Interface for control boards implementing velocity control. More...

#include <yarp/dev/IVelocityControl.h>

Inheritance diagram for yarp::dev::IVelocityControl:

Public Member Functions
virtual	~IVelocityControl ()
	Destructor.

virtual bool	getAxes (int *axes)=0
	Get the number of controlled axes.

virtual bool	velocityMove (int j, double sp)=0
	Start motion at a given speed, single joint.

virtual bool	velocityMove (const double *sp)=0
	Start motion at a given speed, multiple joints.

virtual bool	setRefAcceleration (int j, double acc)=0
	Set reference acceleration for a joint.

virtual bool	setRefAccelerations (const double *accs)=0
	Set reference acceleration on all joints.

virtual bool	getRefAcceleration (int j, double *acc)=0
	Get reference acceleration for a joint.

virtual bool	getRefAccelerations (double *accs)=0
	Get reference acceleration of all joints.

virtual bool	stop (int j)=0
	Stop motion, single joint.

virtual bool	stop ()=0
	Stop motion, multiple joints.

virtual bool	velocityMove (const int n_joint, const int joints, const double spds)=0
	Start motion at a given speed for a subset of joints.

virtual bool	getRefVelocity (const int joint, double *vel)
	Get the last reference speed set by velocityMove for single joint.

virtual bool	getRefVelocities (double *vels)
	Get the last reference speed set by velocityMove for all joints.

virtual bool	getRefVelocities (const int n_joint, const int joints, double vels)
	Get the last reference speed set by velocityMove for a group of joints.

virtual bool	setRefAccelerations (const int n_joint, const int joints, const double accs)=0
	Set reference acceleration for a subset of joints.

virtual bool	getRefAccelerations (const int n_joint, const int joints, double accs)=0
	Get reference acceleration for a subset of joints.

virtual bool	stop (const int n_joint, const int *joints)=0
	Stop motion for a subset of joints.

Detailed Description

Interface for control boards implementing velocity control.

Definition at line 154 of file IVelocityControl.h.

Constructor & Destructor Documentation

◆ ~IVelocityControl()

virtual yarp::dev::IVelocityControl::~IVelocityControl ( )

inlinevirtual

Destructor.

Definition at line 160 of file IVelocityControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::IVelocityControl::getAxes ( int * axes )

pure virtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface. parame axes pointer to storage

Returns: true/false.

Implemented in ControlBoardRemapper, FakeBot, FakeLaserWithMotor, FakeMotionControl, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ getRefAcceleration()

virtual bool yarp::dev::IVelocityControl::getRefAcceleration	(	int	j,
		double *	acc
	)

pure virtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ getRefAccelerations() [1/2]

virtual bool yarp::dev::IVelocityControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

pure virtual

Get reference acceleration for a subset of joints.

These are the values used during the interpolation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array 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 accs 10 30 40

Returns: true/false on success/failure

Implemented in FakeBot, RemoteControlBoard, yarp::dev::ImplementVelocityControl, and ControlBoardRemapper.

◆ getRefAccelerations() [2/2]

virtual bool yarp::dev::IVelocityControl::getRefAccelerations ( double * accs )

pure virtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ getRefVelocities() [1/2]

virtual bool yarp::dev::IVelocityControl::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

inlinevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

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

Definition at line 259 of file IVelocityControl.h.

◆ getRefVelocities() [2/2]

virtual bool yarp::dev::IVelocityControl::getRefVelocities ( double * vels )

inlinevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

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

Definition at line 250 of file IVelocityControl.h.

◆ getRefVelocity()

virtual bool yarp::dev::IVelocityControl::getRefVelocity	(	const int	joint,
		double *	vel
	)

inlinevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

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

Definition at line 244 of file IVelocityControl.h.

◆ setRefAcceleration()

virtual bool yarp::dev::IVelocityControl::setRefAcceleration	(	int	j,
		double	acc
	)

pure virtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ setRefAccelerations() [1/2]

virtual bool yarp::dev::IVelocityControl::setRefAccelerations ( const double * accs )

pure virtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ setRefAccelerations() [2/2]

virtual bool yarp::dev::IVelocityControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

pure virtual

Set reference acceleration for a subset of joints.

This is the valure that is used during the generation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array 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 accs 10 30 40

Returns: true/false on success/failure

Implemented in FakeBot, RemoteControlBoard, yarp::dev::ImplementVelocityControl, and ControlBoardRemapper.

◆ stop() [1/3]

virtual bool yarp::dev::IVelocityControl::stop ( )

pure virtual

Stop motion, multiple joints.

Returns: true/false on success or failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ stop() [2/3]

virtual bool yarp::dev::IVelocityControl::stop	(	const int	n_joint,
		const int *	joints
	)

pure virtual

Stop motion for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	joints pointer to the array of joint numbers

Returns: true/false on success or failure

Implemented in RemoteControlBoard, FakeBot, yarp::dev::ImplementVelocityControl, and ControlBoardRemapper.

◆ stop() [3/3]

virtual bool yarp::dev::IVelocityControl::stop ( int j )

pure virtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success or failure

Implemented in ControlBoardRemapper, FakeBot, RemoteControlBoard, and yarp::dev::ImplementVelocityControl.

◆ velocityMove() [1/3]

virtual bool yarp::dev::IVelocityControl::velocityMove ( const double * sp )

pure virtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implemented in FakeBot, yarp::dev::ImplementVelocityControl, ControlBoardRemapper, and RemoteControlBoard.

◆ velocityMove() [2/3]

virtual bool yarp::dev::IVelocityControl::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

pure virtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer to the array containing the new speed values, one value for each joint, the size of the array 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 spds 10 30 40

Returns: true/false on success/failure

Implemented in FakeBot, RemoteControlBoard, yarp::dev::ImplementVelocityControl, and ControlBoardRemapper.

◆ velocityMove() [3/3]

virtual bool yarp::dev::IVelocityControl::velocityMove	(	int	j,
		double	sp
	)

pure virtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implemented in FakeBot, yarp::dev::ImplementVelocityControl, ControlBoardRemapper, and RemoteControlBoard.

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

src/libYARP_dev/src/yarp/dev/IVelocityControl.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~IVelocityControl()

Member Function Documentation

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefVelocities() [1/2]

◆ getRefVelocities() [2/2]

◆ getRefVelocity()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ velocityMove() [1/3]

◆ velocityMove() [2/3]

◆ velocityMove() [3/3]