#include <yarp/dev/ImplementVelocityDirect.h>

Inheritance diagram for yarp::dev::ImplementVelocityDirect:

Public Member Functions
	ImplementVelocityDirect (yarp::dev::IVelocityDirectRaw *y)
	Constructor.

virtual	~ImplementVelocityDirect ()
	Destructor.

yarp::dev::ReturnValue	getAxes (size_t &axes) override
	Get the number of controlled axes.

yarp::dev::ReturnValue	setDesiredVelocity (int jnt, double vel) override
	Set the velocity of single joint.

yarp::dev::ReturnValue	setDesiredVelocity (const std::vector< double > &vels) override
	Set the velocity of all joints.

yarp::dev::ReturnValue	setDesiredVelocity (const std::vector< int > &jnts, const std::vector< double > &vels) override
	Set the velocity of a subset of joints.

yarp::dev::ReturnValue	getDesiredVelocity (const int jnt, double &vel) override
	Get the last reference velocity set by setDesiredVelocity() for a single joint.

yarp::dev::ReturnValue	getDesiredVelocity (std::vector< double > &vels) override
	Get the last reference velocity set by setDesiredVelocity() for all joints.

yarp::dev::ReturnValue	getDesiredVelocity (const std::vector< int > &jnts, std::vector< double > &vels) override
	Get the last reference velocity set by setDesiredVelocity() for a group of joints.

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

Protected Member Functions
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
IVelocityDirectRaw *	m_iVelocityDirectRaw =nullptr

void *	m_helper =nullptr

std::vector< int >	m_buffer_ints

std::vector< double >	m_buffer_doubles

Detailed Description

Definition at line 17 of file ImplementVelocityDirect.h.

Constructor & Destructor Documentation

◆ ImplementVelocityDirect()

ImplementVelocityDirect::ImplementVelocityDirect ( yarp::dev::IVelocityDirectRaw * y )

Constructor.

Parameters

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

Definition at line 16 of file ImplementVelocityDirect.cpp.

◆ ~ImplementVelocityDirect()

ImplementVelocityDirect::~ImplementVelocityDirect ( )

virtual

Destructor.

Definition at line 20 of file ImplementVelocityDirect.cpp.

Member Function Documentation

◆ getAxes()

yarp::dev::ReturnValue ImplementVelocityDirect::getAxes ( size_t & axes )

overridevirtual

Get the number of controlled axes.

Parameters

axes	returned number of controllable axes

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 51 of file ImplementVelocityDirect.cpp.

◆ getDesiredVelocity() [1/3]

yarp::dev::ReturnValue ImplementVelocityDirect::getDesiredVelocity	(	const int	jnt,
		double &	vel
	)

overridevirtual

Get the last reference velocity set by setDesiredVelocity() for a single joint.

Parameters

jnt	joint number
vel	returns the velocity reference for the specified joint.

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 100 of file ImplementVelocityDirect.cpp.

◆ getDesiredVelocity() [2/3]

yarp::dev::ReturnValue ImplementVelocityDirect::getDesiredVelocity	(	const std::vector< int > &	jnts,
		std::vector< double > &	vels
	)

overridevirtual

Get the last reference velocity set by setDesiredVelocity() for a group of joints.

Parameters

jnts	vector containing the ids of the joints to control.
vels	vector containing the velocity references of the joints belonging to the required subset.

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 122 of file ImplementVelocityDirect.cpp.

◆ getDesiredVelocity() [3/3]

yarp::dev::ReturnValue ImplementVelocityDirect::getDesiredVelocity ( std::vector< double > & vels )

overridevirtual

Get the last reference velocity set by setDesiredVelocity() for all joints.

Parameters

vels	vector containing the velocity references of all joints.

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 113 of file ImplementVelocityDirect.cpp.

◆ initialize()

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

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.
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.

Definition at line 25 of file ImplementVelocityDirect.cpp.

◆ setDesiredVelocity() [1/3]

yarp::dev::ReturnValue ImplementVelocityDirect::setDesiredVelocity ( const std::vector< double > & vels )

overridevirtual

Set the velocity of all joints.

Parameters

vels	vector containing joint velocities for all joints

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 69 of file ImplementVelocityDirect.cpp.

◆ setDesiredVelocity() [2/3]

yarp::dev::ReturnValue ImplementVelocityDirect::setDesiredVelocity	(	const std::vector< int > &	jnts,
		const std::vector< double > &	vels
	)

overridevirtual

Set the velocity of a subset of joints.

Parameters

jnts	vector containing the ids of the joints to control.
vels	vector containing the joint velocities for the required subset.

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 81 of file ImplementVelocityDirect.cpp.

◆ setDesiredVelocity() [3/3]

yarp::dev::ReturnValue ImplementVelocityDirect::setDesiredVelocity	(	int	jnt,
		double	vel
	)

overridevirtual

Set the velocity of single joint.

Parameters

jnt	joint number
vel	speed value

Returns: true on success

Implements yarp::dev::IVelocityDirect.

Definition at line 57 of file ImplementVelocityDirect.cpp.

◆ uninitialize()

bool ImplementVelocityDirect::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 40 of file ImplementVelocityDirect.cpp.

Member Data Documentation

◆ m_buffer_doubles

std::vector<double> yarp::dev::ImplementVelocityDirect::m_buffer_doubles

protected

Definition at line 23 of file ImplementVelocityDirect.h.

◆ m_buffer_ints

std::vector<int> yarp::dev::ImplementVelocityDirect::m_buffer_ints

protected

Definition at line 22 of file ImplementVelocityDirect.h.

◆ m_helper

void* yarp::dev::ImplementVelocityDirect::m_helper =nullptr

protected

Definition at line 21 of file ImplementVelocityDirect.h.

◆ m_iVelocityDirectRaw

IVelocityDirectRaw* yarp::dev::ImplementVelocityDirect::m_iVelocityDirectRaw =nullptr

protected

Definition at line 20 of file ImplementVelocityDirect.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementVelocityDirect()

◆ ~ImplementVelocityDirect()

Member Function Documentation

◆ getAxes()

◆ getDesiredVelocity() [1/3]

◆ getDesiredVelocity() [2/3]

◆ getDesiredVelocity() [3/3]

◆ initialize()

◆ setDesiredVelocity() [1/3]

◆ setDesiredVelocity() [2/3]

◆ setDesiredVelocity() [3/3]

◆ uninitialize()

Member Data Documentation

◆ m_buffer_doubles

◆ m_buffer_ints

◆ m_helper

◆ m_iVelocityDirectRaw