yarp::dev::IImpedanceControl Class Reference

Interface for control boards implementing impedance control. More...

#include <yarp/dev/IImpedanceControl.h>

Inheritance diagram for yarp::dev::IImpedanceControl:

Public Member Functions
virtual	~IImpedanceControl ()
	Destructor.
virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes.
virtual bool	getImpedance (int j, double *stiffness, double *damping)=0
	Get current impedance gains (stiffness,damping,offset) for a specific joint.
virtual bool	setImpedance (int j, double stiffness, double damping)=0
	Set current impedance gains (stiffness,damping) for a specific joint.
virtual bool	setImpedanceOffset (int j, double offset)=0
	Set current force Offset for a specific joint.
virtual bool	getImpedanceOffset (int j, double *offset)=0
	Get current force Offset for a specific joint.
virtual bool	getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0
	Get the current impedandance limits for a specific joint.

Detailed Description

Interface for control boards implementing impedance control.

Definition at line 69 of file IImpedanceControl.h.

Constructor & Destructor Documentation

~IImpedanceControl()

virtual yarp::dev::IImpedanceControl::~IImpedanceControl ( )

inlinevirtual

Destructor.

Definition at line 75 of file IImpedanceControl.h.

Member Function Documentation

getAxes()

virtual bool yarp::dev::IImpedanceControl::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 ControlBoardRemapper, FakeMotionControl, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

getCurrentImpedanceLimit()

virtual bool yarp::dev::IImpedanceControl::getCurrentImpedanceLimit ( int  j, double *  min_stiff, double *  max_stiff, double *  min_damp, double *  max_damp  )

pure virtual

Get the current impedandance limits for a specific joint.

Returns

success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

getImpedance()

virtual bool yarp::dev::IImpedanceControl::getImpedance ( int  j, double *  stiffness, double *  damping  )

pure virtual

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

Returns

success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

getImpedanceOffset()

virtual bool yarp::dev::IImpedanceControl::getImpedanceOffset ( int  j, double *  offset  )

pure virtual

Get current force Offset for a specific joint.

Returns

success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

setImpedance()

virtual bool yarp::dev::IImpedanceControl::setImpedance ( int  j, double  stiffness, double  damping  )

pure virtual

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

Returns

success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

setImpedanceOffset()

virtual bool yarp::dev::IImpedanceControl::setImpedanceOffset ( int  j, double  offset  )

pure virtual

Set current force Offset for a specific joint.

Returns

success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementImpedanceControl.

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

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