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

#include <yarp/dev/ImplementEncodersTimed.h>

+ Inheritance diagram for yarp::dev::ImplementEncodersTimed:

Public Member Functions

 ImplementEncodersTimed (yarp::dev::IEncodersTimedRaw *y)
 
virtual ~ImplementEncodersTimed ()
 
bool getAxes (int *ax) override
 Get the number of controlled axes. More...
 
bool resetEncoder (int j) override
 Reset encoder, single joint. More...
 
bool resetEncoders () override
 Reset encoders. More...
 
bool setEncoder (int j, double val) override
 Set the value of the encoder for a given joint. More...
 
bool setEncoders (const double *vals) override
 Set the value of all encoders. More...
 
bool getEncoder (int j, double *v) override
 Read the value of an encoder. More...
 
bool getEncodersTimed (double *encs, double *time) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoderTimed (int j, double *v, double *t) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoders (double *encs) override
 Read the position of all axes. More...
 
bool getEncoderSpeed (int j, double *spds) override
 Read the istantaneous speed of an axis. More...
 
bool getEncoderSpeeds (double *spds) override
 Read the instantaneous speed of all axes. More...
 
bool getEncoderAcceleration (int j, double *spds) override
 Read the instantaneous acceleration of an axis. More...
 
bool getEncoderAccelerations (double *accs) override
 Read the instantaneous acceleration of all axes. More...
 
- Public Member Functions inherited from yarp::dev::IEncodersTimed
virtual ~IEncodersTimed ()
 Destructor. More...
 
virtual bool getEncodersTimed (double *encs, double *time)=0
 Read the instantaneous acceleration of all axes. More...
 
virtual bool getEncoderTimed (int j, double *encs, double *time)=0
 Read the instantaneous acceleration of all axes. More...
 
- Public Member Functions inherited from yarp::dev::IEncoders
virtual ~IEncoders ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool resetEncoder (int j)=0
 Reset encoder, single joint. More...
 
virtual bool resetEncoders ()=0
 Reset encoders. More...
 
virtual bool setEncoder (int j, double val)=0
 Set the value of the encoder for a given joint. More...
 
virtual bool setEncoders (const double *vals)=0
 Set the value of all encoders. More...
 
virtual bool getEncoder (int j, double *v)=0
 Read the value of an encoder. More...
 
virtual bool getEncoders (double *encs)=0
 Read the position of all axes. More...
 
virtual bool getEncoderSpeed (int j, double *sp)=0
 Read the istantaneous speed of an axis. More...
 
virtual bool getEncoderSpeeds (double *spds)=0
 Read the instantaneous speed of all axes. More...
 
virtual bool getEncoderAcceleration (int j, double *spds)=0
 Read the instantaneous acceleration of an axis. More...
 
virtual bool getEncoderAccelerations (double *accs)=0
 Read the instantaneous acceleration of all axes. 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

IEncodersTimedRawiEncoders
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * buffManager
 

Detailed Description

Definition at line 22 of file ImplementEncodersTimed.h.

Constructor & Destructor Documentation

◆ ImplementEncodersTimed()

ImplementEncodersTimed::ImplementEncodersTimed ( yarp::dev::IEncodersTimedRaw y)

Definition at line 17 of file ImplementEncodersTimed.cpp.

◆ ~ImplementEncodersTimed()

ImplementEncodersTimed::~ImplementEncodersTimed ( )
virtual

Definition at line 23 of file ImplementEncodersTimed.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementEncodersTimed::getAxes ( int *  ax)
overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns
the number of controlled axes.

Implements yarp::dev::IEncoders.

Reimplemented in FakeMotionControl.

Definition at line 62 of file ImplementEncodersTimed.cpp.

◆ getEncoder()

bool ImplementEncodersTimed::getEncoder ( int  j,
double *  v 
)
overridevirtual

Read the value of an encoder.

Parameters
jencoder number
vpointer to storage for the return value
Returns
true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncoders.

Definition at line 102 of file ImplementEncodersTimed.cpp.

◆ getEncoderAcceleration()

bool ImplementEncodersTimed::getEncoderAcceleration ( int  j,
double *  spds 
)
overridevirtual

Read the instantaneous acceleration of an axis.

Parameters
jaxis number
spdspointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 152 of file ImplementEncodersTimed.cpp.

◆ getEncoderAccelerations()

bool ImplementEncodersTimed::getEncoderAccelerations ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
accspointer to the array that will contain the output
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 168 of file ImplementEncodersTimed.cpp.

◆ getEncoders()

bool ImplementEncodersTimed::getEncoders ( double *  encs)
overridevirtual

Read the position of all axes.

Parameters
encspointer to the array that will contain the output
Returns
true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 118 of file ImplementEncodersTimed.cpp.

◆ getEncoderSpeed()

bool ImplementEncodersTimed::getEncoderSpeed ( int  j,
double *  sp 
)
overridevirtual

Read the istantaneous speed of an axis.

Parameters
jaxis number
sppointer to storage for the output
Returns
true if successful, false ... otherwise.

Implements yarp::dev::IEncoders.

Definition at line 127 of file ImplementEncodersTimed.cpp.

◆ getEncoderSpeeds()

bool ImplementEncodersTimed::getEncoderSpeeds ( double *  spds)
overridevirtual

Read the instantaneous speed of all axes.

Parameters
spdspointer to storage for the output values
Returns
guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 143 of file ImplementEncodersTimed.cpp.

◆ getEncodersTimed()

bool ImplementEncodersTimed::getEncodersTimed ( double *  encs,
double *  time 
)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
encspointer to the array that will contain the output
timepointer to the array that will contain individual timestamps
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 194 of file ImplementEncodersTimed.cpp.

◆ getEncoderTimed()

bool ImplementEncodersTimed::getEncoderTimed ( int  j,
double *  encs,
double *  time 
)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
jaxis index
encsencoder value (pointer to)
timecorresponding timestamp (pointer to)
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 177 of file ImplementEncodersTimed.cpp.

◆ initialize()

bool ImplementEncodersTimed::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 28 of file ImplementEncodersTimed.cpp.

◆ resetEncoder()

bool ImplementEncodersTimed::resetEncoder ( int  j)
overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 68 of file ImplementEncodersTimed.cpp.

◆ resetEncoders()

bool ImplementEncodersTimed::resetEncoders ( )
overridevirtual

Reset encoders.

Set the encoders value to zero

Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 77 of file ImplementEncodersTimed.cpp.

◆ setEncoder()

bool ImplementEncodersTimed::setEncoder ( int  j,
double  val 
)
overridevirtual

Set the value of the encoder for a given joint.

Parameters
jencoder number
valnew value
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 82 of file ImplementEncodersTimed.cpp.

◆ setEncoders()

bool ImplementEncodersTimed::setEncoders ( const double *  vals)
overridevirtual

Set the value of all encoders.

Parameters
valspointer to the new values
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 93 of file ImplementEncodersTimed.cpp.

◆ uninitialize()

bool ImplementEncodersTimed::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

Definition at line 46 of file ImplementEncodersTimed.cpp.

Member Data Documentation

◆ buffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementEncodersTimed::buffManager
protected

Definition at line 27 of file ImplementEncodersTimed.h.

◆ helper

void* yarp::dev::ImplementEncodersTimed::helper
protected

Definition at line 26 of file ImplementEncodersTimed.h.

◆ iEncoders

IEncodersTimedRaw* yarp::dev::ImplementEncodersTimed::iEncoders
protected

Definition at line 25 of file ImplementEncodersTimed.h.


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