Yet Another Robot Platform
SubDevice Class Reference

#include <ControlBoardWrapper/SubDevice.h>

Public Member Functions

 SubDevice ()=default
bool attach (yarp::dev::PolyDriver *d, const std::string &id)
void detach ()
bool configure (size_t wbase, size_t wtop, size_t base, size_t top, size_t axes, const std::string &id, const std::string &_parentName)
bool isAttached () const

Public Attributes

std::string id
size_t base {static_cast<size_t>(-1)}
size_t top {static_cast<size_t>(-1)}
size_t wbase
size_t wtop
size_t axes {0}
size_t totalAxis
bool configuredF {false}
std::string parentName
yarp::dev::PolyDriversubdevice {nullptr}
yarp::dev::IPidControlpid {nullptr}
yarp::dev::IPositionControlpos {nullptr}
yarp::dev::IVelocityControlvel {nullptr}
yarp::dev::IEncodersTimediJntEnc {nullptr}
yarp::dev::IMotorEncodersiMotEnc {nullptr}
yarp::dev::IAmplifierControlamp {nullptr}
yarp::dev::IControlLimitslim {nullptr}
yarp::dev::IControlCalibrationcalib {nullptr}
yarp::dev::IPreciselyTimediTimed {nullptr}
yarp::dev::ITorqueControliTorque {nullptr}
yarp::dev::IImpedanceControliImpedance {nullptr}
yarp::dev::IControlModeiMode {nullptr}
yarp::dev::IAxisInfoinfo {nullptr}
yarp::dev::IPositionDirectposDir {nullptr}
yarp::dev::IInteractionModeiInteract {nullptr}
yarp::dev::IMotorimotor {nullptr}
yarp::dev::IRemoteVariablesiVar {nullptr}
yarp::dev::IPWMControliPWM {nullptr}
yarp::dev::ICurrentControliCurr {nullptr}
yarp::sig::Vector subDev_joint_encoders
yarp::sig::Vector jointEncodersTimes
yarp::sig::Vector subDev_motor_encoders
yarp::sig::Vector motorEncodersTimes

Detailed Description

Definition at line 51 of file SubDevice.h.

Constructor & Destructor Documentation

◆ SubDevice()

SubDevice::SubDevice ( )

Member Function Documentation

◆ attach()

bool SubDevice::attach ( yarp::dev::PolyDriver d,
const std::string &  id 

Definition at line 84 of file SubDevice.cpp.

◆ configure()

bool SubDevice::configure ( size_t  wbase,
size_t  wtop,
size_t  base,
size_t  top,
size_t  axes,
const std::string &  id,
const std::string &  _parentName 

Definition at line 23 of file SubDevice.cpp.

◆ detach()

void SubDevice::detach ( )

Definition at line 60 of file SubDevice.cpp.

◆ isAttached()

bool SubDevice::isAttached ( ) const

Definition at line 99 of file SubDevice.h.

Member Data Documentation

◆ amp

yarp::dev::IAmplifierControl* SubDevice::amp {nullptr}

Definition at line 72 of file SubDevice.h.

◆ axes

size_t SubDevice::axes {0}

Definition at line 59 of file SubDevice.h.

◆ base

size_t SubDevice::base {static_cast<size_t>(-1)}

Definition at line 55 of file SubDevice.h.

◆ calib

yarp::dev::IControlCalibration* SubDevice::calib {nullptr}

Definition at line 74 of file SubDevice.h.

◆ configuredF

bool SubDevice::configuredF {false}

Definition at line 62 of file SubDevice.h.

◆ iCurr

yarp::dev::ICurrentControl* SubDevice::iCurr {nullptr}

Definition at line 85 of file SubDevice.h.

◆ id

std::string SubDevice::id

Definition at line 54 of file SubDevice.h.

◆ iImpedance

yarp::dev::IImpedanceControl* SubDevice::iImpedance {nullptr}

Definition at line 77 of file SubDevice.h.

◆ iInteract

yarp::dev::IInteractionMode* SubDevice::iInteract {nullptr}

Definition at line 81 of file SubDevice.h.

◆ iJntEnc

yarp::dev::IEncodersTimed* SubDevice::iJntEnc {nullptr}

Definition at line 70 of file SubDevice.h.

◆ iMode

yarp::dev::IControlMode* SubDevice::iMode {nullptr}

Definition at line 78 of file SubDevice.h.

◆ iMotEnc

yarp::dev::IMotorEncoders* SubDevice::iMotEnc {nullptr}

Definition at line 71 of file SubDevice.h.

◆ imotor

yarp::dev::IMotor* SubDevice::imotor {nullptr}

Definition at line 82 of file SubDevice.h.

◆ info

yarp::dev::IAxisInfo* SubDevice::info {nullptr}

Definition at line 79 of file SubDevice.h.

◆ iPWM

yarp::dev::IPWMControl* SubDevice::iPWM {nullptr}

Definition at line 84 of file SubDevice.h.

◆ iTimed

yarp::dev::IPreciselyTimed* SubDevice::iTimed {nullptr}

Definition at line 75 of file SubDevice.h.

◆ iTorque

yarp::dev::ITorqueControl* SubDevice::iTorque {nullptr}

Definition at line 76 of file SubDevice.h.

◆ iVar

yarp::dev::IRemoteVariables* SubDevice::iVar {nullptr}

Definition at line 83 of file SubDevice.h.

◆ jointEncodersTimes

yarp::sig::Vector SubDevice::jointEncodersTimes

Definition at line 88 of file SubDevice.h.

◆ lim

yarp::dev::IControlLimits* SubDevice::lim {nullptr}

Definition at line 73 of file SubDevice.h.

◆ motorEncodersTimes

yarp::sig::Vector SubDevice::motorEncodersTimes

Definition at line 90 of file SubDevice.h.

◆ parentName

std::string SubDevice::parentName

Definition at line 64 of file SubDevice.h.

◆ pid

yarp::dev::IPidControl* SubDevice::pid {nullptr}

Definition at line 67 of file SubDevice.h.

◆ pos

yarp::dev::IPositionControl* SubDevice::pos {nullptr}

Definition at line 68 of file SubDevice.h.

◆ posDir

yarp::dev::IPositionDirect* SubDevice::posDir {nullptr}

Definition at line 80 of file SubDevice.h.

◆ subDev_joint_encoders

yarp::sig::Vector SubDevice::subDev_joint_encoders

Definition at line 87 of file SubDevice.h.

◆ subDev_motor_encoders

yarp::sig::Vector SubDevice::subDev_motor_encoders

Definition at line 89 of file SubDevice.h.

◆ subdevice

yarp::dev::PolyDriver* SubDevice::subdevice {nullptr}

Definition at line 66 of file SubDevice.h.

◆ top

size_t SubDevice::top {static_cast<size_t>(-1)}

Definition at line 56 of file SubDevice.h.

◆ totalAxis

size_t SubDevice::totalAxis

Definition at line 60 of file SubDevice.h.

◆ vel

yarp::dev::IVelocityControl* SubDevice::vel {nullptr}

Definition at line 69 of file SubDevice.h.

◆ wbase

size_t SubDevice::wbase

Definition at line 57 of file SubDevice.h.

◆ wtop

size_t SubDevice::wtop

Definition at line 58 of file SubDevice.h.

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