SerialServoBoard: Documentation to be added More...

#include <SerialServoBoard/SerialServoBoard.h>

Inheritance diagram for SerialServoBoard:

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

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis.

bool	positionMove (const double *refs) override
	Set new reference point for all axes.

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

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 (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 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 double *accs) override
	Set reference acceleration on all joints.

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint.

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 (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop () override
	Stop motion, multiple joints.

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints.

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

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

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints.

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints.

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

bool	close () override
	Close the DeviceDriver.

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::IPositionControl
virtual	~IPositionControl ()
	Destructor.

virtual bool	getTargetPosition (const int joint, double *ref)
	Get the last position reference for the specified axis.

virtual bool	getTargetPositions (double *refs)
	Get the last position reference for all axes.

virtual bool	getTargetPositions (const int n_joint, const int joints, double refs)
	Get the last position reference for the specified group of axes.

Public Attributes
int	servoboard

ISerialDevice *	serial

PolyDriver	dd

bool(*	move )(int j, double ref, double positions, double speeds, ISerialDevice *serial)

double *	positions

double *	speeds

Detailed Description

SerialServoBoard: Documentation to be added

Definition at line 43 of file SerialServoBoard.h.

Member Function Documentation

◆ checkMotionDone() [1/3]

bool SerialServoBoard::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 178 of file SerialServoBoard.cpp.

◆ checkMotionDone() [2/3]

bool SerialServoBoard::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 265 of file SerialServoBoard.cpp.

◆ checkMotionDone() [3/3]

bool SerialServoBoard::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 170 of file SerialServoBoard.cpp.

◆ close()

bool SerialServoBoard::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 103 of file SerialServoBoard.cpp.

◆ getAxes()

bool SerialServoBoard::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 114 of file SerialServoBoard.cpp.

◆ getRefAcceleration()

bool SerialServoBoard::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 234 of file SerialServoBoard.cpp.

◆ getRefAccelerations() [1/2]

bool SerialServoBoard::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 281 of file SerialServoBoard.cpp.

◆ getRefAccelerations() [2/2]

bool SerialServoBoard::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 240 of file SerialServoBoard.cpp.

◆ getRefSpeed()

bool SerialServoBoard::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 216 of file SerialServoBoard.cpp.

◆ getRefSpeeds() [1/2]

bool SerialServoBoard::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 277 of file SerialServoBoard.cpp.

◆ getRefSpeeds() [2/2]

bool SerialServoBoard::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 224 of file SerialServoBoard.cpp.

◆ open()

bool SerialServoBoard::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 31 of file SerialServoBoard.cpp.

◆ positionMove() [1/3]

bool SerialServoBoard::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 142 of file SerialServoBoard.cpp.

◆ positionMove() [2/3]

bool SerialServoBoard::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 257 of file SerialServoBoard.cpp.

◆ positionMove() [3/3]

bool SerialServoBoard::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 134 of file SerialServoBoard.cpp.

◆ relativeMove() [1/3]

bool SerialServoBoard::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 160 of file SerialServoBoard.cpp.

◆ relativeMove() [2/3]

bool SerialServoBoard::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 261 of file SerialServoBoard.cpp.

◆ relativeMove() [3/3]

bool SerialServoBoard::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 152 of file SerialServoBoard.cpp.

◆ setRefAcceleration()

bool SerialServoBoard::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 204 of file SerialServoBoard.cpp.

◆ setRefAccelerations() [1/2]

bool SerialServoBoard::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 210 of file SerialServoBoard.cpp.

◆ setRefAccelerations() [2/2]

bool SerialServoBoard::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 273 of file SerialServoBoard.cpp.

◆ setRefSpeed()

bool SerialServoBoard::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 186 of file SerialServoBoard.cpp.

◆ setRefSpeeds() [1/2]

bool SerialServoBoard::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 194 of file SerialServoBoard.cpp.

◆ setRefSpeeds() [2/2]

bool SerialServoBoard::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 269 of file SerialServoBoard.cpp.

◆ stop() [1/3]

bool SerialServoBoard::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 252 of file SerialServoBoard.cpp.

◆ stop() [2/3]

bool SerialServoBoard::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 285 of file SerialServoBoard.cpp.

◆ stop() [3/3]

bool SerialServoBoard::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 246 of file SerialServoBoard.cpp.

Member Data Documentation

◆ dd

PolyDriver SerialServoBoard::dd

Definition at line 50 of file SerialServoBoard.h.

◆ move

bool(* SerialServoBoard::move) (int j, double ref, double *positions, double *speeds, ISerialDevice *serial)

Definition at line 52 of file SerialServoBoard.h.

◆ positions

double* SerialServoBoard::positions

Definition at line 54 of file SerialServoBoard.h.

◆ serial

ISerialDevice* SerialServoBoard::serial

Definition at line 48 of file SerialServoBoard.h.

◆ servoboard

int SerialServoBoard::servoboard

Definition at line 46 of file SerialServoBoard.h.

◆ speeds

double* SerialServoBoard::speeds

Definition at line 55 of file SerialServoBoard.h.

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

src/devices/SerialServoBoard/SerialServoBoard.h
src/devices/SerialServoBoard/SerialServoBoard.cpp

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ open()

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

Member Data Documentation

◆ dd

◆ move

◆ positions

◆ serial

◆ servoboard

◆ speeds