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

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. More...
 
virtual ~IRemoteCalibrator ()=default
 
virtual bool setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
 setCalibratorDevice: store the pointer to the calibrator device. More...
 
virtual yarp::dev::IRemoteCalibratorgetCalibratorDevice ()
 getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...
 
virtual bool isCalibratorDevicePresent (bool *isCalib)
 isCalibratorDevicePresent: check if a calibrator device has been set More...
 
virtual void releaseCalibratorDevice ()
 releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...
 
virtual bool calibrateSingleJoint (int j)=0
 calibrateSingleJoint: call the calibration procedure for the single joint More...
 
virtual bool calibrateWholePart ()=0
 calibrateWholePart: call the procedure for calibrating the whole device More...
 
virtual bool homingSingleJoint (int j)=0
 homingSingleJoint: call the homing procedure for a single joint More...
 
virtual bool homingWholePart ()=0
 homingWholePart: call the homing procedure for a the whole part/device More...
 
virtual bool parkSingleJoint (int j, bool _wait=true)=0
 parkSingleJoint(): start the parking procedure for the single joint More...
 
virtual bool parkWholePart ()=0
 parkWholePart: start the parking procedure for the whole part More...
 
virtual bool quitCalibrate ()=0
 quitCalibrate: interrupt the calibration procedure More...
 
virtual bool quitPark ()=0
 quitPark: interrupt the park procedure More...
 

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 25 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
jjoint to be calibrated
Returns
true if calibration was successful

Implemented in ControlBoardRemapper, ControlBoardWrapperRemoteCalibrator, 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, ControlBoardWrapperRemoteCalibrator, 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, and ControlBoardWrapperRemoteCalibrator.

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
jjoint to be calibrated
Returns
true if homing was successful, false otherwise

Implemented in ControlBoardRemapper, ControlBoardWrapperRemoteCalibrator, 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, ControlBoardWrapperRemoteCalibrator, 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, ControlBoardWrapperRemoteCalibrator, 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, ControlBoardWrapperRemoteCalibrator, 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, ControlBoardWrapperRemoteCalibrator, and RemoteControlBoard.

◆ quitCalibrate()

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

quitCalibrate: interrupt the calibration procedure

Returns
true if successful

Implemented in ControlBoardRemapper, ControlBoardWrapperRemoteCalibrator, and RemoteControlBoard.

◆ quitPark()

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

quitPark: interrupt the park procedure

Returns
true if successful

Implemented in ControlBoardRemapper, ControlBoardWrapperRemoteCalibrator, 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
devdevice implementing the IRemotizableCalibrator interface
Returns
true on success

Definition at line 25 of file IRemoteCalibrator.cpp.


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