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

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. More...
 
virtual bool getAxes (int *axes)=0
 Get the number of controlled axes. More...
 
virtual bool velocityMove (int j, double sp)=0
 Start motion at a given speed, single joint. More...
 
virtual bool velocityMove (const double *sp)=0
 Start motion at a given speed, multiple joints. More...
 
virtual bool setRefAcceleration (int j, double acc)=0
 Set reference acceleration for a joint. More...
 
virtual bool setRefAccelerations (const double *accs)=0
 Set reference acceleration on all joints. More...
 
virtual bool getRefAcceleration (int j, double *acc)=0
 Get reference acceleration for a joint. More...
 
virtual bool getRefAccelerations (double *accs)=0
 Get reference acceleration of all joints. More...
 
virtual bool stop (int j)=0
 Stop motion, single joint. More...
 
virtual bool stop ()=0
 Stop motion, multiple joints. More...
 
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. More...
 
virtual bool getRefVelocity (const int joint, double *vel)
 Get the last reference speed set by velocityMove for single joint. More...
 
virtual bool getRefVelocities (double *vels)
 Get the last reference speed set by velocityMove for all joints. More...
 
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. More...
 
virtual bool setRefAccelerations (const int n_joint, const int *joints, const double *accs)=0
 Set reference acceleration for a subset of joints. More...
 
virtual bool getRefAccelerations (const int n_joint, const int *joints, double *accs)=0
 Get reference acceleration for a subset of joints. More...
 
virtual bool stop (const int n_joint, const int *joints)=0
 Stop motion for a subset of joints. More...
 

Detailed Description

Interface for control boards implementing velocity control.

Definition at line 156 of file IVelocityControl.h.

Constructor & Destructor Documentation

◆ ~IVelocityControl()

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

Destructor.

Definition at line 162 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 yarp::dev::ImplementVelocityControl, RemoteControlBoard, FakeMotor, FakeMotionControl, FakeBot, ControlBoardWrapperVelocityControl, and ControlBoardRemapper.

◆ 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
jjoint number
accpointer to storage for the return value
Returns
true/false on success/failure

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

◆ 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_jointhow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
accspointer 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 ControlBoardWrapperVelocityControl, ControlBoardRemapper, yarp::dev::ImplementVelocityControl, RemoteControlBoard, FakeMotor, and FakeBot.

◆ 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
accspointer to the array that will store the acceleration values.
Returns
true/false on success or failure

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

◆ 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_jointhow many joints this command is referring to
jointsof joints controlled. The size of this array is n_joints
velspointer 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 yarp::dev::ImplementVelocityControl, RemoteControlBoard, ControlBoardWrapperVelocityControl, and ControlBoardRemapper.

Definition at line 261 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
velspointer to the array containing the new speed values, one value for each joint
Returns
true/false on success/failure

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

Definition at line 252 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
jjoint number
velreturns the requested reference.
Returns
true/false on success/failure

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

Definition at line 246 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
jjoint number
accacceleration value
Returns
true/false upon success/failure

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

◆ 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
accspointer to the array of acceleration values
Returns
true/false upon success/failure

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

◆ 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_jointhow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
accspointer 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 ControlBoardWrapperVelocityControl, ControlBoardRemapper, yarp::dev::ImplementVelocityControl, RemoteControlBoard, FakeMotor, and FakeBot.

◆ stop() [1/3]

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

Stop motion, multiple joints.

Returns
true/false on success or failure

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

◆ 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_jointhow many joints this command is referring to
jointsjoints pointer to the array of joint numbers
Returns
true/false on success or failure

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

◆ stop() [3/3]

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

Stop motion, single joint.

Parameters
jjoint number
Returns
true/false on success or failure

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

◆ velocityMove() [1/3]

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

Start motion at a given speed, multiple joints.

Parameters
sppointer to the array containing the new speed values
Returns
true/false upon success/failure

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

◆ 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_jointhow many joints this command is referring to
jointsof joints controlled. The size of this array is n_joints
spdspointer 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 ControlBoardWrapperVelocityControl, ControlBoardRemapper, yarp::dev::ImplementVelocityControl, RemoteControlBoard, FakeMotor, and FakeBot.

◆ velocityMove() [3/3]

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

Start motion at a given speed, single joint.

Parameters
jjoint number
spspeed value
Returns
bool/false upone success/failure

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


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