yarp::dev::IVelocityDirect Class Reference

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

#include <yarp/dev/IVelocityDirect.h>

Inheritance diagram for yarp::dev::IVelocityDirect:

Public Member Functions
virtual	~IVelocityDirect ()
	Destructor.
virtual yarp::dev::ReturnValue	getAxes (size_t &axes)=0
	Get the number of controlled axes.
virtual yarp::dev::ReturnValue	setDesiredVelocity (int jnt, double vel)=0
	Set the velocity of single joint.
virtual yarp::dev::ReturnValue	setDesiredVelocity (const std::vector< double > &vels)=0
	Set the velocity of all joints.
virtual yarp::dev::ReturnValue	setDesiredVelocity (const std::vector< int > &jnts, const std::vector< double > &vels)=0
	Set the velocity of a subset of joints.
virtual yarp::dev::ReturnValue	getDesiredVelocity (const int jnt, double &vel)=0
	Get the last reference velocity set by setDesiredVelocity() for a single joint.
virtual yarp::dev::ReturnValue	getDesiredVelocity (std::vector< double > &vels)=0
	Get the last reference velocity set by setDesiredVelocity() for all joints.
virtual yarp::dev::ReturnValue	getDesiredVelocity (const std::vector< int > &jnts, std::vector< double > &vels)=0
	Get the last reference velocity set by setDesiredVelocity() for a group of joints.

Detailed Description

Interface for control boards implementing direct velocity control.

Definition at line 88 of file IVelocityDirect.h.

Constructor & Destructor Documentation

~IVelocityDirect()

virtual yarp::dev::IVelocityDirect::~IVelocityDirect ( )

inlinevirtual

Destructor.

Definition at line 94 of file IVelocityDirect.h.

Member Function Documentation

getAxes()

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::getAxes ( size_t &  axes )

pure virtual

Get the number of controlled axes.

Parameters

axes	returned number of controllable axes

Returns

true on success

Implemented in ControlBoardRemapper, FakeMotionControl, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

getDesiredVelocity() [1/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::getDesiredVelocity ( const int  jnt, double &  vel  )

pure virtual

Get the last reference velocity set by setDesiredVelocity() for a single joint.

Parameters

jnt	joint number
vel	returns the velocity reference for the specified joint.

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

getDesiredVelocity() [2/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::getDesiredVelocity ( const std::vector< int > &  jnts, std::vector< double > &  vels  )

pure virtual

Get the last reference velocity set by setDesiredVelocity() for a group of joints.

Parameters

jnts	vector containing the ids of the joints to control.
vels	vector containing the velocity references of the joints belonging to the required subset.

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

getDesiredVelocity() [3/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::getDesiredVelocity ( std::vector< double > &  vels )

pure virtual

Get the last reference velocity set by setDesiredVelocity() for all joints.

Parameters

vels	vector containing the velocity references of all joints.

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

setDesiredVelocity() [1/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::setDesiredVelocity ( const std::vector< double > &  vels )

pure virtual

Set the velocity of all joints.

Parameters

vels	vector containing joint velocities for all joints

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

setDesiredVelocity() [2/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::setDesiredVelocity ( const std::vector< int > &  jnts, const std::vector< double > &  vels  )

pure virtual

Set the velocity of a subset of joints.

Parameters

jnts	vector containing the ids of the joints to control.
vels	vector containing the joint velocities for the required subset.

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

setDesiredVelocity() [3/3]

virtual yarp::dev::ReturnValue yarp::dev::IVelocityDirect::setDesiredVelocity ( int  jnt, double  vel  )

pure virtual

Set the velocity of single joint.

Parameters

jnt	joint number
vel	speed value

Returns

true on success

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementVelocityDirect.

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

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