yarp::dev::IPositionDirect Class Reference

Interface for a generic control board device implementing position control. More...

#include <yarp/dev/IPositionDirect.h>

Inheritance diagram for yarp::dev::IPositionDirect:

Public Member Functions
virtual	~IPositionDirect ()
	Destructor.
virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes.
virtual bool	setPosition (int j, double ref)=0
	Set new position for a single axis.
virtual bool	setPositions (const int n_joint, const int *joints, const double *refs)=0
	Set new reference point for all axes.
virtual bool	setPositions (const double *refs)=0
	Set new position for a set of axis.
virtual bool	getRefPosition (const int joint, double *ref)
	Get the last position reference for the specified axis.
virtual bool	getRefPositions (double *refs)
	Get the last position reference for all axes.
virtual bool	getRefPositions (const int n_joint, const int *joints, double *refs)
	Get the last position reference for the specified group of axes.

Detailed Description

Interface for a generic control board device implementing position control.

This interface is used to send high frequency streaming commands to the boards, the aim is to reach low level control in firmware bypassing the trajetory generator.

Definition at line 26 of file IPositionDirect.h.

Constructor & Destructor Documentation

~IPositionDirect()

virtual yarp::dev::IPositionDirect::~IPositionDirect ( )

inlinevirtual

Destructor.

Definition at line 33 of file IPositionDirect.h.

Member Function Documentation

getAxes()

virtual bool yarp::dev::IPositionDirect::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, yarp::dev::ImplementPositionDirect, and yarp::dev::StubImplPositionDirectRaw.

getRefPosition()

virtual bool yarp::dev::IPositionDirect::getRefPosition ( const int  joint, double *  ref  )

inlinevirtual

Get the last position reference for the specified axis.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	last reference sent using setPosition(s) functions

Returns

true/false on success/failure

Reimplemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementPositionDirect.

Definition at line 77 of file IPositionDirect.h.

getRefPositions() [1/2]

virtual bool yarp::dev::IPositionDirect::getRefPositions ( const int  n_joint, const int *  joints, double *  refs  )

inlinevirtual

Get the last position reference for the specified group of axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns

true/false on success/failure

Reimplemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementPositionDirect.

Definition at line 99 of file IPositionDirect.h.

getRefPositions() [2/2]

virtual bool yarp::dev::IPositionDirect::getRefPositions ( double *  refs )

inlinevirtual

Get the last position reference for all axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns

true/false on success/failure

Reimplemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementPositionDirect.

Definition at line 88 of file IPositionDirect.h.

setPosition()

virtual bool yarp::dev::IPositionDirect::setPosition ( int  j, double  ref  )

pure virtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns

true/false on success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, yarp::dev::ImplementPositionDirect, and yarp::dev::StubImplPositionDirectRaw.

setPositions() [1/2]

virtual bool yarp::dev::IPositionDirect::setPositions ( const double *  refs )

pure virtual

Set new position for a set of axis.

Parameters

refs	specifies the new reference points

Returns

true/false on success/failure

Implemented in ControlBoardRemapper, RemoteControlBoard, yarp::dev::ImplementPositionDirect, and yarp::dev::StubImplPositionDirectRaw.

setPositions() [2/2]

virtual bool yarp::dev::IPositionDirect::setPositions ( const int  n_joint, const int *  joints, const double *  refs  )

pure virtual

Set new reference point for all axes.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
refs	array, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40

Returns

true/false on success/failure

Implemented in RemoteControlBoard, yarp::dev::ImplementPositionDirect, yarp::dev::StubImplPositionDirectRaw, and ControlBoardRemapper.

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

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