#include <ControlBoardWrapper/ControlBoardWrapper.h>

Inheritance diagram for ControlBoardWrapper:

Detailed Description

Description of input parameters

A updated version of the controlBoard network wrapper. It can merge together more than one control board device, or use only a portion of it by remapping functionality. Allows also deferred attach/detach of a subdevice.

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	-	Yes	full name of the port opened by the device, like /robotName/part/	MUST start with a '/' character
period	-	int	ms	20	No	refresh period of the broadcasted values in ms	optional, default 20ms
subdevice	-	string	-	-	alternative to netwok group	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well
networks	-	group	-	-	alternative to subdevice	this is expected to be a group parameter in xml format, a list in .ini file format. SubParameter are mandatory if this is used	-
-	networkName_1	4 * int	joint number	-	if networks is used	describe how to match subdevice_1 joints with the wrapper joints. First 2 numbers indicate first/last wrapper joint, last 2 numbers are subdevice first/last joint	The joints are intended to be consequent
-	...	4 * int	joint number	-	if networks is used	same as above	The joints are intended to be consequent
-	networkName_n	4 * int	joint number	-	if networks is used	same as above	The joints are intended to be consequent
-	joints	int	-	-	if networks is used	total number of joints handled by the wrapper	MUST match the sum of joints from all the networks
ROS	-	group	-	-	No	Group containing parameter for ROS topic initialization	if missing, it is assumed to not use ROS topics
-	useROS	string	true/false/only	-	if ROS group is present	set 'true' to have both yarp ports and ROS topic, set 'only' to have only ROS topic and no yarp port	-
-	ROS_topicName	string	-	-	if ROS group is present	set the name for ROS topic	must start with a leading '/'
-	ROS_nodeName	string	-	-	if ROS group is present	set the name for ROS node	must start with a leading '/'
-	jointNames	string	-	-	deprecated	joints names are now got from attached motionControl device	names order must match with the joint order, from 0 to N

ROS message type used is sensor_msgs/JointState.msg (http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html) Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device controlboardwrapper2
 subdevice fakebot
 name /icub/head
 
** parameter for 'fakebot' subdevice follows here **
...

XML format, using 'networks' keyword. This file is meant to be used in junction with yarprobotinterface executable, therefore has an addictional section at the end.

<paramlist name="networks">
  <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
  <elem name="FirstSetOfJoints">  (0  3  0  3)  </elem>
  <elem name="SecondSetOfJoints"> (4  6  0  2)  </elem>
</paramlist>
 
<param name="period"> 20                 </param>
<param name="name">   /icub/left_arm     </param>
<param name="joints"> 7                  </param>
 
 
 <!-- Following parameters are meaningful ONLY for yarprobotinterface -->
 <action phase="startup" level="5" type="attach">
     <paramlist name="networks">
         <!-- The param value must match the device name in the corresponding emsX file -->
         <elem name="FirstSetOfJoints">  left_upper_arm_mc </elem>
         <elem name="SecondSetOfJoints"> left_lower_arm_mc </elem>
      </paramlist>
 </action>
 <action phase="shutdown" level="5" type="detach" />

Configuration file using .ini format, using network keyword

device controlboardwrapper2
name  /robotName/partName
period 10
networks (net_larm net_lhand)
joints 16
net_larm    0 3  0 3
net_lhand   4 6  0 2

Configuration for ROS topic using .ini format

[ROS]
useROS         true
ROS_topicName  /JointState
ROS_nodeName   /robotPublisher
jointNames     r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw

Configuration for ROS topic using .xml format

<group name="ROS">
    <param name="useROS">         true             </param>    // use 'only' if you want only ROS topic and NOT yarp port
    <param name="ROS_topicName">  /JointState      </param>
    <param name="ROS_nodeName">   /robotPublisher  </param>
    <param name="jointNames">     r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw </param>
</group>

Definition at line 225 of file ControlBoardWrapper.h.

Public Member Functions
	ControlBoardWrapper ()

	ControlBoardWrapper (const ControlBoardWrapper &)=delete

	ControlBoardWrapper (ControlBoardWrapper &&)=delete

ControlBoardWrapper &	operator= (const ControlBoardWrapper &)=delete

ControlBoardWrapper &	operator= (ControlBoardWrapper &&)=delete

	~ControlBoardWrapper () override

bool	verbose () const
	Return the value of the verbose flag. More...

std::string	getId ()

bool	close () override
	Close the device driver by deallocating all resources and closing ports. More...

bool	open (yarp::os::Searchable &prop) override
	Open the device driver. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

bool	attachAll (const yarp::dev::PolyDriverList &l) override
	Attach to a list of objects. More...

void	run () override
	The thread main loop deals with writing on ports here. More...

bool	setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &p) override
	Set new pid value for a joint axis. More...

bool	setPids (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *ps) override
	Set new pid value on multiple axes. More...

bool	setPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis. More...

bool	setPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes. More...

bool	setPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specifi joint. More...

bool	setPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints. More...

bool	getPidError (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint. More...

bool	getPidErrors (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints. More...

bool	getPidOutput (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g. More...

bool	getPidOutputs (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g. More...

bool	setPidOffset (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller. More...

bool	getPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *p) override
	Get current pid value for a specific joint. More...

bool	getPids (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
	Get current pid value for a specific joint. More...

bool	getPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint. More...

bool	getPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers. More...

bool	getPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
	Get the error limit for the controller on a specific joint. More...

bool	getPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
	Get the error limit for all controllers. More...

bool	resetPid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...

bool	disablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint. More...

bool	enablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint. More...

bool	isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid. More...

bool	getAxes (int *ax) 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 double *refs) override
	Set new reference point for all axes. More...

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

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

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

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

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

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

bool	checkMotionDone (const int n_joints, const int joints, bool flags) 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 double *spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const int n_joints, const int joints, 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 double *accs) override
	Set reference acceleration on all joints. More...

bool	setRefAccelerations (const int n_joints, const int joints, 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 (double *spds) override
	Get reference speed of all joints. More...

bool	getRefSpeeds (const int n_joints, const int joints, 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 (double *accs) override
	Get reference acceleration of all joints. More...

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

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

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

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

bool	velocityMove (int j, double v) override
	Set new reference speed for a single axis. More...

bool	velocityMove (const double *v) override
	Set a new reference speed for all axes. More...

bool	resetEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetEncoders () override
	Reset encoders. More...

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint. More...

bool	setEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getEncoders (double *encs) override
	Read the position of all axes. More...

bool	getEncodersTimed (double encs, double t) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getEncoderAcceleration (int j, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getEncoderAccelerations (double *accs) override
	Read the istantaneous acceleration of all axes. More...

bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders. More...

bool	resetMotorEncoder (int m) override
	Reset encoder, single joint. More...

bool	resetMotorEncoders () override
	Reset encoders. More...

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m. More...

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	gets number of counts per revolution for motor encoder m. More...

bool	setMotorEncoder (int m, const double val) override
	Set the value of the encoder for a given joint. More...

bool	setMotorEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getMotorEncoder (int m, double *v) override
	Read the value of an encoder. More...

bool	getMotorEncoders (double *encs) override
	Read the position of all axes. More...

bool	getMotorEncodersTimed (double encs, double t) override
	Read the instantaneous position of all motor encoders. More...

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder. More...

bool	getMotorEncoderSpeed (int m, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getMotorEncoderAcceleration (int m, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getMotorEncoderAccelerations (double *accs) override
	Read the istantaneous acceleration of all axes. More...

bool	enableAmp (int j) override
	Enable the amplifier on a specific joint. More...

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint. More...

bool	getAmpStatus (int *st) override
	Get the status of the amplifiers, coded in a 32 bits integer for each amplifier (at the moment contains only the fault, it will be expanded in the future). More...

bool	getAmpStatus (int j, int *v) override

bool	getCurrents (double *vals) override
	Read the electric current going to all motors. More...

bool	getCurrent (int j, double *val) override
	Read the electric current going to a given motor. More...

bool	setMaxCurrent (int j, double v) override
	Set the maximum electric current going to a given motor. More...

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor. More...

bool	getNominalCurrent (int m, double *val) override

bool	setNominalCurrent (int m, const double val) override

bool	getPeakCurrent (int m, double *val) override

bool	setPeakCurrent (int m, const double val) override

bool	getPWM (int m, double *val) override

bool	getPWMLimit (int m, double *val) override

bool	setPWMLimit (int m, const double val) override

bool	getPowerSupplyVoltage (int m, double *val) override

bool	setLimits (int j, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getLimits (int j, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setVelLimits (int j, double min, double max) override
	Set the software velocity limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getVelLimits (int j, double min, double max) override
	Get the software velocity limits for a particular axis. More...

bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override

bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override

bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override

bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...

yarp::dev::IRemoteCalibrator *	getCalibratorDevice () override
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...

bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint More...

bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device More...

bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint More...

bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device More...

bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint More...

bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part More...

bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure More...

bool	quitPark () override
	quitPark: interrupt the park procedure More...

bool	calibrateAxisWithParams (int j, unsigned int ui, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific. More...

bool	setCalibrationParameters (int j, const yarp::dev::CalibrationParameters &params) override
	Start calibration, this method is very often platform specific. More...

bool	calibrationDone (int j) override
	Check whether the calibration has been completed. More...

bool	abortPark () override

bool	abortCalibration () override

bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled axes from the current physical interface. More...

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

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

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

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

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

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

bool	getAxisName (int j, std::string &name) override

bool	getJointType (int j, yarp::dev::JointTypeEnum &type) override

bool	getRefTorques (double *refs) override
	Get the reference value of the torque for all joints. More...

bool	getRefTorque (int j, double *t) override
	Get the reference value of the torque for a given joint. More...

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints. More...

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint. More...

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints. More...

bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...

bool	setImpedance (int j, double stiff, double damp) override
	Set current impedance gains (stiffness,damping) for a specific joint. More...

bool	setImpedanceOffset (int j, double offset) override
	Set current force Offset for a specific joint. More...

bool	getTorque (int j, double *t) override
	Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint. More...

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints. More...

bool	getImpedance (int j, double stiff, double damp) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint. More...

bool	getImpedanceOffset (int j, double *offset) override
	Get current force Offset for a specific joint. More...

bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint. More...

bool	getControlMode (int j, int *mode) override
	Get the current control mode. More...

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints). More...

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes. More...

bool	setControlMode (const int j, const int mode) override
	Set the current control mode. More...

bool	setControlModes (const int n_joints, const int joints, int modes) override
	Set the current control mode for a subset of axes. More...

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints). More...

bool	setPosition (int j, double ref) override
	Set new position for a single axis. More...

bool	setPositions (const int n_joints, const int joints, const double dpos) override
	Set new reference point for all axes. More...

bool	setPositions (const double *refs) override
	Set new position for a set of axis. More...

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

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

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

yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

bool	velocityMove (const int n_joints, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints. More...

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint. More...

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints. More...

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints. More...

bool	getInteractionMode (int j, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setInteractionMode (int j, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant. More...

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setRefDutyCycle (int j, double v) override
	Sets the reference dutycycle to a single motor. More...

bool	setRefDutyCycles (const double *v) override
	Sets the reference dutycycle for all the motors. More...

bool	getRefDutyCycle (int j, double *v) override
	Gets the last reference sent using the setRefDutyCycle function. More...

bool	getRefDutyCycles (double *v) override
	Gets the last reference sent using the setRefDutyCycles function. More...

bool	getDutyCycle (int j, double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getDutyCycles (double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getCurrentRange (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g. More...

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g. More...

bool	setRefCurrents (const double *t) override
	Set the reference value of the currents for all motors. More...

bool	setRefCurrent (int j, double t) override
	Set the reference value of the current for a single motor. More...

bool	setRefCurrents (const int n_joint, const int joints, const double t) override
	Set the reference value of the current for a group of motors. More...

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors. More...

bool	getRefCurrent (int j, double *t) override
	Get the reference value of the current for a single motor. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

virtual	~IRemoteCalibrator ()=default

virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device. More...

virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot. More...

virtual bool	calibrateRobot ()
	Calibrate robot by using an external calibrator. More...

virtual bool	park (bool wait=true)

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

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

Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

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

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

Public Member Functions inherited from yarp::dev::IPreciselyTimed
virtual	~IPreciselyTimed ()

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

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

Public Member Functions inherited from yarp::dev::IPWMControl
virtual	~IPWMControl ()

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

Additional Inherited Members
Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Constructor & Destructor Documentation

◆ ControlBoardWrapper() [1/3]

ControlBoardWrapper::ControlBoardWrapper ( )

Definition at line 31 of file ControlBoardWrapper.cpp.

◆ ControlBoardWrapper() [2/3]

ControlBoardWrapper::ControlBoardWrapper ( const ControlBoardWrapper & )

delete

◆ ControlBoardWrapper() [3/3]

ControlBoardWrapper::ControlBoardWrapper ( ControlBoardWrapper && )

delete

◆ ~ControlBoardWrapper()

ControlBoardWrapper::~ControlBoardWrapper ( )

overridedefault

Member Function Documentation

◆ abortCalibration()

bool ControlBoardWrapper::abortCalibration ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3708 of file ControlBoardWrapper.cpp.

◆ abortPark()

bool ControlBoardWrapper::abortPark ( )

overridevirtual

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3702 of file ControlBoardWrapper.cpp.

◆ attachAll()

bool ControlBoardWrapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 786 of file ControlBoardWrapper.cpp.

◆ calibrateAxisWithParams()

bool ControlBoardWrapper::calibrateAxisWithParams	(	int	axis,
		unsigned int	type,
		double	p1,
		double	p2,
		double	p3
	)

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Implements yarp::dev::IControlCalibration.

Definition at line 3660 of file ControlBoardWrapper.cpp.

◆ calibrateSingleJoint()

bool ControlBoardWrapper::calibrateSingleJoint ( int j )

overridevirtual

calibrateSingleJoint: call the calibration procedure for the single joint

Parameters

j	joint to be calibrated

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3587 of file ControlBoardWrapper.cpp.

◆ calibrateWholePart()

bool ControlBoardWrapper::calibrateWholePart ( )

overridevirtual

calibrateWholePart: call the procedure for calibrating the whole device

Returns: true if calibration was successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3595 of file ControlBoardWrapper.cpp.

◆ calibrationDone()

bool ControlBoardWrapper::calibrationDone ( int j )

overridevirtual

Check whether the calibration has been completed.

Parameters

j	is the joint that has started a calibration procedure.

Returns: true/false on success/failure.

Implements yarp::dev::IControlCalibration.

Definition at line 3686 of file ControlBoardWrapper.cpp.

◆ checkMotionDone() [1/3]

bool ControlBoardWrapper::checkMotionDone ( bool * flag )

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: false on failure

Non blocking.

Parameters

flag	true if the trajectory is terminated, false otherwise

Returns: false on failure

Implements yarp::dev::IPositionControl.

Definition at line 1759 of file ControlBoardWrapper.cpp.

◆ checkMotionDone() [2/3]

bool ControlBoardWrapper::checkMotionDone	(	const int	n_joints,
		const int *	joints,
		bool *	flags
	)

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

joints	pointer to the array of joint numbers
flag	true if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')

Returns: true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 1808 of file ControlBoardWrapper.cpp.

◆ checkMotionDone() [3/3]

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

overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters

j	the axis
flag	true if the trajectory is terminated, false otherwise

Returns: false on failure

Implements yarp::dev::IPositionControl.

Definition at line 1737 of file ControlBoardWrapper.cpp.

◆ close()

bool ControlBoardWrapper::close ( )

overridevirtual

Close the device driver by deallocating all resources and closing ports.

Returns: true if successful or false otherwise.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 73 of file ControlBoardWrapper.cpp.

◆ detachAll()

bool ControlBoardWrapper::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 853 of file ControlBoardWrapper.cpp.

◆ disableAmp()

bool ControlBoardWrapper::disableAmp ( int j )

overridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 3240 of file ControlBoardWrapper.cpp.

◆ disablePid()

bool ControlBoardWrapper::disablePid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1363 of file ControlBoardWrapper.cpp.

◆ enableAmp()

bool ControlBoardWrapper::enableAmp ( int j )

overridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns: true/false on success/failure

Implements yarp::dev::IAmplifierControl.

Definition at line 3224 of file ControlBoardWrapper.cpp.

◆ enablePid()

bool ControlBoardWrapper::enablePid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1378 of file ControlBoardWrapper.cpp.

◆ getAmpStatus() [1/2]

bool ControlBoardWrapper::getAmpStatus ( int * st )

overridevirtual

Get the status of the amplifiers, coded in a 32 bits integer for each amplifier (at the moment contains only the fault, it will be expanded in the future).

Parameters

st	pointer to storage

Returns: true in good luck, false otherwise.

Implements yarp::dev::IAmplifierControl.

Definition at line 3265 of file ControlBoardWrapper.cpp.

◆ getAmpStatus() [2/2]

bool ControlBoardWrapper::getAmpStatus	(	int	j,
		int *	v
	)

overridevirtual

Implements yarp::dev::IAmplifierControl.

Definition at line 3297 of file ControlBoardWrapper.cpp.

◆ getAxes()

bool ControlBoardWrapper::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Parameters

ax	pointer to storage

Returns: true/false.

Implements yarp::dev::IImpedanceControl.

Definition at line 1419 of file ControlBoardWrapper.cpp.

◆ getAxisName()

bool ControlBoardWrapper::getAxisName	(	int	j,
		std::string &	name
	)

overridevirtual

Implements yarp::dev::IAxisInfo.

Definition at line 3716 of file ControlBoardWrapper.cpp.

◆ getCalibratorDevice()

IRemoteCalibrator * ControlBoardWrapper::getCalibratorDevice ( )

overridevirtual

getCalibratorDevice: return the pointer stored with the setCalibratorDevice

Returns: yarp::dev::IRemotizableCalibrator pointer or NULL if not valid

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 3575 of file ControlBoardWrapper.cpp.

◆ getControlMode()

bool ControlBoardWrapper::getControlMode	(	int	j,
		int *	mode
	)

overridevirtual

Get the current control mode.

Parameters

j	joint number
mode	a vocab of the current control mode for joint j.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 4091 of file ControlBoardWrapper.cpp.

◆ getControlModes() [1/2]

bool ControlBoardWrapper::getControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Get the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 4141 of file ControlBoardWrapper.cpp.

◆ getControlModes() [2/2]

bool ControlBoardWrapper::getControlModes ( int * modes )

overridevirtual

Get the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the current control modes of the joints.

Returns: : true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 4107 of file ControlBoardWrapper.cpp.

◆ getCurrent()

bool ControlBoardWrapper::getCurrent	(	int	j,
		double *	val
	)

overridevirtual

Read the electric current going to a given motor.

Parameters

j	motor number
val	pointer to storage for the output value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 4959 of file ControlBoardWrapper.cpp.

◆ getCurrentImpedanceLimit()

bool ControlBoardWrapper::getCurrentImpedanceLimit	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)

overridevirtual

Get the current impedandance limits for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 4074 of file ControlBoardWrapper.cpp.

◆ getCurrentRange()

bool ControlBoardWrapper::getCurrentRange	(	int	m,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

m	motor number
min	minimum current of the motor m
max	maximum current of the motor m

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 4980 of file ControlBoardWrapper.cpp.

◆ getCurrentRanges()

bool ControlBoardWrapper::getCurrentRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters

min	pointer to the array that will store minimum currents
max	pointer to the array that will store maximum currents

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 4998 of file ControlBoardWrapper.cpp.

◆ getCurrents()

bool ControlBoardWrapper::getCurrents ( double * vals )

overridevirtual

Read the electric current going to all motors.

Parameters

vals	pointer to storage for the output values

Returns: hopefully true, false in bad luck.

Implements yarp::dev::IAmplifierControl.

Definition at line 4920 of file ControlBoardWrapper.cpp.

◆ getDutyCycle()

bool ControlBoardWrapper::getDutyCycle	(	int	m,
		double *	val
	)

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters

m	motor number
val	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4863 of file ControlBoardWrapper.cpp.

◆ getDutyCycles()

bool ControlBoardWrapper::getDutyCycles ( double * vals )

overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters

vals	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4880 of file ControlBoardWrapper.cpp.

◆ getEncoder()

bool ControlBoardWrapper::getEncoder	(	int	j,
		double *	v
	)

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncoders.

Definition at line 2535 of file ControlBoardWrapper.cpp.

◆ getEncoderAcceleration()

bool ControlBoardWrapper::getEncoderAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
acc	pointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 2683 of file ControlBoardWrapper.cpp.

◆ getEncoderAccelerations()

bool ControlBoardWrapper::getEncoderAccelerations ( double * accs )

overridevirtual

Read the istantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 2699 of file ControlBoardWrapper.cpp.

◆ getEncoders()

bool ControlBoardWrapper::getEncoders ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 2551 of file ControlBoardWrapper.cpp.

◆ getEncoderSpeed()

bool ControlBoardWrapper::getEncoderSpeed	(	int	j,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IEncoders.

Definition at line 2635 of file ControlBoardWrapper.cpp.

◆ getEncoderSpeeds()

bool ControlBoardWrapper::getEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 2651 of file ControlBoardWrapper.cpp.

◆ getEncodersTimed()

bool ControlBoardWrapper::getEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 2584 of file ControlBoardWrapper.cpp.

◆ getEncoderTimed()

bool ControlBoardWrapper::getEncoderTimed	(	int	j,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 2619 of file ControlBoardWrapper.cpp.

◆ getGearboxRatio()

bool ControlBoardWrapper::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 2816 of file ControlBoardWrapper.cpp.

◆ getId()

std::string ControlBoardWrapper::getId ( )

inline

Definition at line 344 of file ControlBoardWrapper.h.

◆ getImpedance()

bool ControlBoardWrapper::getImpedance	(	int	j,
		double *	stiffness,
		double *	damping
	)

overridevirtual

Get current impedance gains (stiffness,damping,offset) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 4040 of file ControlBoardWrapper.cpp.

◆ getImpedanceOffset()

bool ControlBoardWrapper::getImpedanceOffset	(	int	j,
		double *	offset
	)

overridevirtual

Get current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 4057 of file ControlBoardWrapper.cpp.

◆ getInteractionMode()

bool ControlBoardWrapper::getInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode
	)

overridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters

axis	joint number
mode	contains the requested information about interaction mode of the joint

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 4594 of file ControlBoardWrapper.cpp.

◆ getInteractionModes() [1/2]

bool ControlBoardWrapper::getInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 4610 of file ControlBoardWrapper.cpp.

◆ getInteractionModes() [2/2]

bool ControlBoardWrapper::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters

mode	array containing the requested information about interaction mode, one value for each joint.

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 4666 of file ControlBoardWrapper.cpp.

◆ getJointType()

bool ControlBoardWrapper::getJointType	(	int	j,
		yarp::dev::JointTypeEnum &	type
	)

overridevirtual

Reimplemented from yarp::dev::IAxisInfo.

Definition at line 3732 of file ControlBoardWrapper.cpp.

◆ getLastInputStamp()

yarp::os::Stamp ControlBoardWrapper::getLastInputStamp ( )

overridevirtual

Return the time stamp relative to the last acquisition.

Implements yarp::dev::IPreciselyTimed.

Definition at line 4332 of file ControlBoardWrapper.cpp.

◆ getLimits()

bool ControlBoardWrapper::getLimits	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the software limits for a particular axis.

Parameters

j	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false if something bad happens (yes, sometimes life is tough)

Implements yarp::dev::IControlLimits.

Definition at line 3515 of file ControlBoardWrapper.cpp.

◆ getMaxCurrent()

bool ControlBoardWrapper::getMaxCurrent	(	int	j,
		double *	v
	)

overridevirtual

Returns the maximum electric current allowed for a given motor.

The behavior of the board/amplifier when this limit is reached depends on the implementation.

Parameters

j	motor number
v	the return value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 3327 of file ControlBoardWrapper.cpp.

◆ getMotorEncoder()

bool ControlBoardWrapper::getMotorEncoder	(	int	m,
		double *	v
	)

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns: true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IMotorEncoders.

Definition at line 3019 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderAcceleration()

bool ControlBoardWrapper::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
acc	pointer to the array that will contain the output

Implements yarp::dev::IMotorEncoders.

Definition at line 3167 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderAccelerations()

bool ControlBoardWrapper::getMotorEncoderAccelerations ( double * accs )

overridevirtual

Read the istantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns: true if all goes well, false if anything bad happens.

Implements yarp::dev::IMotorEncoders.

Definition at line 3183 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool ControlBoardWrapper::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

overridevirtual

gets number of counts per revolution for motor encoder m.

Parameters

m	motor encoder number
cpr	pointer to storage for the return value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 3003 of file ControlBoardWrapper.cpp.

◆ getMotorEncoders()

bool ControlBoardWrapper::getMotorEncoders ( double * encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false on success/failure

Implements yarp::dev::IMotorEncoders.

Definition at line 3035 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderSpeed()

bool ControlBoardWrapper::getMotorEncoderSpeed	(	int	m,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns: true if successful, false ... otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 3119 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderSpeeds()

bool ControlBoardWrapper::getMotorEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns: guess what? (true/false on success or failure).

Implements yarp::dev::IMotorEncoders.

Definition at line 3135 of file ControlBoardWrapper.cpp.

◆ getMotorEncodersTimed()

bool ControlBoardWrapper::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 3068 of file ControlBoardWrapper.cpp.

◆ getMotorEncoderTimed()

bool ControlBoardWrapper::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 3103 of file ControlBoardWrapper.cpp.

◆ getMotorTorqueParams()

bool ControlBoardWrapper::getMotorTorqueParams	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

overridevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 3871 of file ControlBoardWrapper.cpp.

◆ getNominalCurrent()

bool ControlBoardWrapper::getNominalCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3347 of file ControlBoardWrapper.cpp.

◆ getNumberOfMotorEncoders()

bool ControlBoardWrapper::getNumberOfMotorEncoders ( int * num )

overridevirtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 3217 of file ControlBoardWrapper.cpp.

◆ getNumberOfMotors()

bool ControlBoardWrapper::getNumberOfMotors ( int * ax )

overridevirtual

Retrieves the number of controlled axes from the current physical interface.

Parameters

ax	returns the number of controlled axes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 2732 of file ControlBoardWrapper.cpp.

◆ getPeakCurrent()

bool ControlBoardWrapper::getPeakCurrent	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3367 of file ControlBoardWrapper.cpp.

◆ getPid()

bool ControlBoardWrapper::getPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		yarp::dev::Pid *	pid
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	pointer to storage for the return value.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1206 of file ControlBoardWrapper.cpp.

◆ getPidError()

bool ControlBoardWrapper::getPidError	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

overridevirtual

Get the current error for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
err	pointer to the storage for the return value

Returns: true/false on success failure

Implements yarp::dev::IPidControl.

Definition at line 1092 of file ControlBoardWrapper.cpp.

◆ getPidErrorLimit()

bool ControlBoardWrapper::getPidErrorLimit	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

overridevirtual

Get the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	pointer to storage

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1301 of file ControlBoardWrapper.cpp.

◆ getPidErrorLimits()

bool ControlBoardWrapper::getPidErrorLimits	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	limits
	)

overridevirtual

Get the error limit for all controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the array that will store the output

Returns: success or failure

Implements yarp::dev::IPidControl.

Definition at line 1316 of file ControlBoardWrapper.cpp.

◆ getPidErrors()

bool ControlBoardWrapper::getPidErrors	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	errs
	)

overridevirtual

Get the error of all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
errs	pointer to the vector that will store the errors

Implements yarp::dev::IPidControl.

Definition at line 1109 of file ControlBoardWrapper.cpp.

◆ getPidOutput()

bool ControlBoardWrapper::getPidOutput	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

overridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
out	pointer to storage for return value

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1141 of file ControlBoardWrapper.cpp.

◆ getPidOutputs()

bool ControlBoardWrapper::getPidOutputs	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	outs
	)

overridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
outs	pinter to the vector that will store the output values

Implements yarp::dev::IPidControl.

Definition at line 1158 of file ControlBoardWrapper.cpp.

◆ getPidReference()

bool ControlBoardWrapper::getPidReference	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

overridevirtual

Get the current reference of the pid controller for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	pointer to storage for return value

Returns: reference value

Implements yarp::dev::IPidControl.

Definition at line 1255 of file ControlBoardWrapper.cpp.

◆ getPidReferences()

bool ControlBoardWrapper::getPidReferences	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	refs
	)

overridevirtual

Get the current reference of all pid controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	vector that will store the output.

Implements yarp::dev::IPidControl.

Definition at line 1269 of file ControlBoardWrapper.cpp.

◆ getPids()

bool ControlBoardWrapper::getPids	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		yarp::dev::Pid *	pids
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	vector that will store the values of the pids.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 1223 of file ControlBoardWrapper.cpp.

◆ getPowerSupplyVoltage()

bool ControlBoardWrapper::getPowerSupplyVoltage	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3476 of file ControlBoardWrapper.cpp.

◆ getPWM()

bool ControlBoardWrapper::getPWM	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3419 of file ControlBoardWrapper.cpp.

◆ getPWMLimit()

bool ControlBoardWrapper::getPWMLimit	(	int	m,
		double *	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3439 of file ControlBoardWrapper.cpp.

◆ getRefAcceleration()

bool ControlBoardWrapper::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 2197 of file ControlBoardWrapper.cpp.

◆ getRefAccelerations() [1/2]

bool ControlBoardWrapper::getRefAccelerations	(	const int	n_joints,
		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 2259 of file ControlBoardWrapper.cpp.

◆ getRefAccelerations() [2/2]

bool ControlBoardWrapper::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 2220 of file ControlBoardWrapper.cpp.

◆ getRefCurrent()

bool ControlBoardWrapper::getRefCurrent	(	int	m,
		double *	curr
	)

overridevirtual

Get the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 5142 of file ControlBoardWrapper.cpp.

◆ getRefCurrents()

bool ControlBoardWrapper::getRefCurrents ( double * currs )

overridevirtual

Get the reference value of the currents for all motors.

Parameters

currs pointer to the array to be filled with reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 5109 of file ControlBoardWrapper.cpp.

◆ getRefDutyCycle()

bool ControlBoardWrapper::getRefDutyCycle	(	int	m,
		double *	ref
	)

overridevirtual

Gets the last reference sent using the setRefDutyCycle function.

Parameters

m	motor number
ref	pointer to storage for return value, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4813 of file ControlBoardWrapper.cpp.

◆ getRefDutyCycles()

bool ControlBoardWrapper::getRefDutyCycles ( double * refs )

overridevirtual

Gets the last reference sent using the setRefDutyCycles function.

Parameters

refs	pointer to the vector that will store the values, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4830 of file ControlBoardWrapper.cpp.

◆ getRefPosition()

bool ControlBoardWrapper::getRefPosition	(	const int	joint,
		double *	ref
	)

overridevirtual

Get the last position reference for the specified axis.

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

Parameters

ref	last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 4339 of file ControlBoardWrapper.cpp.

◆ getRefPositions() [1/2]

bool ControlBoardWrapper::getRefPositions	(	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 setPositions and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 4392 of file ControlBoardWrapper.cpp.

◆ getRefPositions() [2/2]

bool ControlBoardWrapper::getRefPositions ( double * refs )

overridevirtual

Get the last position reference for all axes.

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

Parameters

ref	array containing last reference sent using setPosition(s) functions

Returns: true/false on success/failure

Reimplemented from yarp::dev::IPositionDirect.

Definition at line 4358 of file ControlBoardWrapper.cpp.

◆ getRefSpeed()

bool ControlBoardWrapper::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 2073 of file ControlBoardWrapper.cpp.

◆ getRefSpeeds() [1/2]

bool ControlBoardWrapper::getRefSpeeds	(	const int	n_joints,
		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 2135 of file ControlBoardWrapper.cpp.

◆ getRefSpeeds() [2/2]

bool ControlBoardWrapper::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.

Returns: true/false on success/failure.

Implements yarp::dev::IPositionControl.

Definition at line 2096 of file ControlBoardWrapper.cpp.

◆ getRefTorque()

bool ControlBoardWrapper::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3780 of file ControlBoardWrapper.cpp.

◆ getRefTorques()

bool ControlBoardWrapper::getRefTorques ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3748 of file ControlBoardWrapper.cpp.

◆ getRefVelocities() [1/2]

bool ControlBoardWrapper::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 4539 of file ControlBoardWrapper.cpp.

◆ getRefVelocities() [2/2]

bool ControlBoardWrapper::getRefVelocities ( double * vels )

overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 4506 of file ControlBoardWrapper.cpp.

◆ getRefVelocity()

bool ControlBoardWrapper::getRefVelocity	(	const int	joint,
		double *	vel
	)

overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 4483 of file ControlBoardWrapper.cpp.

◆ getRemoteVariable()

bool ControlBoardWrapper::getRemoteVariable	(	std::string	key,
		yarp::os::Bottle &	val
	)

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2848 of file ControlBoardWrapper.cpp.

◆ getRemoteVariablesList()

bool ControlBoardWrapper::getRemoteVariablesList ( yarp::os::Bottle * listOfKeys )

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2896 of file ControlBoardWrapper.cpp.

◆ getTargetPosition()

bool ControlBoardWrapper::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 1533 of file ControlBoardWrapper.cpp.

◆ getTargetPositions() [1/2]

bool ControlBoardWrapper::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 1591 of file ControlBoardWrapper.cpp.

◆ getTargetPositions() [2/2]

bool ControlBoardWrapper::getTargetPositions ( double * spds )

overridevirtual

Get the last position reference for all axes.

Get reference speed of all joints.

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

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

Parameters

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

Returns: true/false on success/failure.

Reimplemented from yarp::dev::IPositionControl.

Definition at line 1558 of file ControlBoardWrapper.cpp.

◆ getTemperature()

bool ControlBoardWrapper::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 2737 of file ControlBoardWrapper.cpp.

◆ getTemperatureLimit()

bool ControlBoardWrapper::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 2785 of file ControlBoardWrapper.cpp.

◆ getTemperatures()

bool ControlBoardWrapper::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 2753 of file ControlBoardWrapper.cpp.

◆ getTorque()

bool ControlBoardWrapper::getTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3937 of file ControlBoardWrapper.cpp.

◆ getTorqueRange()

bool ControlBoardWrapper::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3987 of file ControlBoardWrapper.cpp.

◆ getTorqueRanges()

bool ControlBoardWrapper::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 4004 of file ControlBoardWrapper.cpp.

◆ getTorques()

bool ControlBoardWrapper::getTorques ( double * t )

overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3954 of file ControlBoardWrapper.cpp.

◆ getVelLimits()

bool ControlBoardWrapper::getVelLimits	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the software velocity limits for a particular axis.

Parameters

j	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns: true if everything goes fine, false if something bad happens

Implements yarp::dev::IControlLimits.

Definition at line 3553 of file ControlBoardWrapper.cpp.

◆ homingSingleJoint()

bool ControlBoardWrapper::homingSingleJoint ( int j )

overridevirtual

homingSingleJoint: call the homing procedure for a single joint

Parameters

j	joint to be calibrated

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3604 of file ControlBoardWrapper.cpp.

◆ homingWholePart()

bool ControlBoardWrapper::homingWholePart ( )

overridevirtual

homingWholePart: call the homing procedure for a the whole part/device

Returns: true if homing was successful, false otherwise

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3613 of file ControlBoardWrapper.cpp.

◆ isCalibratorDevicePresent()

bool ControlBoardWrapper::isCalibratorDevicePresent ( bool * isCalib )

overridevirtual

isCalibratorDevicePresent: check if a calibrator device has been set

Returns: true if a valid calibrator device has been found

Reimplemented from yarp::dev::IRemoteCalibrator.

Definition at line 3581 of file ControlBoardWrapper.cpp.

◆ isPidEnabled()

bool ControlBoardWrapper::isPidEnabled	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

overridevirtual

Get the current status (enabled/disabled) of the pid.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
enabled	the current status of the pid controller.

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1393 of file ControlBoardWrapper.cpp.

◆ open()

bool ControlBoardWrapper::open ( yarp::os::Searchable & prop )

overridevirtual

Open the device driver.

Parameters

prop

is a Searchable object which contains the parameters. Allowed parameters are:

verbose or v to print diagnostic information while running..
name to specify the prefix of the port names.
subdevice [optional] if specified, the openAndAttachSubDevice will be called, otherwise openDeferredAttach is called. and all parameters required by the wrapper.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 391 of file ControlBoardWrapper.cpp.

◆ operator=() [1/2]

ControlBoardWrapper& ControlBoardWrapper::operator= ( const ControlBoardWrapper & )

delete

◆ operator=() [2/2]

ControlBoardWrapper& ControlBoardWrapper::operator= ( ControlBoardWrapper && )

delete

◆ parkSingleJoint()

bool ControlBoardWrapper::parkSingleJoint	(	int	j,
		bool	_wait = `true`
	)

overridevirtual

parkSingleJoint(): start the parking procedure for the single joint

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3622 of file ControlBoardWrapper.cpp.

◆ parkWholePart()

bool ControlBoardWrapper::parkWholePart ( )

overridevirtual

parkWholePart: start the parking procedure for the whole part

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3631 of file ControlBoardWrapper.cpp.

◆ positionMove() [1/3]

bool ControlBoardWrapper::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 1450 of file ControlBoardWrapper.cpp.

◆ positionMove() [2/3]

bool ControlBoardWrapper::positionMove	(	const int	n_joints,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for a subset of axis.

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 1498 of file ControlBoardWrapper.cpp.

◆ positionMove() [3/3]

bool ControlBoardWrapper::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 1430 of file ControlBoardWrapper.cpp.

◆ quitCalibrate()

bool ControlBoardWrapper::quitCalibrate ( )

overridevirtual

quitCalibrate: interrupt the calibration procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3640 of file ControlBoardWrapper.cpp.

◆ quitPark()

bool ControlBoardWrapper::quitPark ( )

overridevirtual

quitPark: interrupt the park procedure

Returns: true if successful

Implements yarp::dev::IRemoteCalibrator.

Definition at line 3649 of file ControlBoardWrapper.cpp.

◆ relativeMove() [1/3]

bool ControlBoardWrapper::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 1669 of file ControlBoardWrapper.cpp.

◆ relativeMove() [2/3]

bool ControlBoardWrapper::relativeMove	(	const int	n_joints,
		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 1696 of file ControlBoardWrapper.cpp.

◆ relativeMove() [3/3]

bool ControlBoardWrapper::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 1649 of file ControlBoardWrapper.cpp.

◆ resetEncoder()

bool ControlBoardWrapper::resetEncoder ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	is the axis number

Returns: true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 2461 of file ControlBoardWrapper.cpp.

◆ resetEncoders()

bool ControlBoardWrapper::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoder values to zero for all axes

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 2476 of file ControlBoardWrapper.cpp.

◆ resetMotorEncoder()

bool ControlBoardWrapper::resetMotorEncoder ( int m )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	is the axis number

Returns: true/false on success/failure

Implements yarp::dev::IMotorEncoders.

Definition at line 2914 of file ControlBoardWrapper.cpp.

◆ resetMotorEncoders()

bool ControlBoardWrapper::resetMotorEncoders ( )

overridevirtual

Reset encoders.

Set the encoder values to zero for all axes

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2929 of file ControlBoardWrapper.cpp.

◆ resetPid()

bool ControlBoardWrapper::resetPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1348 of file ControlBoardWrapper.cpp.

◆ run()

void ControlBoardWrapper::run ( )

overridevirtual

The thread main loop deals with writing on ports here.

Implements yarp::os::PeriodicThread.

Definition at line 873 of file ControlBoardWrapper.cpp.

◆ setCalibrationParameters()

bool ControlBoardWrapper::setCalibrationParameters	(	int	axis,
		const yarp::dev::CalibrationParameters &	params
	)

overridevirtual

Start calibration, this method is very often platform specific.

Returns: true/false on success failure

Reimplemented from yarp::dev::IControlCalibration.

Definition at line 3673 of file ControlBoardWrapper.cpp.

◆ setControlMode()

bool ControlBoardWrapper::setControlMode	(	const int	j,
		const int	mode
	)

overridevirtual

Set the current control mode.

Parameters

j	joint number
mode	a vocab of the desired control mode for joint j.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 4164 of file ControlBoardWrapper.cpp.

◆ setControlModes() [1/2]

bool ControlBoardWrapper::setControlModes	(	const int	n_joint,
		const int *	joints,
		int *	modes
	)

overridevirtual

Set the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 4181 of file ControlBoardWrapper.cpp.

◆ setControlModes() [2/2]

bool ControlBoardWrapper::setControlModes ( int * modes )

overridevirtual

Set the current control mode (multiple joints).

Parameters

modes a vector containing vocabs for the desired control modes of the joints.

Returns: true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 4216 of file ControlBoardWrapper.cpp.

◆ setEncoder()

bool ControlBoardWrapper::setEncoder	(	int	j,
		double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 2498 of file ControlBoardWrapper.cpp.

◆ setEncoders()

bool ControlBoardWrapper::setEncoders ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 2513 of file ControlBoardWrapper.cpp.

◆ setGearboxRatio()

bool ControlBoardWrapper::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 2832 of file ControlBoardWrapper.cpp.

◆ setImpedance()

bool ControlBoardWrapper::setImpedance	(	int	j,
		double	stiffness,
		double	damping
	)

overridevirtual

Set current impedance gains (stiffness,damping) for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3903 of file ControlBoardWrapper.cpp.

◆ setImpedanceOffset()

bool ControlBoardWrapper::setImpedanceOffset	(	int	j,
		double	offset
	)

overridevirtual

Set current force Offset for a specific joint.

Returns: success/failure

Implements yarp::dev::IImpedanceControl.

Definition at line 3920 of file ControlBoardWrapper.cpp.

◆ setInteractionMode()

bool ControlBoardWrapper::setInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum	mode
	)

overridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

axis	joint number
mode	the desired interaction mode

Returns: true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 4699 of file ControlBoardWrapper.cpp.

◆ setInteractionModes() [1/2]

bool ControlBoardWrapper::setInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes
	)

overridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters

n_joints	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
modes	array containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 4715 of file ControlBoardWrapper.cpp.

◆ setInteractionModes() [2/2]

bool ControlBoardWrapper::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

overridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters

mode	array with the desired interaction mode for all joints, length is the total number of joints for the part

Returns: true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 4750 of file ControlBoardWrapper.cpp.

◆ setLimits()

bool ControlBoardWrapper::setLimits	(	int	j,
		double	min,
		double	max
	)

overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

j	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 3499 of file ControlBoardWrapper.cpp.

◆ setMaxCurrent()

bool ControlBoardWrapper::setMaxCurrent	(	int	j,
		double	v
	)

overridevirtual

Set the maximum electric current going to a given motor.

The behavior of the board/amplifier when this limit is reached depends on the implementation.

Parameters

j	motor number
v	the new value

Returns: probably true, might return false in bad times

Implements yarp::dev::IAmplifierControl.

Definition at line 3311 of file ControlBoardWrapper.cpp.

◆ setMotorEncoder()

bool ControlBoardWrapper::setMotorEncoder	(	int	m,
		const double	val
	)

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2951 of file ControlBoardWrapper.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool ControlBoardWrapper::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor encoder number
cpr	new parameter

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2988 of file ControlBoardWrapper.cpp.

◆ setMotorEncoders()

bool ControlBoardWrapper::setMotorEncoders ( const double * vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 2966 of file ControlBoardWrapper.cpp.

◆ setMotorTorqueParams()

bool ControlBoardWrapper::setMotorTorqueParams	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

overridevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 3887 of file ControlBoardWrapper.cpp.

◆ setNominalCurrent()

bool ControlBoardWrapper::setNominalCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3403 of file ControlBoardWrapper.cpp.

◆ setPeakCurrent()

bool ControlBoardWrapper::setPeakCurrent	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3387 of file ControlBoardWrapper.cpp.

◆ setPid()

bool ControlBoardWrapper::setPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		const yarp::dev::Pid &	pid
	)

overridevirtual

Set new pid value for a joint axis.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	new pid value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 975 of file ControlBoardWrapper.cpp.

◆ setPidErrorLimit()

bool ControlBoardWrapper::setPidErrorLimit	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

overridevirtual

Set the error limit for the controller on a specifi joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1053 of file ControlBoardWrapper.cpp.

◆ setPidErrorLimits()

bool ControlBoardWrapper::setPidErrorLimits	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	limits
	)

overridevirtual

Get the error limit for the controller on all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the vector with the new limits

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 1069 of file ControlBoardWrapper.cpp.

◆ setPidOffset()

bool ControlBoardWrapper::setPidOffset	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

overridevirtual

Set offset value for a given controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
v	the offset to be added to the output of the pid controller

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 1190 of file ControlBoardWrapper.cpp.

◆ setPidReference()

bool ControlBoardWrapper::setPidReference	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

overridevirtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	new reference point

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1014 of file ControlBoardWrapper.cpp.

◆ setPidReferences()

bool ControlBoardWrapper::setPidReferences	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	refs
	)

overridevirtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	pointer to the vector that contains the new reference points.

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 1030 of file ControlBoardWrapper.cpp.

◆ setPids()

bool ControlBoardWrapper::setPids	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const yarp::dev::Pid *	pids
	)

overridevirtual

Set new pid value on multiple axes.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	pointer to a vector of pids

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 991 of file ControlBoardWrapper.cpp.

◆ setPosition()

bool ControlBoardWrapper::setPosition	(	int	j,
		double	ref
	)

overridevirtual

Set new position for a single axis.

Parameters

j	joint number
ref	specifies the new ref point

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 4255 of file ControlBoardWrapper.cpp.

◆ setPositions() [1/2]

bool ControlBoardWrapper::setPositions ( const double * refs )

overridevirtual

Set new position for a set of axis.

Parameters

refs	specifies the new reference points

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 4309 of file ControlBoardWrapper.cpp.

◆ setPositions() [2/2]

bool ControlBoardWrapper::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs
	)

overridevirtual

Set new reference point for all axes.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
refs	array, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IPositionDirect.

Definition at line 4272 of file ControlBoardWrapper.cpp.

◆ setPWMLimit()

bool ControlBoardWrapper::setPWMLimit	(	int	m,
		const double	val
	)

overridevirtual

Reimplemented from yarp::dev::IAmplifierControl.

Definition at line 3460 of file ControlBoardWrapper.cpp.

◆ setRefAcceleration()

bool ControlBoardWrapper::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 1963 of file ControlBoardWrapper.cpp.

◆ setRefAccelerations() [1/2]

bool ControlBoardWrapper::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 1984 of file ControlBoardWrapper.cpp.

◆ setRefAccelerations() [2/2]

bool ControlBoardWrapper::setRefAccelerations	(	const int	n_joints,
		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 2030 of file ControlBoardWrapper.cpp.

◆ setRefCurrent()

bool ControlBoardWrapper::setRefCurrent	(	int	m,
		double	curr
	)

overridevirtual

Set the reference value of the current for a single motor.

Parameters

m	motor number
curr	the current reference value for motor m. Value is expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 5057 of file ControlBoardWrapper.cpp.

◆ setRefCurrents() [1/2]

bool ControlBoardWrapper::setRefCurrents ( const double * currs )

overridevirtual

Set the reference value of the currents for all motors.

Parameters

currs the array containing the reference current values. Values are expressed in amperes.

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 5034 of file ControlBoardWrapper.cpp.

◆ setRefCurrents() [2/2]

bool ControlBoardWrapper::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs
	)

overridevirtual

Set the reference value of the current for a group of motors.

Parameters

n_motor	size of motors ans currs arrays
motors	pointer to the array containing the list of motor numbers
currs	pointer to the array specifying the new current references

Returns: true/false on success/failure

Implements yarp::dev::ICurrentControl.

Definition at line 5074 of file ControlBoardWrapper.cpp.

◆ setRefDutyCycle()

bool ControlBoardWrapper::setRefDutyCycle	(	int	m,
		double	ref
	)

overridevirtual

Sets the reference dutycycle to a single motor.

Parameters

m	motor number
ref	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4773 of file ControlBoardWrapper.cpp.

◆ setRefDutyCycles()

bool ControlBoardWrapper::setRefDutyCycles ( const double * refs )

overridevirtual

Sets the reference dutycycle for all the motors.

Parameters

refs	the dutycycle, expressed as percentage (-100% +100%)

Returns: true/false on success/failure

Implements yarp::dev::IPWMControl.

Definition at line 4790 of file ControlBoardWrapper.cpp.

◆ setRefSpeed()

bool ControlBoardWrapper::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 1855 of file ControlBoardWrapper.cpp.

◆ setRefSpeeds() [1/2]

bool ControlBoardWrapper::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 1875 of file ControlBoardWrapper.cpp.

◆ setRefSpeeds() [2/2]

bool ControlBoardWrapper::setRefSpeeds	(	const int	n_joints,
		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 1921 of file ControlBoardWrapper.cpp.

◆ setRefTorque()

bool ControlBoardWrapper::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3820 of file ControlBoardWrapper.cpp.

◆ setRefTorques() [1/2]

bool ControlBoardWrapper::setRefTorques ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 3797 of file ControlBoardWrapper.cpp.

◆ setRefTorques() [2/2]

bool ControlBoardWrapper::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

Set new torque reference for a subset of joints.

Parameters

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

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 3836 of file ControlBoardWrapper.cpp.

◆ setRemoteVariable()

bool ControlBoardWrapper::setRemoteVariable	(	std::string	key,
		const yarp::os::Bottle &	val
	)

overridevirtual

Implements yarp::dev::IRemoteVariables.

Definition at line 2865 of file ControlBoardWrapper.cpp.

◆ setTemperatureLimit()

bool ControlBoardWrapper::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 2801 of file ControlBoardWrapper.cpp.

◆ setVelLimits()

bool ControlBoardWrapper::setVelLimits	(	int	j,
		double	min,
		double	max
	)

overridevirtual

Set the software velocity limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

j	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns: true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 3537 of file ControlBoardWrapper.cpp.

◆ stop() [1/3]

bool ControlBoardWrapper::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 2340 of file ControlBoardWrapper.cpp.

◆ stop() [2/3]

bool ControlBoardWrapper::stop	(	const int	n_joints,
		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 2368 of file ControlBoardWrapper.cpp.

◆ stop() [3/3]

bool ControlBoardWrapper::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 2319 of file ControlBoardWrapper.cpp.

◆ velocityMove() [1/3]

bool ControlBoardWrapper::velocityMove ( const double * v )

overridevirtual

Set a new reference speed for all axes.

Parameters

v	is a vector of double representing the requested speed.

Returns: true/false on success/failure.

Implements yarp::dev::IVelocityControl.

Definition at line 2420 of file ControlBoardWrapper.cpp.

◆ velocityMove() [2/3]

bool ControlBoardWrapper::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer to the array containing the new speed values, one value for each joint, the size of the array is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 spds 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 4448 of file ControlBoardWrapper.cpp.

◆ velocityMove() [3/3]

bool ControlBoardWrapper::velocityMove	(	int	j,
		double	v
	)

overridevirtual

Set new reference speed for a single axis.

Parameters

j	joint number
v	specifies the new ref speed

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 2404 of file ControlBoardWrapper.cpp.

◆ verbose()

bool ControlBoardWrapper::verbose ( ) const

inline

Return the value of the verbose flag.

Returns: the verbose flag.

Definition at line 338 of file ControlBoardWrapper.h.

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

src/devices/ControlBoardWrapper/ControlBoardWrapper.h
src/devices/ControlBoardWrapper/ControlBoardWrapper.cpp

Detailed Description

Description of input parameters

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ControlBoardWrapper() [1/3]

◆ ControlBoardWrapper() [2/3]

◆ ControlBoardWrapper() [3/3]

◆ ~ControlBoardWrapper()

Member Function Documentation

◆ abortCalibration()

◆ abortPark()

◆ attachAll()

◆ calibrateAxisWithParams()

◆ calibrateSingleJoint()

◆ calibrateWholePart()

◆ calibrationDone()

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ detachAll()

◆ disableAmp()

◆ disablePid()

◆ enableAmp()

◆ enablePid()

◆ getAmpStatus() [1/2]

◆ getAmpStatus() [2/2]

◆ getAxes()

◆ getAxisName()

◆ getCalibratorDevice()

◆ getControlMode()

◆ getControlModes() [1/2]

◆ getControlModes() [2/2]

◆ getCurrent()

◆ getCurrentImpedanceLimit()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getDutyCycle()

◆ getDutyCycles()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getGearboxRatio()

◆ getId()

◆ getImpedance()

◆ getImpedanceOffset()

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ getJointType()

◆ getLastInputStamp()

◆ getLimits()

◆ getMaxCurrent()

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getMotorTorqueParams()

◆ getNominalCurrent()

◆ getNumberOfMotorEncoders()

◆ getNumberOfMotors()

◆ getPeakCurrent()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()