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

class ImplementControlLimits; class StubImplControlLimitsRaw; More...

#include <yarp/dev/ImplementControlLimits.h>

+ Inheritance diagram for yarp::dev::ImplementControlLimits:

Public Member Functions

 ImplementControlLimits (yarp::dev::IControlLimitsRaw *y)
 Constructor. More...
 
virtual ~ImplementControlLimits ()
 Destructor. More...
 
bool setLimits (int axis, double min, double max) override
 Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...
 
bool getLimits (int axis, double *min, double *max) override
 Get the software limits for a particular axis. More...
 
bool setVelLimits (int axis, double min, double max) override
 Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...
 
bool getVelLimits (int axis, double *min, double *max) override
 Get the software speed limits for a particular axis. More...
 
- Public Member Functions inherited from yarp::dev::IControlLimits
virtual ~IControlLimits ()
 Destructor. More...
 

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

IControlLimitsRawiLimits2
 
void * helper
 

Detailed Description

class ImplementControlLimits; class StubImplControlLimitsRaw;

Interface for control devices, commands to get/set position and veloity limits

Definition at line 24 of file ImplementControlLimits.h.

Constructor & Destructor Documentation

◆ ImplementControlLimits()

ImplementControlLimits::ImplementControlLimits ( yarp::dev::IControlLimitsRaw y)

Constructor.

Parameters
yis the pointer to the class instance inheriting from this implementation.

Definition at line 14 of file ImplementControlLimits.cpp.

◆ ~ImplementControlLimits()

ImplementControlLimits::~ImplementControlLimits ( )
virtual

Destructor.

Perform uninitialize if needed.

Definition at line 20 of file ImplementControlLimits.cpp.

Member Function Documentation

◆ getLimits()

bool ImplementControlLimits::getLimits ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Get the software limits for a particular axis.

Parameters
axisjoint number
pointerto store the value of the lower limit
pointerto store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 72 of file ImplementControlLimits.cpp.

◆ getVelLimits()

bool ImplementControlLimits::getVelLimits ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Get the software speed limits for a particular axis.

Parameters
axisjoint number
minpointer to store the value of the lower limit
maxpointer to store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 105 of file ImplementControlLimits.cpp.

◆ initialize()

bool ImplementControlLimits::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. respect to the control/output values of the driver.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 39 of file ImplementControlLimits.cpp.

◆ setLimits()

bool ImplementControlLimits::setLimits ( int  axis,
double  min,
double  max 
)
overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters
axisjoint number (why am I telling you this)
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 51 of file ImplementControlLimits.cpp.

◆ setVelLimits()

bool ImplementControlLimits::setVelLimits ( int  axis,
double  min,
double  max 
)
overridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters
axisjoint number
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 93 of file ImplementControlLimits.cpp.

◆ uninitialize()

bool ImplementControlLimits::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

Definition at line 29 of file ImplementControlLimits.cpp.

Member Data Documentation

◆ helper

void* yarp::dev::ImplementControlLimits::helper
protected

Definition at line 28 of file ImplementControlLimits.h.

◆ iLimits2

IControlLimitsRaw* yarp::dev::ImplementControlLimits::iLimits2
protected

Definition at line 27 of file ImplementControlLimits.h.


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