Default implementation of the IPositionControl interface. More...

#include <yarp/dev/ImplementPositionControl.h>

Inheritance diagram for yarp::dev::ImplementPositionControl:

Public Member Functions
	ImplementPositionControl (yarp::dev::IPositionControlRaw *y)
	Constructor. More...

virtual	~ImplementPositionControl ()
	Destructor. More...

bool	getAxes (int *axis) override
	Get the number of controlled axes. More...

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Set new reference point for a subset of joints. More...

bool	positionMove (const double *refs) override
	Set new reference point for all axes. More...

bool	relativeMove (int j, double delta) override
	Set relative position. More...

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Set relative position for a subset of joints. More...

bool	relativeMove (const double *deltas) override
	Set relative position, all joints. More...

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (const int n_joint, const int joints, bool flags) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints. More...

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint. More...

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints. More...

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Get reference speed of all joints. More...

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints. More...

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a joint. More...

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints. More...

bool	stop (int j) override
	Stop motion, single joint. More...

bool	stop (const int n_joint, const int *joints) override
	Stop motion for subset of joints. More...

bool	stop () override
	Stop motion, multiple joints. More...

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	positionMove (int j, double ref)=0
	Set new reference point for a single axis. More...

virtual bool	positionMove (const double *refs)=0
	Set new reference point for all axes. More...

virtual bool	relativeMove (int j, double delta)=0
	Set relative position. More...

virtual bool	relativeMove (const double *deltas)=0
	Set relative position, all joints. More...

virtual bool	checkMotionDone (int j, bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	checkMotionDone (bool *flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeed (int j, double sp)=0
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

virtual bool	setRefSpeeds (const double *spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAcceleration (int j, double acc)=0
	Set reference acceleration for a joint. More...

virtual bool	setRefAccelerations (const double *accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeed (int j, double *ref)=0
	Get reference speed for a joint. More...

virtual bool	getRefSpeeds (double *spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAcceleration (int j, double *acc)=0
	Get reference acceleration for a joint. More...

virtual bool	getRefAccelerations (double *accs)=0
	Get reference acceleration of all joints. More...

virtual bool	stop (int j)=0
	Stop motion, single joint. More...

virtual bool	stop ()=0
	Stop motion, multiple joints. More...

virtual bool	positionMove (const int n_joint, const int joints, const double refs)=0
	Set new reference point for a subset of joints. More...

virtual bool	relativeMove (const int n_joint, const int joints, const double deltas)=0
	Set relative position for a subset of joints. More...

virtual bool	checkMotionDone (const int n_joint, const int joints, bool flag)=0
	Check if the current trajectory is terminated. More...

virtual bool	setRefSpeeds (const int n_joint, const int joints, const double spds)=0
	Set reference speed on all joints. More...

virtual bool	setRefAccelerations (const int n_joint, const int joints, const double accs)=0
	Set reference acceleration on all joints. More...

virtual bool	getRefSpeeds (const int n_joint, const int joints, double spds)=0
	Get reference speed of all joints. More...

virtual bool	getRefAccelerations (const int n_joint, const int joints, double accs)=0
	Get reference acceleration for a joint. More...

virtual bool	stop (const int n_joint, const int *joints)=0
	Stop motion for subset of joints. More...

virtual bool	getTargetPosition (const int joint, double *ref)
	Get the last position reference for the specified axis. More...

virtual bool	getTargetPositions (double *refs)
	Get the last position reference for all axes. More...

virtual bool	getTargetPositions (const int n_joint, const int joints, double refs)
	Get the last position reference for the specified group of 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
IPositionControlRaw *	iPosition

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

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

yarp::dev::impl::FixedSizeBuffersManager< bool > *	boolBuffManager

Detailed Description

Default implementation of the IPositionControl interface.

This class can be used to easily provide an implementation of IPositionControl.

Definition at line 29 of file ImplementPositionControl.h.

Constructor & Destructor Documentation

◆ ImplementPositionControl()

ImplementPositionControl::ImplementPositionControl ( yarp::dev::IPositionControlRaw * y )

Constructor.

Parameters

y	is the pointer to the class instance inheriting from this implementation.

Definition at line 17 of file ImplementPositionControl.cpp.

◆ ~ImplementPositionControl()

ImplementPositionControl::~ImplementPositionControl ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 26 of file ImplementPositionControl.cpp.

Member Function Documentation

◆ checkMotionDone() [1/3]

bool ImplementPositionControl::checkMotionDone ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	is a pointer to return value ("and" of all joints)

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 194 of file ImplementPositionControl.cpp.

◆ checkMotionDone() [2/3]

bool ImplementPositionControl::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	pointer to return value (logical "and" of all set of joints)

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 178 of file ImplementPositionControl.cpp.

◆ checkMotionDone() [3/3]

bool ImplementPositionControl::checkMotionDone	(	int	j,
		bool *	flag
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	is the axis number
flag	is a pointer to return value

Returns: true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 170 of file ImplementPositionControl.cpp.

◆ getAxes()

bool ImplementPositionControl::getAxes ( int * axis )

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::IPositionControl.

Reimplemented in FakeMotionControl.

Definition at line 393 of file ImplementPositionControl.cpp.

◆ getRefAcceleration()

bool ImplementPositionControl::getRefAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 353 of file ImplementPositionControl.cpp.

◆ getRefAccelerations() [1/2]

bool ImplementPositionControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array that will store the acceleration values

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 329 of file ImplementPositionControl.cpp.

◆ getRefAccelerations() [2/2]

bool ImplementPositionControl::getRefAccelerations ( double * accs )

overridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 320 of file ImplementPositionControl.cpp.

◆ getRefSpeed()

bool ImplementPositionControl::getRefSpeed	(	int	j,
		double *	ref
	)

overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters

j	joint number
ref	pointer to storage for the return value

Returns: true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 273 of file ImplementPositionControl.cpp.

◆ getRefSpeeds() [1/2]

bool ImplementPositionControl::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds
	)

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array that will store the speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 287 of file ImplementPositionControl.cpp.

◆ getRefSpeeds() [2/2]

bool ImplementPositionControl::getRefSpeeds ( double * spds )

overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

spds	pointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 311 of file ImplementPositionControl.cpp.

◆ getTargetPosition()

bool ImplementPositionControl::getTargetPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 401 of file ImplementPositionControl.cpp.

◆ getTargetPositions() [1/2]

bool ImplementPositionControl::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs
	)

overridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 425 of file ImplementPositionControl.cpp.

◆ getTargetPositions() [2/2]

bool ImplementPositionControl::getTargetPositions ( double * refs )

overridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters

ref	last reference sent using PositionMove functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionControl.

Definition at line 416 of file ImplementPositionControl.cpp.

◆ initialize()

bool ImplementPositionControl::initialize	(	int	size,
		const int *	amap,
		const double *	enc,
		const double *	zos
	)

protected

Initialize the internal data and alloc memory.

Allocate memory for internal data.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.
enc	is an array containing the encoder to angles conversion factors.
zos	is 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.

Parameters

size	the number of joints
amap	axis map for this device wrapper
enc	encoder conversion factor, from high level to hardware
zos	offset for setting the zero point. Units are relative to high level user interface (degrees)

Returns: true if uninitialization is executed, false otherwise.

Definition at line 39 of file ImplementPositionControl.cpp.

◆ positionMove() [1/3]

bool ImplementPositionControl::positionMove ( const double * refs )

overridevirtual

Set new reference point for all axes.

Parameters

refs	array, new reference points.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 122 of file ImplementPositionControl.cpp.

◆ positionMove() [2/3]

bool ImplementPositionControl::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 101 of file ImplementPositionControl.cpp.

◆ positionMove() [3/3]

bool ImplementPositionControl::positionMove	(	int	j,
		double	ref
	)

overridevirtual

Set new reference point for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 92 of file ImplementPositionControl.cpp.

◆ relativeMove() [1/3]

bool ImplementPositionControl::relativeMove ( const double * deltas )

overridevirtual

Set relative position, all joints.

Parameters

deltas pointer to the relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 161 of file ImplementPositionControl.cpp.

◆ relativeMove() [2/3]

bool ImplementPositionControl::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas
	)

overridevirtual

Set relative position for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
deltas	pointer to the array of relative commands

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 142 of file ImplementPositionControl.cpp.

◆ relativeMove() [3/3]

bool ImplementPositionControl::relativeMove	(	int	j,
		double	delta
	)

overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters

j	joint axis number
delta	relative command

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 132 of file ImplementPositionControl.cpp.

◆ setRefAcceleration()

bool ImplementPositionControl::setRefAcceleration	(	int	j,
		double	acc
	)

overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 234 of file ImplementPositionControl.cpp.

◆ setRefAccelerations() [1/2]

bool ImplementPositionControl::setRefAccelerations ( const double * accs )

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 263 of file ImplementPositionControl.cpp.

◆ setRefAccelerations() [2/2]

bool ImplementPositionControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
accs	pointer to the array with acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 244 of file ImplementPositionControl.cpp.

◆ setRefSpeed()

bool ImplementPositionControl::setRefSpeed	(	int	j,
		double	sp
	)

overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters

j	joint number
sp	speed value

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 199 of file ImplementPositionControl.cpp.

◆ setRefSpeeds() [1/2]

bool ImplementPositionControl::setRefSpeeds ( const double * spds )

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

spds	pointer to the array of speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 225 of file ImplementPositionControl.cpp.

◆ setRefSpeeds() [2/2]

bool ImplementPositionControl::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters

joints	pointer to the array of joint numbers
spds	pointer to the array with speed values.

Returns: true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 208 of file ImplementPositionControl.cpp.

◆ stop() [1/3]

bool ImplementPositionControl::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 388 of file ImplementPositionControl.cpp.

◆ stop() [2/3]

bool ImplementPositionControl::stop	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for subset of joints.

Parameters

joints pointer to the array of joint numbers

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 375 of file ImplementPositionControl.cpp.

◆ stop() [3/3]

bool ImplementPositionControl::stop ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 366 of file ImplementPositionControl.cpp.

◆ uninitialize()

bool ImplementPositionControl::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 63 of file ImplementPositionControl.cpp.

Member Data Documentation

◆ boolBuffManager

yarp::dev::impl::FixedSizeBuffersManager<bool>* yarp::dev::ImplementPositionControl::boolBuffManager

protected

Definition at line 36 of file ImplementPositionControl.h.

◆ doubleBuffManager

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

protected

Definition at line 35 of file ImplementPositionControl.h.

◆ helper

void* yarp::dev::ImplementPositionControl::helper

protected

Definition at line 33 of file ImplementPositionControl.h.

◆ intBuffManager

yarp::dev::impl::FixedSizeBuffersManager<int>* yarp::dev::ImplementPositionControl::intBuffManager

protected

Definition at line 34 of file ImplementPositionControl.h.

◆ iPosition

IPositionControlRaw* yarp::dev::ImplementPositionControl::iPosition

protected

Definition at line 32 of file ImplementPositionControl.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementPositionControl()

◆ ~ImplementPositionControl()

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getTargetPosition()

◆ getTargetPositions() [1/2]

◆ getTargetPositions() [2/2]

◆ initialize()

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]

◆ relativeMove() [2/3]

◆ relativeMove() [3/3]

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ setRefSpeed()

◆ setRefSpeeds() [1/2]

◆ setRefSpeeds() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ uninitialize()

Member Data Documentation

◆ boolBuffManager

◆ doubleBuffManager

◆ helper

◆ intBuffManager

◆ iPosition