yarp::dev::ImplementJointBrake Class Reference

#include <yarp/dev/ImplementJointBrake.h>

Inheritance diagram for yarp::dev::ImplementJointBrake:

Public Member Functions
	ImplementJointBrake (yarp::dev::IJointBrakeRaw *y)
virtual	~ImplementJointBrake ()
	Destructor.
virtual yarp::dev::ReturnValue	isJointBraked (int j, bool &braked) const override
	Check is the joint brake is currently active.
virtual yarp::dev::ReturnValue	setManualBrakeActive (int j, bool active) override
	Enables/Disables manually the joint brake.
virtual yarp::dev::ReturnValue	setAutoBrakeEnabled (int j, bool enabled) override
	Enables/Disables the automatic joint brake.
virtual yarp::dev::ReturnValue	getAutoBrakeEnabled (int j, bool &enabled) const override
	checks if the automatic joint brake mode is enabled or disabled.
Public Member Functions inherited from yarp::dev::IJointBrake
virtual	~IJointBrake ()

Protected Member Functions
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory.
bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
yarp::dev::IJointBrakeRaw *	raw
void *	helper

Detailed Description

Definition at line 16 of file ImplementJointBrake.h.

Constructor & Destructor Documentation

ImplementJointBrake()

ImplementJointBrake::ImplementJointBrake

(

yarp::dev::IJointBrakeRaw *

y

)

Definition at line 20 of file ImplementJointBrake.cpp.

~ImplementJointBrake()

ImplementJointBrake::~ImplementJointBrake ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 37 of file ImplementJointBrake.cpp.

Member Function Documentation

getAutoBrakeEnabled()

ReturnValue ImplementJointBrake::getAutoBrakeEnabled ( int  j, bool &  enabled  ) const

overridevirtual

checks if the automatic joint brake mode is enabled or disabled.

Parameters

j	joint number
enabled	is true the automatic joint brake mode is enabled

Returns

: true/false success failure.

Implements yarp::dev::IJointBrake.

Definition at line 74 of file ImplementJointBrake.cpp.

initialize()

bool ImplementJointBrake::initialize ( int  size, const int *  amap  )

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.

Returns

true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 25 of file ImplementJointBrake.cpp.

isJointBraked()

ReturnValue ImplementJointBrake::isJointBraked ( int  j, bool &  braked  ) const

overridevirtual

Check is the joint brake is currently active.

Parameters

j	joint number
braked	is true if the joint is currently braked

Returns

: true/false success failure.

Implements yarp::dev::IJointBrake.

Definition at line 53 of file ImplementJointBrake.cpp.

setAutoBrakeEnabled()

ReturnValue ImplementJointBrake::setAutoBrakeEnabled ( int  j, bool  enabled  )

overridevirtual

Enables/Disables the automatic joint brake.

If enabled, the firmware can automatically choose when to enable the joint brake (for example when the joint is in hardware_fault mode).

Parameters

j	joint number
enabled	true to enable the automatic joint brake

Returns

: true/false success failure.

Implements yarp::dev::IJointBrake.

Definition at line 67 of file ImplementJointBrake.cpp.

setManualBrakeActive()

ReturnValue ImplementJointBrake::setManualBrakeActive ( int  j, bool  active  )

overridevirtual

Enables/Disables manually the joint brake.

Parameters

j	joint number
active	true to enable the joint brake

Returns

: true/false success failure.

Implements yarp::dev::IJointBrake.

Definition at line 60 of file ImplementJointBrake.cpp.

uninitialize()

bool ImplementJointBrake::uninitialize ( )

protected

Clean up internal data and memory.

Returns

true if uninitialization is executed, false otherwise.

Definition at line 42 of file ImplementJointBrake.cpp.

Member Data Documentation

helper

void* yarp::dev::ImplementJointBrake::helper

protected

Definition at line 20 of file ImplementJointBrake.h.

raw

yarp::dev::IJointBrakeRaw* yarp::dev::ImplementJointBrake::raw

protected

Definition at line 19 of file ImplementJointBrake.h.

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

• src/libYARP_dev/src/yarp/dev/ImplementJointBrake.h
• src/libYARP_dev/src/yarp/dev/ImplementJointBrake.cpp