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

#include <yarp/dev/ImplementJointCoupling.h>

+ Inheritance diagram for yarp::dev::ImplementJointCoupling:

Public Member Functions

 ImplementJointCoupling ()=default
 
virtual ~ImplementJointCoupling ()=default
 Destructor.
 
void initialise (yarp::sig::VectorOf< size_t > coupled_physical_joints, yarp::sig::VectorOf< size_t > coupled_actuated_axes, std::vector< std::string > physical_joint_names, std::vector< std::string > actuated_axes_names, std::vector< std::pair< double, double > > coupled_physical_joint_limits)
 
bool getNrOfPhysicalJoints (size_t &nrOfPhysicalJoints) override final
 
bool getNrOfActuatedAxes (size_t &nrOfActuatedAxes) override final
 
bool getCoupledPhysicalJoints (yarp::sig::VectorOf< size_t > &coupPhysJointsIndexes) override final
 
bool getCoupledActuatedAxes (yarp::sig::VectorOf< size_t > &coupActAxesIndexes) override final
 
bool getPhysicalJointName (size_t physicalJointIndex, std::string &physicalJointName) override final
 
bool getActuatedAxisName (size_t actuatedAxisIndex, std::string &actuatedAxisName) override final
 
bool getPhysicalJointLimits (size_t physicalJointIndex, double &min, double &max) override final
 

Protected Member Functions

bool checkPhysicalJointIsCoupled (size_t physicalJointIndex)
 

Protected Attributes

yarp::sig::VectorOf< size_tm_coupledPhysicalJoints
 
yarp::sig::VectorOf< size_tm_coupledActuatedAxes
 
std::vector< std::string > m_physicalJointNames
 
std::vector< std::string > m_actuatedAxesNames
 
std::vector< std::pair< double, double > > m_physicalJointLimits
 
unsigned int m_controllerPeriod
 
unsigned int m_couplingSize
 

Detailed Description

Definition at line 19 of file ImplementJointCoupling.h.

Constructor & Destructor Documentation

◆ ImplementJointCoupling()

yarp::dev::ImplementJointCoupling::ImplementJointCoupling ( )
default

◆ ~ImplementJointCoupling()

virtual yarp::dev::ImplementJointCoupling::~ImplementJointCoupling ( )
virtualdefault

Destructor.

Perform uninitialize if needed.

Member Function Documentation

◆ checkPhysicalJointIsCoupled()

bool ImplementJointCoupling::checkPhysicalJointIsCoupled ( size_t  physicalJointIndex)
protected

Definition at line 67 of file ImplementJointCoupling.cpp.

◆ getActuatedAxisName()

bool ImplementJointCoupling::getActuatedAxisName ( size_t  actuatedAxisIndex,
std::string &  actuatedAxisName 
)
finaloverride

Definition at line 57 of file ImplementJointCoupling.cpp.

◆ getCoupledActuatedAxes()

bool ImplementJointCoupling::getCoupledActuatedAxes ( yarp::sig::VectorOf< size_t > &  coupActAxesIndexes)
finaloverride

Definition at line 41 of file ImplementJointCoupling.cpp.

◆ getCoupledPhysicalJoints()

bool ImplementJointCoupling::getCoupledPhysicalJoints ( yarp::sig::VectorOf< size_t > &  coupPhysJointsIndexes)
finaloverride

Definition at line 36 of file ImplementJointCoupling.cpp.

◆ getNrOfActuatedAxes()

bool ImplementJointCoupling::getNrOfActuatedAxes ( size_t nrOfActuatedAxes)
finaloverride

Definition at line 31 of file ImplementJointCoupling.cpp.

◆ getNrOfPhysicalJoints()

bool ImplementJointCoupling::getNrOfPhysicalJoints ( size_t nrOfPhysicalJoints)
finaloverride

Definition at line 27 of file ImplementJointCoupling.cpp.

◆ getPhysicalJointLimits()

bool ImplementJointCoupling::getPhysicalJointLimits ( size_t  physicalJointIndex,
double &  min,
double &  max 
)
finaloverride

Definition at line 71 of file ImplementJointCoupling.cpp.

◆ getPhysicalJointName()

bool ImplementJointCoupling::getPhysicalJointName ( size_t  physicalJointIndex,
std::string &  physicalJointName 
)
finaloverride

Definition at line 46 of file ImplementJointCoupling.cpp.

◆ initialise()

void ImplementJointCoupling::initialise ( yarp::sig::VectorOf< size_t coupled_physical_joints,
yarp::sig::VectorOf< size_t coupled_actuated_axes,
std::vector< std::string >  physical_joint_names,
std::vector< std::string >  actuated_axes_names,
std::vector< std::pair< double, double > >  coupled_physical_joint_limits 
)

Definition at line 14 of file ImplementJointCoupling.cpp.

Member Data Documentation

◆ m_actuatedAxesNames

std::vector<std::string> yarp::dev::ImplementJointCoupling::m_actuatedAxesNames
protected

Definition at line 49 of file ImplementJointCoupling.h.

◆ m_controllerPeriod

unsigned int yarp::dev::ImplementJointCoupling::m_controllerPeriod
protected

Definition at line 51 of file ImplementJointCoupling.h.

◆ m_coupledActuatedAxes

yarp::sig::VectorOf<size_t> yarp::dev::ImplementJointCoupling::m_coupledActuatedAxes
protected

Definition at line 47 of file ImplementJointCoupling.h.

◆ m_coupledPhysicalJoints

yarp::sig::VectorOf<size_t> yarp::dev::ImplementJointCoupling::m_coupledPhysicalJoints
protected

Definition at line 46 of file ImplementJointCoupling.h.

◆ m_couplingSize

unsigned int yarp::dev::ImplementJointCoupling::m_couplingSize
protected

Definition at line 52 of file ImplementJointCoupling.h.

◆ m_physicalJointLimits

std::vector<std::pair<double, double> > yarp::dev::ImplementJointCoupling::m_physicalJointLimits
protected

Definition at line 50 of file ImplementJointCoupling.h.

◆ m_physicalJointNames

std::vector<std::string> yarp::dev::ImplementJointCoupling::m_physicalJointNames
protected

Definition at line 48 of file ImplementJointCoupling.h.


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