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

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

#include <yarp/dev/IImpedanceControl.h>

+ Inheritance diagram for yarp::dev::IImpedanceControlRaw:

Public Member Functions

virtual ~IImpedanceControlRaw ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool getImpedanceRaw (int j, double *stiffness, double *damping)=0
 Get current impedance parameters (stiffness,damping,offset) for a specific joint. More...
 
virtual bool setImpedanceRaw (int j, double stiffness, double damping)=0
 Set current impedance parameters (stiffness,damping) for a specific joint. More...
 
virtual bool setImpedanceOffsetRaw (int j, double offset)=0
 Set current force Offset for a specific joint. More...
 
virtual bool getImpedanceOffsetRaw (int j, double *offset)=0
 Get current force Offset for a specific joint. More...
 
virtual bool getCurrentImpedanceLimitRaw (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0
 Get the current impedandance limits for a specific joint. More...
 

Detailed Description

Interface for control boards implementing impedance control.

Definition at line 22 of file IImpedanceControl.h.

Constructor & Destructor Documentation

◆ ~IImpedanceControlRaw()

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

Destructor.

Definition at line 28 of file IImpedanceControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IImpedanceControlRaw::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 FakeMotionControl.

◆ getCurrentImpedanceLimitRaw()

virtual bool yarp::dev::IImpedanceControlRaw::getCurrentImpedanceLimitRaw ( 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 FakeMotionControl.

◆ getImpedanceOffsetRaw()

virtual bool yarp::dev::IImpedanceControlRaw::getImpedanceOffsetRaw ( int  j,
double *  offset 
)
pure virtual

Get current force Offset for a specific joint.

Returns
success/failure

Implemented in FakeMotionControl.

◆ getImpedanceRaw()

virtual bool yarp::dev::IImpedanceControlRaw::getImpedanceRaw ( int  j,
double *  stiffness,
double *  damping 
)
pure virtual

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

Returns
success/failure

Implemented in FakeMotionControl.

◆ setImpedanceOffsetRaw()

virtual bool yarp::dev::IImpedanceControlRaw::setImpedanceOffsetRaw ( int  j,
double  offset 
)
pure virtual

Set current force Offset for a specific joint.

Returns
success/failure

Implemented in FakeMotionControl.

◆ setImpedanceRaw()

virtual bool yarp::dev::IImpedanceControlRaw::setImpedanceRaw ( int  j,
double  stiffness,
double  damping 
)
pure virtual

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

Returns
success/failure

Implemented in FakeMotionControl.


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