YARP
Yet Another Robot Platform
yarp::dev::IEncoders Class Referenceabstract

Control board, encoder interface. More...

#include <yarp/dev/IEncoders.h>

+ Inheritance diagram for yarp::dev::IEncoders:

Public Member Functions

virtual ~IEncoders ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool resetEncoder (int j)=0
 Reset encoder, single joint. More...
 
virtual bool resetEncoders ()=0
 Reset encoders. More...
 
virtual bool setEncoder (int j, double val)=0
 Set the value of the encoder for a given joint. More...
 
virtual bool setEncoders (const double *vals)=0
 Set the value of all encoders. More...
 
virtual bool getEncoder (int j, double *v)=0
 Read the value of an encoder. More...
 
virtual bool getEncoders (double *encs)=0
 Read the position of all axes. More...
 
virtual bool getEncoderSpeed (int j, double *sp)=0
 Read the istantaneous speed of an axis. More...
 
virtual bool getEncoderSpeeds (double *spds)=0
 Read the instantaneous speed of all axes. More...
 
virtual bool getEncoderAcceleration (int j, double *spds)=0
 Read the instantaneous acceleration of an axis. More...
 
virtual bool getEncoderAccelerations (double *accs)=0
 Read the instantaneous acceleration of all axes. More...
 

Detailed Description

Control board, encoder interface.

Definition at line 117 of file IEncoders.h.

Constructor & Destructor Documentation

◆ ~IEncoders()

virtual yarp::dev::IEncoders::~IEncoders ( )
inlinevirtual

Destructor.

Definition at line 123 of file IEncoders.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IEncoders::getAxes ( int *  ax)
pure virtual

Get the number of controlled axes.

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

Returns
the number of controlled axes.

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeMotionControl, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoder()

virtual bool yarp::dev::IEncoders::getEncoder ( int  j,
double *  v 
)
pure virtual

Read the value of an encoder.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderAcceleration()

virtual bool yarp::dev::IEncoders::getEncoderAcceleration ( int  j,
double *  spds 
)
pure virtual

Read the instantaneous acceleration of an axis.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, RemoteControlBoard, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderAccelerations()

virtual bool yarp::dev::IEncoders::getEncoderAccelerations ( double *  accs)
pure virtual

Read the instantaneous acceleration of all axes.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoders()

virtual bool yarp::dev::IEncoders::getEncoders ( double *  encs)
pure virtual

Read the position of all axes.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderSpeed()

virtual bool yarp::dev::IEncoders::getEncoderSpeed ( int  j,
double *  sp 
)
pure virtual

Read the istantaneous speed of an axis.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ getEncoderSpeeds()

virtual bool yarp::dev::IEncoders::getEncoderSpeeds ( double *  spds)
pure virtual

Read the instantaneous speed of all axes.

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

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ resetEncoder()

virtual bool yarp::dev::IEncoders::resetEncoder ( int  j)
pure virtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ resetEncoders()

virtual bool yarp::dev::IEncoders::resetEncoders ( )
pure virtual

◆ setEncoder()

virtual bool yarp::dev::IEncoders::setEncoder ( int  j,
double  val 
)
pure virtual

Set the value of the encoder for a given joint.

Parameters
jencoder number
valnew value
Returns
true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.

◆ setEncoders()

virtual bool yarp::dev::IEncoders::setEncoders ( const double *  vals)
pure virtual

Set the value of all encoders.

Parameters
valspointer to the new values
Returns
true/false

Implemented in yarp::dev::ImplementEncodersTimed, yarp::dev::ImplementEncoders, RemoteControlBoard, FakeMotor, FakeBot, DynamixelAX12FtdiDriver, ControlBoardWrapperEncodersTimed, and ControlBoardRemapper.


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