YARP
Yet Another Robot Platform
yarp::dev::ImplementControlCalibration Class Reference

#include <yarp/dev/ImplementControlCalibration.h>

+ Inheritance diagram for yarp::dev::ImplementControlCalibration:

Public Member Functions

 ImplementControlCalibration (yarp::dev::IControlCalibrationRaw *y)
 
virtual ~ImplementControlCalibration ()
 Destructor. More...
 
bool calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override
 Start calibration, this method is very often platform specific. More...
 
bool setCalibrationParameters (int axis, const CalibrationParameters &params) override
 Start calibration, this method is very often platform specific. More...
 
bool calibrationDone (int j) override
 Check if the calibration is terminated, on a particular joint. More...
 
- Public Member Functions inherited from yarp::dev::IControlCalibration
 IControlCalibration ()
 
virtual ~IControlCalibration ()
 Destructor. More...
 
virtual bool calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3)=0
 Start calibration, this method is very often platform specific. More...
 
virtual bool setCalibrationParameters (int axis, const CalibrationParameters &params)
 Start calibration, this method is very often platform specific. More...
 
virtual bool calibrationDone (int j)=0
 Check if the calibration is terminated, on a particular joint. More...
 
virtual bool setCalibrator (ICalibrator *c)
 Set the calibrator object to be used to calibrate the robot. More...
 
virtual bool calibrateRobot ()
 Calibrate robot by using an external calibrator. More...
 
virtual bool park (bool wait=true)
 
virtual bool abortCalibration ()
 
virtual bool abortPark ()
 

Protected Member Functions

bool initialize (int size, const int *amap, const double *enc, const double *zos)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 

Protected Attributes

IControlCalibrationRawiCalibrate
 
void * helper
 
double * temp
 

Detailed Description

Definition at line 18 of file ImplementControlCalibration.h.

Constructor & Destructor Documentation

◆ ImplementControlCalibration()

ImplementControlCalibration::ImplementControlCalibration ( yarp::dev::IControlCalibrationRaw y)

Definition at line 80 of file ImplementControlCalibration.cpp.

◆ ~ImplementControlCalibration()

ImplementControlCalibration::~ImplementControlCalibration ( )
virtual

Destructor.

Perform uninitialize if needed.

Definition at line 87 of file ImplementControlCalibration.cpp.

Member Function Documentation

◆ calibrateAxisWithParams()

bool ImplementControlCalibration::calibrateAxisWithParams ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Start calibration, this method is very often platform specific.

Returns
true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 129 of file ImplementControlCalibration.cpp.

◆ calibrationDone()

bool ImplementControlCalibration::calibrationDone ( int  j)
overridevirtual

Check if the calibration is terminated, on a particular joint.

Non blocking.

Returns
true/false

Implements yarp::dev::IControlCalibration.

Definition at line 122 of file ImplementControlCalibration.cpp.

◆ initialize()

bool ImplementControlCalibration::initialize ( int  size,
const int *  amap,
const double *  enc,
const double *  zos 
)
protected

Initialize the internal data and alloc memory.

Parameters
sizeis the number of controlled axes the driver deals with.
amapis a lookup table mapping axes onto physical drivers.
encis an array containing the encoder to angles conversion factors.
zosis an array containing the zeros of the encoders.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 92 of file ImplementControlCalibration.cpp.

◆ setCalibrationParameters()

bool ImplementControlCalibration::setCalibrationParameters ( int  axis,
const CalibrationParameters params 
)
overridevirtual

Start calibration, this method is very often platform specific.

Returns
true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 136 of file ImplementControlCalibration.cpp.

◆ uninitialize()

bool ImplementControlCalibration::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

Definition at line 109 of file ImplementControlCalibration.cpp.

Member Data Documentation

◆ helper

void* yarp::dev::ImplementControlCalibration::helper
protected

Definition at line 22 of file ImplementControlCalibration.h.

◆ iCalibrate

IControlCalibrationRaw* yarp::dev::ImplementControlCalibration::iCalibrate
protected

Definition at line 21 of file ImplementControlCalibration.h.

◆ temp

double* yarp::dev::ImplementControlCalibration::temp
protected

Definition at line 23 of file ImplementControlCalibration.h.


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