yarp::dev::IRemoteCalibrator Class Reference

IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

#include <yarp/dev/IRemoteCalibrator.h>

Inheritance diagram for yarp::dev::IRemoteCalibrator:

Public Member Functions
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job.
virtual	~IRemoteCalibrator ()=default
virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device.
virtual yarp::dev::IRemoteCalibrator *	getCalibratorDevice ()
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice
virtual bool	isCalibratorDevicePresent (bool *isCalib)
	isCalibratorDevicePresent: check if a calibrator device has been set
virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator
virtual bool	calibrateSingleJoint (int j)=0
	calibrateSingleJoint: call the calibration procedure for the single joint
virtual bool	calibrateWholePart ()=0
	calibrateWholePart: call the procedure for calibrating the whole device
virtual bool	homingSingleJoint (int j)=0
	homingSingleJoint: call the homing procedure for a single joint
virtual bool	homingWholePart ()=0
	homingWholePart: call the homing procedure for a the whole part/device
virtual bool	parkSingleJoint (int j, bool _wait=true)=0
	parkSingleJoint(): start the parking procedure for the single joint
virtual bool	parkWholePart ()=0
	parkWholePart: start the parking procedure for the whole part
virtual bool	quitCalibrate ()=0
	quitCalibrate: interrupt the calibration procedure
virtual bool	quitPark ()=0
	quitPark: interrupt the park procedure

Detailed Description

IRemoteCalibrator interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job.

Main difference between this interface and remotizing the iControlCalibration interfaces is that in this case we are calling a proper iCalibrator device (whose interface is described above) that knows the correct procedure and the correct parameters for the calibration, so that user doesn't have to worry about configuration. This is meant to be used by network wrapper devices

Definition at line 27 of file IRemoteCalibrator.h.

Constructor & Destructor Documentation

IRemoteCalibrator()

IRemoteCalibrator::IRemoteCalibrator

(

)

This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job.

Main difference between this interface and remotizing the iControlCalibration interfaces is that in this case we are calling a proper iCalibrator device that knows the correct procedure and the correct parameters for the calibration, so that user doesn't have to worry about configuration parameters.

Definition at line 20 of file IRemoteCalibrator.cpp.

~IRemoteCalibrator()

virtual yarp::dev::IRemoteCalibrator::~IRemoteCalibrator ( )

virtualdefault

Member Function Documentation

calibrateSingleJoint()

virtual bool yarp::dev::IRemoteCalibrator::calibrateSingleJoint ( int  j )

pure virtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters

j	joint to be calibrated

Returns

true if calibration was successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

calibrateWholePart()

virtual bool yarp::dev::IRemoteCalibrator::calibrateWholePart ( )

pure virtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns

true if calibration was successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

getCalibratorDevice()

IRemoteCalibrator * IRemoteCalibrator::getCalibratorDevice ( )

virtual

getCalibratorDevice: return the pointer stored with the setCalibratorDevice

Returns

yarp::dev::IRemotizableCalibrator pointer or NULL if not valid.

Reimplemented in ControlBoardRemapper.

Definition at line 31 of file IRemoteCalibrator.cpp.

homingSingleJoint()

virtual bool yarp::dev::IRemoteCalibrator::homingSingleJoint ( int  j )

pure virtual

homingSingleJoint: call the homing procedure for a single joint

Parameters

j	joint to be calibrated

Returns

true if homing was successful, false otherwise

Implemented in ControlBoardRemapper, and RemoteControlBoard.

homingWholePart()

virtual bool yarp::dev::IRemoteCalibrator::homingWholePart ( )

pure virtual

homingWholePart: call the homing procedure for a the whole part/device

Returns

true if homing was successful, false otherwise

Implemented in ControlBoardRemapper, and RemoteControlBoard.

isCalibratorDevicePresent()

bool IRemoteCalibrator::isCalibratorDevicePresent ( bool *  isCalib )

virtual

isCalibratorDevicePresent: check if a calibrator device has been set

Returns

true if a valid calibrator device has been found

Reimplemented in ControlBoardRemapper, and RemoteControlBoard.

Definition at line 36 of file IRemoteCalibrator.cpp.

parkSingleJoint()

virtual bool yarp::dev::IRemoteCalibrator::parkSingleJoint ( int  j, bool  _wait = true  )

pure virtual

parkSingleJoint(): start the parking procedure for the single joint

Returns

true if successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

parkWholePart()

virtual bool yarp::dev::IRemoteCalibrator::parkWholePart ( )

pure virtual

parkWholePart: start the parking procedure for the whole part

Returns

true if successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

quitCalibrate()

virtual bool yarp::dev::IRemoteCalibrator::quitCalibrate ( )

pure virtual

quitCalibrate: interrupt the calibration procedure

Returns

true if successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

quitPark()

virtual bool yarp::dev::IRemoteCalibrator::quitPark ( )

pure virtual

quitPark: interrupt the park procedure

Returns

true if successful

Implemented in ControlBoardRemapper, and RemoteControlBoard.

releaseCalibratorDevice()

void IRemoteCalibrator::releaseCalibratorDevice ( )

virtual

releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator

Definition at line 42 of file IRemoteCalibrator.cpp.

setCalibratorDevice()

bool IRemoteCalibrator::setCalibratorDevice ( yarp::dev::IRemoteCalibrator *  dev )

virtual

setCalibratorDevice: store the pointer to the calibrator device.

Has a default implementation and it is meant to be called only by wrapper devices attached to the calibrator. It will be not used by remote device like remoteControlBoard.

Parameters

dev	device implementing the IRemotizableCalibrator interface

Returns

true on success

Definition at line 25 of file IRemoteCalibrator.cpp.

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

• src/libYARP_dev/src/yarp/dev/IRemoteCalibrator.h
• src/libYARP_dev/src/yarp/dev/IRemoteCalibrator.cpp