yarp::dev::IEncodersRaw Class Reference

Control board, encoder interface. More...

#include <yarp/dev/IEncoders.h>

Inheritance diagram for yarp::dev::IEncodersRaw:

Public Member Functions
virtual	~IEncodersRaw ()
	Destructor.
virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes.
virtual bool	resetEncoderRaw (int j)=0
	Reset encoder, single joint.
virtual bool	resetEncodersRaw ()=0
	Reset encoders.
virtual bool	setEncoderRaw (int j, double val)=0
	Set the value of the encoder for a given joint.
virtual bool	setEncodersRaw (const double *vals)=0
	Set the value of all encoders.
virtual bool	getEncoderRaw (int j, double *v)=0
	Read the value of an encoder.
virtual bool	getEncodersRaw (double *encs)=0
	Read the position of all axes.
virtual bool	getEncoderSpeedRaw (int j, double *sp)=0
	Read the instantaneous speed of an axis.
virtual bool	getEncoderSpeedsRaw (double *spds)=0
	Read the instantaneous acceleration of an axis.
virtual bool	getEncoderAccelerationRaw (int j, double *spds)=0
	Read the instantaneous acceleration of an axis.
virtual bool	getEncoderAccelerationsRaw (double *accs)=0
	Read the instantaneous acceleration of all axes.

Detailed Description

Control board, encoder interface.

Definition at line 22 of file IEncoders.h.

Constructor & Destructor Documentation

~IEncodersRaw()

virtual yarp::dev::IEncodersRaw::~IEncodersRaw ( )

inlinevirtual

Destructor.

Definition at line 28 of file IEncoders.h.

Member Function Documentation

getAxes()

virtual bool yarp::dev::IEncodersRaw::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 FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncoderAccelerationRaw()

virtual bool yarp::dev::IEncodersRaw::getEncoderAccelerationRaw ( int  j, double *  spds  )

pure virtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncoderAccelerationsRaw()

virtual bool yarp::dev::IEncodersRaw::getEncoderAccelerationsRaw ( double *  accs )

pure virtual

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.

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncoderRaw()

virtual bool yarp::dev::IEncodersRaw::getEncoderRaw ( int  j, double *  v  )

pure virtual

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?)

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncoderSpeedRaw()

virtual bool yarp::dev::IEncodersRaw::getEncoderSpeedRaw ( int  j, double *  sp  )

pure virtual

Read the instantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns

true if successful, false ... otherwise.

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncoderSpeedsRaw()

virtual bool yarp::dev::IEncodersRaw::getEncoderSpeedsRaw ( double *  spds )

pure virtual

Read the instantaneous acceleration of an axis.

Parameters

spds	pointer to storage for the output values

Returns

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

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

getEncodersRaw()

virtual bool yarp::dev::IEncodersRaw::getEncodersRaw ( double *  encs )

pure virtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns

true/false on success/failure

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

resetEncoderRaw()

virtual bool yarp::dev::IEncodersRaw::resetEncoderRaw ( int  j )

pure virtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns

true/false

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

resetEncodersRaw()

virtual bool yarp::dev::IEncodersRaw::resetEncodersRaw ( )

pure virtual

Reset encoders.

Set the encoders value to zero

Returns

true/false

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

setEncoderRaw()

virtual bool yarp::dev::IEncodersRaw::setEncoderRaw ( int  j, double  val  )

pure virtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns

true/false

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

setEncodersRaw()

virtual bool yarp::dev::IEncodersRaw::setEncodersRaw ( const double *  vals )

pure virtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns

true/false

Implemented in FakeLaserWithMotor, FakeMotionControl, FakeMotionControlMicro, and yarp::dev::StubImplEncodersRaw.

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

• src/libYARP_dev/src/yarp/dev/IEncoders.h