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

#include <yarp/dev/ImplementImpedanceControl.h>

+ Inheritance diagram for yarp::dev::ImplementImpedanceControl:

Public Member Functions

 ImplementImpedanceControl (yarp::dev::IImpedanceControlRaw *y)
 
virtual ~ImplementImpedanceControl ()
 Destructor. More...
 
bool getAxes (int *ax) override
 Get the number of controlled axes. More...
 
bool getImpedance (int j, double *stiffness, double *damping) override
 Get current impedance gains (stiffness,damping,offset) for a specific joint. More...
 
bool setImpedance (int j, double stiffness, double damping) override
 Set current impedance gains (stiffness,damping) for a specific joint. More...
 
bool setImpedanceOffset (int j, double offset) override
 Set current force Offset for a specific joint. More...
 
bool getImpedanceOffset (int j, double *offset) override
 Get current force Offset for a specific joint. More...
 
bool getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
 Get the current impedandance limits for a specific joint. More...
 
- Public Member Functions inherited from yarp::dev::IImpedanceControl
virtual ~IImpedanceControl ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool getImpedance (int j, double *stiffness, double *damping)=0
 Get current impedance gains (stiffness,damping,offset) for a specific joint. More...
 
virtual bool setImpedance (int j, double stiffness, double damping)=0
 Set current impedance gains (stiffness,damping) for a specific joint. More...
 
virtual bool setImpedanceOffset (int j, double offset)=0
 Set current force Offset for a specific joint. More...
 
virtual bool getImpedanceOffset (int j, double *offset)=0
 Get current force Offset for a specific joint. More...
 
virtual bool getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0
 Get the current impedandance limits for a specific joint. More...
 

Protected Member Functions

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

Protected Attributes

yarp::dev::IImpedanceControlRawiImpedanceRaw
 
void * helper
 

Detailed Description

Definition at line 16 of file ImplementImpedanceControl.h.

Constructor & Destructor Documentation

◆ ImplementImpedanceControl()

ImplementImpedanceControl::ImplementImpedanceControl ( yarp::dev::IImpedanceControlRaw y)

Definition at line 18 of file ImplementImpedanceControl.cpp.

◆ ~ImplementImpedanceControl()

ImplementImpedanceControl::~ImplementImpedanceControl ( )
virtual

Destructor.

Perform uninitialize if needed.

Definition at line 36 of file ImplementImpedanceControl.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementImpedanceControl::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::IImpedanceControl.

Reimplemented in FakeMotionControl.

Definition at line 52 of file ImplementImpedanceControl.cpp.

◆ getCurrentImpedanceLimit()

bool ImplementImpedanceControl::getCurrentImpedanceLimit ( int  j,
double *  min_stiff,
double *  max_stiff,
double *  min_damp,
double *  max_damp 
)
overridevirtual

Get the current impedandance limits for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 101 of file ImplementImpedanceControl.cpp.

◆ getImpedance()

bool ImplementImpedanceControl::getImpedance ( int  j,
double *  stiffness,
double *  damping 
)
overridevirtual

Get current impedance gains (stiffness,damping,offset) for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 68 of file ImplementImpedanceControl.cpp.

◆ getImpedanceOffset()

bool ImplementImpedanceControl::getImpedanceOffset ( int  j,
double *  offset 
)
overridevirtual

Get current force Offset for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 91 of file ImplementImpedanceControl.cpp.

◆ initialize()

bool ImplementImpedanceControl::initialize ( int  size,
const int *  amap,
const double *  enc,
const double *  zos,
const double *  nw 
)
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.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 24 of file ImplementImpedanceControl.cpp.

◆ setImpedance()

bool ImplementImpedanceControl::setImpedance ( int  j,
double  stiffness,
double  damping 
)
overridevirtual

Set current impedance gains (stiffness,damping) for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 57 of file ImplementImpedanceControl.cpp.

◆ setImpedanceOffset()

bool ImplementImpedanceControl::setImpedanceOffset ( int  j,
double  offset 
)
overridevirtual

Set current force Offset for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 82 of file ImplementImpedanceControl.cpp.

◆ uninitialize()

bool ImplementImpedanceControl::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

Definition at line 41 of file ImplementImpedanceControl.cpp.

Member Data Documentation

◆ helper

void* yarp::dev::ImplementImpedanceControl::helper
protected

Definition at line 20 of file ImplementImpedanceControl.h.

◆ iImpedanceRaw

yarp::dev::IImpedanceControlRaw* yarp::dev::ImplementImpedanceControl::iImpedanceRaw
protected

Definition at line 19 of file ImplementImpedanceControl.h.


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