
	)

protected

Send a SET command with an additional integer valued variable and then wait for a reply.

Parameters

code	is the command to send.
v	is an integer valued parameter.

Returns: true/false on success/failure.

Definition at line 471 of file RemoteControlBoard.cpp.

◆ set1V1I1D()

bool RemoteControlBoard::set1V1I1D	(	int	code,
		int	j,
		double	val
	)

protected

Helper method to set a double value to a single axis.

Parameters

code	is the name of the command to be transmitted
j	is the axis
val	is the double value

Returns: true/false on success/failure

Definition at line 523 of file RemoteControlBoard.cpp.

◆ set1V1I1IA1DA()

bool RemoteControlBoard::set1V1I1IA1DA	(	int	v,
		const int	len,
		const int *	val1,
		const double *	val2
	)

protected

Definition at line 601 of file RemoteControlBoard.cpp.

◆ set1V1I2D()

bool RemoteControlBoard::set1V1I2D	(	int	code,
		int	j,
		double	val1,
		double	val2
	)

protected

Definition at line 534 of file RemoteControlBoard.cpp.

◆ set1V2D()

bool RemoteControlBoard::set1V2D	(	int	code,
		double	v
	)

protected

Send a SET command and an additional double valued variable and then wait for a reply.

Parameters

code	is the command to send.
v	is a double valued parameter.

Returns: true/false on success/failure.

Definition at line 459 of file RemoteControlBoard.cpp.

◆ set1VDA()

bool RemoteControlBoard::set1VDA	(	int	v,
		const double *	val
	)

protected

Helper method used to set an array of double to all axes.

Parameters

v	is the command to set
val	is the double array (of length nj)

Returns: true/false on success/failure

Definition at line 547 of file RemoteControlBoard.cpp.

◆ set2V1DA()

bool RemoteControlBoard::set2V1DA	(	int	v1,
		int	v2,
		const double *	val
	)

protected

Definition at line 563 of file RemoteControlBoard.cpp.

◆ set2V1I()

bool RemoteControlBoard::set2V1I	(	int	v1,
		int	v2,
		int	axis
	)

protected

Definition at line 716 of file RemoteControlBoard.cpp.

◆ set2V1I1D()

bool RemoteControlBoard::set2V1I1D	(	int	v1,
		int	v2,
		int	axis,
		double	val
	)

protected

Definition at line 623 of file RemoteControlBoard.cpp.

◆ set2V2DA()

bool RemoteControlBoard::set2V2DA	(	int	v1,
		int	v2,
		const double *	val1,
		const double *	val2
	)

protected

Definition at line 580 of file RemoteControlBoard.cpp.

◆ setCalibrationParameters()

bool RemoteControlBoard::setCalibrationParameters	(	int	axis,
		const CalibrationParameters &	params
	)

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 2077 of file RemoteControlBoard.cpp.

◆ setControlMode()

bool RemoteControlBoard::setControlMode	(	const int	j,
		const int	mode
	)

overridevirtual

Set the current control mode.

Parameters

j	joint number
mode	a vocab of the desired control mode for joint j.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2399 of file RemoteControlBoard.cpp.

◆ setControlModes() [1/2]

bool RemoteControlBoard::setControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Set the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, 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 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2415 of file RemoteControlBoard.cpp.

◆ setControlModes() [2/2]

bool RemoteControlBoard::setControlModes ( int * modes )

overridevirtual

Set the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the desired control modes of the joints.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 2440 of file RemoteControlBoard.cpp.

◆ setEncoder()

bool RemoteControlBoard::setEncoder	(	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::IEncoders.

Definition at line 1391 of file RemoteControlBoard.cpp.

◆ setEncoders()

bool RemoteControlBoard::setEncoders ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 1396 of file RemoteControlBoard.cpp.

◆ setGearboxRatio()

bool RemoteControlBoard::setGearboxRatio	(	int	m,
		const double	val
	)

overridevirtual

Set the gearbox ratio for a specific motor.

Parameters

m	motor number
gearbox	ratio to be set

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 1568 of file RemoteControlBoard.cpp.

◆ setImpedance()

bool RemoteControlBoard::setImpedance	(	int	j,
		double	stiffness,
		double	damping
	)

overridevirtual

Set current impedance gains (stiffness,damping) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2304 of file RemoteControlBoard.cpp.

◆ setImpedanceOffset()

bool RemoteControlBoard::setImpedanceOffset	(	int	j,
		double	offset
	)

overridevirtual

Set current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 2320 of file RemoteControlBoard.cpp.

◆ setInteractionMode()

bool RemoteControlBoard::setInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

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.

Parameters

axis	joint number
mode	the desired interaction mode

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 2606 of file RemoteControlBoard.cpp.

◆ setInteractionModes() [1/2]

bool RemoteControlBoard::setInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

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.

Parameters

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

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 2623 of file RemoteControlBoard.cpp.

◆ setInteractionModes() [2/2]

bool RemoteControlBoard::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

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

Parameters

mode	array with the desired interaction mode for all joints, length is the total number of joints for the part

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 2649 of file RemoteControlBoard.cpp.

◆ setLimits()

bool RemoteControlBoard::setLimits	(	int	axis,
		double	min,
		double	max
	)

overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 2001 of file RemoteControlBoard.cpp.

◆ setMaxCurrent()

bool RemoteControlBoard::setMaxCurrent	(	int	j,
		double	v
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 1943 of file RemoteControlBoard.cpp.

◆ setMotorEncoder()

bool RemoteControlBoard::setMotorEncoder	(	int	m,
		const 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::IMotorEncoders.

Definition at line 1587 of file RemoteControlBoard.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool RemoteControlBoard::setMotorEncoderCountsPerRevolution	(	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::IMotorEncoders.

Definition at line 1592 of file RemoteControlBoard.cpp.

◆ setMotorEncoders()

bool RemoteControlBoard::setMotorEncoders ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 1602 of file RemoteControlBoard.cpp.

◆ setMotorTorqueParams()

bool RemoteControlBoard::setMotorTorqueParams	(	int	j,
		const MotorTorqueParameters	params
	)

overridevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2177 of file RemoteControlBoard.cpp.

◆ setNominalCurrent()

bool RemoteControlBoard::setNominalCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1958 of file RemoteControlBoard.cpp.

◆ setPeakCurrent()

bool RemoteControlBoard::setPeakCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1968 of file RemoteControlBoard.cpp.

◆ setPid()

bool RemoteControlBoard::setPid	(	const PidControlTypeEnum &	pidtype,
		int	j,
		const Pid &	pid
	)

overridevirtual

Set new pid value for a joint axis.

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1127 of file RemoteControlBoard.cpp.

◆ setPidErrorLimit()

bool RemoteControlBoard::setPidErrorLimit	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

overridevirtual

Set the error limit for the controller on a specifi joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1189 of file RemoteControlBoard.cpp.

◆ setPidErrorLimits()

bool RemoteControlBoard::setPidErrorLimits	(	const PidControlTypeEnum &	pidtype,
		const double *	limits
	)

overridevirtual

Get the error limit for the controller on all joints.

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1194 of file RemoteControlBoard.cpp.

◆ setPidOffset()

bool RemoteControlBoard::setPidOffset	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

overridevirtual

Set offset value for a given controller.

Parameters

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

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1372 of file RemoteControlBoard.cpp.

◆ setPidReference()

bool RemoteControlBoard::setPidReference	(	const PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

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).

Parameters

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

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1179 of file RemoteControlBoard.cpp.

◆ setPidReferences()

bool RemoteControlBoard::setPidReferences	(	const PidControlTypeEnum &	pidtype,
		const double *	refs
	)

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).

Parameters

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.

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1184 of file RemoteControlBoard.cpp.

◆ setPids()

bool RemoteControlBoard::setPids	(	const PidControlTypeEnum &	pidtype,
		const Pid *	pids
	)

overridevirtual

Set new pid value on multiple axes.

Parameters

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

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1150 of file RemoteControlBoard.cpp.

◆ setPosition()

bool RemoteControlBoard::setPosition	(	int	j,
		double	ref
	)

overridevirtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2463 of file RemoteControlBoard.cpp.

◆ setPositions() [1/2]

bool RemoteControlBoard::setPositions ( const double * refs )

overridevirtual

Set new position for a set of axis.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2497 of file RemoteControlBoard.cpp.

◆ setPositions() [2/2]

bool RemoteControlBoard::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for all axes.

Parameters

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

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 2478 of file RemoteControlBoard.cpp.

◆ setPWMLimit()

bool RemoteControlBoard::setPWMLimit	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 1987 of file RemoteControlBoard.cpp.

◆ setRefAcceleration()

bool RemoteControlBoard::setRefAcceleration	(	int	j,
		double	acc
	)

overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1787 of file RemoteControlBoard.cpp.

◆ setRefAccelerations() [1/2]

bool RemoteControlBoard::setRefAccelerations ( const double * accs )

overridevirtual

Set reference acceleration on all joints.

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

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1797 of file RemoteControlBoard.cpp.

◆ setRefAccelerations() [2/2]

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

overridevirtual

Set reference acceleration on all joints.

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

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1792 of file RemoteControlBoard.cpp.

◆ setRefCurrent()

bool RemoteControlBoard::setRefCurrent	(	int	m,
		double	curr
	)

overridevirtual

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

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2783 of file RemoteControlBoard.cpp.

◆ setRefCurrents() [1/2]

bool RemoteControlBoard::setRefCurrents ( const double * currs )

overridevirtual

Set the reference value of the currents for all motors.

Parameters

currs the array containing the reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2768 of file RemoteControlBoard.cpp.

◆ setRefCurrents() [2/2]

bool RemoteControlBoard::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

overridevirtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array containing the list of motor numbers
currs	pointer to the array specifying the new current references

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2799 of file RemoteControlBoard.cpp.

◆ setRefDutyCycle()

bool RemoteControlBoard::setRefDutyCycle	(	int	m,
		double	ref
	)

overridevirtual

Sets the reference dutycycle to a single motor.

Parameters

m	motor number
ref	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2850 of file RemoteControlBoard.cpp.

◆ setRefDutyCycles()

bool RemoteControlBoard::setRefDutyCycles ( const double * refs )

overridevirtual

Sets the reference dutycycle for all the motors.

Parameters

refs	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 2870 of file RemoteControlBoard.cpp.

◆ setRefSpeed()

bool RemoteControlBoard::setRefSpeed	(	int	j,
		double	sp
	)

overridevirtual

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

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1772 of file RemoteControlBoard.cpp.

◆ setRefSpeeds() [1/2]

bool RemoteControlBoard::setRefSpeeds ( const double * spds )

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1782 of file RemoteControlBoard.cpp.

◆ setRefSpeeds() [2/2]

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

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1777 of file RemoteControlBoard.cpp.

◆ setRefTorque()

bool RemoteControlBoard::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

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

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2135 of file RemoteControlBoard.cpp.

◆ setRefTorques() [1/2]

bool RemoteControlBoard::setRefTorques ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 2116 of file RemoteControlBoard.cpp.

◆ setRefTorques() [2/2]

bool RemoteControlBoard::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 2155 of file RemoteControlBoard.cpp.

◆ setRemoteVariable()

bool RemoteControlBoard::setRemoteVariable	(	std::string	key,
		const yarp::os::Bottle &	val
	)

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 1502 of file RemoteControlBoard.cpp.

◆ setTemperatureLimit()

bool RemoteControlBoard::setTemperatureLimit	(	int	m,
		const double	temp
	)

overridevirtual

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)

Parameters

m	motor number
temp	the temperature limit to be set

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 1558 of file RemoteControlBoard.cpp.

◆ setValWithPidType() [1/2]

bool RemoteControlBoard::setValWithPidType	(	int	voc,
		PidControlTypeEnum	type,
		const double *	val_arr
	)

protected

Definition at line 651 of file RemoteControlBoard.cpp.

◆ setValWithPidType() [2/2]

bool RemoteControlBoard::setValWithPidType	(	int	voc,
		PidControlTypeEnum	type,
		int	axis,
		double	val
	)

protected

Definition at line 635 of file RemoteControlBoard.cpp.

◆ setVelLimits()

bool RemoteControlBoard::setVelLimits	(	int	axis,
		double	min,
		double	max
	)

overridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 2011 of file RemoteControlBoard.cpp.

◆ stop() [1/3]

bool RemoteControlBoard::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1856 of file RemoteControlBoard.cpp.

◆ stop() [2/3]

bool RemoteControlBoard::stop	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1837 of file RemoteControlBoard.cpp.

◆ stop() [3/3]

bool RemoteControlBoard::stop ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 1832 of file RemoteControlBoard.cpp.

◆ velocityMove() [1/3]

bool RemoteControlBoard::velocityMove ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 1905 of file RemoteControlBoard.cpp.

◆ velocityMove() [2/3]

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

overridevirtual

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

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer 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 2530 of file RemoteControlBoard.cpp.

◆ velocityMove() [3/3]

bool RemoteControlBoard::velocityMove	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 1889 of file RemoteControlBoard.cpp.

Member Data Documentation

◆ command_buffer

yarp::os::PortWriterBuffer<CommandMessage> RemoteControlBoard::command_buffer

protected

Definition at line 91 of file RemoteControlBoard.h.

◆ command_p

yarp::os::Port RemoteControlBoard::command_p

protected

Definition at line 87 of file RemoteControlBoard.h.

◆ diagnosticThread

DiagnosticThread* RemoteControlBoard::diagnosticThread {nullptr}

protected

Definition at line 88 of file RemoteControlBoard.h.

◆ extendedIntputStatePort

StateExtendedInputPort RemoteControlBoard::extendedIntputStatePort

protected

Definition at line 98 of file RemoteControlBoard.h.

◆ extendedPortMutex

std::mutex RemoteControlBoard::extendedPortMutex

protected

Definition at line 99 of file RemoteControlBoard.h.

◆ last_singleJoint

yarp::dev::impl::jointData RemoteControlBoard::last_singleJoint

protected

Definition at line 100 of file RemoteControlBoard.h.

◆ last_wholePart

yarp::dev::impl::jointData RemoteControlBoard::last_wholePart

protected

Definition at line 102 of file RemoteControlBoard.h.

◆ lastStamp

Stamp RemoteControlBoard::lastStamp

mutableprotected

Definition at line 104 of file RemoteControlBoard.h.

◆ nj

size_t RemoteControlBoard::nj {0}

protected

Definition at line 105 of file RemoteControlBoard.h.

◆ njIsKnown

bool RemoteControlBoard::njIsKnown {false}

protected

Definition at line 106 of file RemoteControlBoard.h.

◆ protocolVersion

ProtocolVersion RemoteControlBoard::protocolVersion

protected

Definition at line 108 of file RemoteControlBoard.h.

◆ rpc_p

yarp::os::Port RemoteControlBoard::rpc_p

protected

Definition at line 86 of file RemoteControlBoard.h.

◆ state_buffer

yarp::os::PortReaderBuffer<yarp::sig::Vector> RemoteControlBoard::state_buffer

protected

Definition at line 90 of file RemoteControlBoard.h.

◆ writeStrict_moreJoints

bool RemoteControlBoard::writeStrict_moreJoints {false}

protected

Definition at line 93 of file RemoteControlBoard.h.

◆ writeStrict_singleJoint

bool RemoteControlBoard::writeStrict_singleJoint {true}

protected

Definition at line 92 of file RemoteControlBoard.h.

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

src/devices/networkWrappers/RemoteControlBoard/RemoteControlBoard.h
src/devices/networkWrappers/RemoteControlBoard/RemoteControlBoard.cpp

Protected Attributes
yarp::os::Port	rpc_p

yarp::os::Port	command_p

DiagnosticThread *	diagnosticThread {nullptr}

yarp::os::PortReaderBuffer< yarp::sig::Vector >	state_buffer

yarp::os::PortWriterBuffer< CommandMessage >	command_buffer

bool	writeStrict_singleJoint {true}

bool	writeStrict_moreJoints {false}

StateExtendedInputPort	extendedIntputStatePort

std::mutex	extendedPortMutex

yarp::dev::impl::jointData	last_singleJoint

yarp::dev::impl::jointData	last_wholePart

Stamp	lastStamp

size_t	nj {0}

bool	njIsKnown {false}

ProtocolVersion	protocolVersion

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RemoteControlBoard() [1/3]

◆ RemoteControlBoard() [2/3]

◆ RemoteControlBoard() [3/3]

◆ ~RemoteControlBoard()

Member Function Documentation

◆ abortCalibration()

◆ abortPark()

◆ calibrateAxisWithParams()

◆ calibrateRobot()

◆ calibrateSingleJoint()

◆ calibrateWholePart()

◆ calibrationDone()

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ checkProtocolVersion()

◆ close()

◆ disableAmp()

◆ disablePid()

◆ enableAmp()

◆ enablePid()

◆ get1V1B()

◆ get1V1D()

◆ get1V1DA()

◆ get1V1I()

◆ get1V1I1B()

◆ get1V1I1D()

◆ get1V1I1I()

◆ get1V1I1IA1B()

◆ get1V1I1IA1DA()

◆ get1V1I1S()

◆ get1V1I2D()

◆ get1VDA()

◆ get1VIA()

◆ get2V1DA()

◆ get2V1I1D()

◆ get2V1I1IA1DA()

◆ get2V1I2D()

◆ get2V2DA()

◆ getAmpStatus() [1/2]

◆ getAmpStatus() [2/2]

◆ getAxes()

◆ getAxisName()

◆ getControlMode()

◆ getControlModes() [1/2]

◆ getControlModes() [2/2]

◆ getCurrent()

◆ getCurrentImpedanceLimit()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getDutyCycle()

◆ getDutyCycles()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getGearboxRatio()

◆ getImpedance()

◆ getImpedanceOffset()

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ getJointType()

◆ getLastInputStamp()

◆ getLastJointFault()

◆ getLimits()

◆ getMaxCurrent()

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()