#include <yarp/dev/ImplementMotor.h>

Inheritance diagram for yarp::dev::ImplementMotor:

Public Member Functions
	ImplementMotor (yarp::dev::IMotorRaw *y)

virtual	~ImplementMotor ()

bool	getNumberOfMotors (int *num) override
	Get the number of available motors.

bool	getTemperature (int m, double *val) override
	Get temperature of a motor.

bool	getTemperatures (double *vals) override
	Get temperature of all the motors.

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor.

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor.

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor.

bool	setGearboxRatio (int m, const double val) override
	Set the gearbox ratio for a specific motor.

Public Member Functions inherited from yarp::dev::IMotor
virtual	~IMotor ()
	Destructor.

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
IMotorRaw *	imotor

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Detailed Description

Definition at line 23 of file ImplementMotor.h.

Constructor & Destructor Documentation

◆ ImplementMotor()

ImplementMotor::ImplementMotor ( yarp::dev::IMotorRaw * y )

Definition at line 17 of file ImplementMotor.cpp.

◆ ~ImplementMotor()

ImplementMotor::~ImplementMotor ( )

virtual

Definition at line 23 of file ImplementMotor.cpp.

Member Function Documentation

◆ getGearboxRatio()

bool ImplementMotor::getGearboxRatio	(	int	m,
		double *	val
	)

overridevirtual

Get the gearbox ratio for a specific motor.

Parameters

m	motor number
val	retrieved gearbox ratio

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 103 of file ImplementMotor.cpp.

◆ getNumberOfMotors()

bool ImplementMotor::getNumberOfMotors ( int * num )

overridevirtual

Get the number of available motors.

Parameters

num	retrieved number of available motors

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 64 of file ImplementMotor.cpp.

◆ getTemperature()

bool ImplementMotor::getTemperature	(	int	m,
		double *	val
	)

overridevirtual

Get temperature of a motor.

Parameters

m	motor number
val	retrieved motor temperature

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 70 of file ImplementMotor.cpp.

◆ getTemperatureLimit()

bool ImplementMotor::getTemperatureLimit	(	int	m,
		double *	temp
	)

overridevirtual

Retreives the current temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the current temperature limit.

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 81 of file ImplementMotor.cpp.

◆ getTemperatures()

bool ImplementMotor::getTemperatures ( double * vals )

overridevirtual

Get temperature of all the motors.

Parameters

vals	pointer to an array containing all motor temperatures

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 125 of file ImplementMotor.cpp.

◆ initialize()

bool ImplementMotor::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 28 of file ImplementMotor.cpp.

◆ setGearboxRatio()

bool ImplementMotor::setGearboxRatio	(	int	m,
		const double	val
	)

overridevirtual

Set the gearbox ratio for a specific motor.

Parameters

m	motor number
gearbox	ratio to be set

Returns: true/false

Reimplemented from yarp::dev::IMotor.

Definition at line 114 of file ImplementMotor.cpp.

◆ setTemperatureLimit()

bool ImplementMotor::setTemperatureLimit	(	int	m,
		const double	temp
	)

overridevirtual

Set the temperature limit for a specific motor.

The specific behavior of the motor when the temperature limit is exceeded depends on the implementation (power off recommended)

Parameters

m	motor number
temp	the temperature limit to be set

Returns: true/false

Implements yarp::dev::IMotor.

Definition at line 92 of file ImplementMotor.cpp.

◆ uninitialize()

bool ImplementMotor::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 47 of file ImplementMotor.cpp.

Member Data Documentation

◆ doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementMotor::doubleBuffManager

protected

Definition at line 29 of file ImplementMotor.h.

◆ helper

void* yarp::dev::ImplementMotor::helper

protected

Definition at line 27 of file ImplementMotor.h.

◆ imotor

IMotorRaw* yarp::dev::ImplementMotor::imotor

protected

Definition at line 26 of file ImplementMotor.h.

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

src/libYARP_dev/src/yarp/dev/ImplementMotor.h
src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementMotor()

◆ ~ImplementMotor()

Member Function Documentation

◆ getGearboxRatio()

◆ getNumberOfMotors()

◆ getTemperature()

◆ getTemperatureLimit()

◆ getTemperatures()

◆ initialize()

◆ setGearboxRatio()

◆ setTemperatureLimit()

◆ uninitialize()

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ imotor