YARP
Yet Another Robot Platform
Public Member Functions | Public Attributes | List of all members
SubDevice Class Reference

#include <ControlBoardWrapper/SubDevice.h>

Detailed Description

Definition at line 55 of file SubDevice.h.

Public Member Functions

 SubDevice ()
 
bool attach (yarp::dev::PolyDriver *d, const std::string &id)
 
void detach ()
 
void setVerbose (bool _verbose)
 
bool configure (int wbase, int wtop, int base, int top, int axes, const std::string &id, ControlBoardWrapper *_parent)
 
bool isAttached ()
 

Public Attributes

std::string id
 
int base
 
int top
 
int wbase
 
int wtop
 
int axes
 
int totalAxis
 
bool configuredF
 
ControlBoardWrapper * parent
 
yarp::dev::PolyDriver * subdevice
 
yarp::dev::IPidControl * pid
 
yarp::dev::IPositionControl * pos
 
yarp::dev::IVelocityControl * vel
 
yarp::dev::IEncodersTimed * iJntEnc
 
yarp::dev::IMotorEncoders * iMotEnc
 
yarp::dev::IAmplifierControl * amp
 
yarp::dev::IControlLimits * lim
 
yarp::dev::IControlCalibration * calib
 
yarp::dev::IPreciselyTimed * iTimed
 
yarp::dev::ITorqueControl * iTorque
 
yarp::dev::IImpedanceControl * iImpedance
 
yarp::dev::IControlMode * iMode
 
yarp::dev::IAxisInfo * info
 
yarp::dev::IPositionDirect * posDir
 
yarp::dev::IInteractionMode * iInteract
 
yarp::dev::IMotor * imotor
 
yarp::dev::IRemoteVariables * iVar
 
yarp::dev::IPWMControl * iPWM
 
yarp::dev::ICurrentControl * iCurr
 
yarp::sig::Vector subDev_joint_encoders
 
yarp::sig::Vector jointEncodersTimes
 
yarp::sig::Vector subDev_motor_encoders
 
yarp::sig::Vector motorEncodersTimes
 

Constructor & Destructor Documentation

◆ SubDevice()

SubDevice::SubDevice ( )

Definition at line 25 of file SubDevice.cpp.

Member Function Documentation

◆ attach()

bool SubDevice::attach ( yarp::dev::PolyDriver *  d,
const std::string &  id 
)

Definition at line 118 of file SubDevice.cpp.

◆ configure()

bool SubDevice::configure ( int  wbase,
int  wtop,
int  base,
int  top,
int  axes,
const std::string &  id,
ControlBoardWrapper *  _parent 
)

Definition at line 55 of file SubDevice.cpp.

◆ detach()

void SubDevice::detach ( )

Definition at line 94 of file SubDevice.cpp.

◆ isAttached()

bool SubDevice::isAttached ( )
inline

Definition at line 104 of file SubDevice.h.

◆ setVerbose()

void SubDevice::setVerbose ( bool  _verbose)
inline

Definition at line 100 of file SubDevice.h.

Member Data Documentation

◆ amp

yarp::dev::IAmplifierControl* SubDevice::amp

Definition at line 76 of file SubDevice.h.

◆ axes

int SubDevice::axes

Definition at line 63 of file SubDevice.h.

◆ base

int SubDevice::base

Definition at line 59 of file SubDevice.h.

◆ calib

yarp::dev::IControlCalibration* SubDevice::calib

Definition at line 78 of file SubDevice.h.

◆ configuredF

bool SubDevice::configuredF

Definition at line 66 of file SubDevice.h.

◆ iCurr

yarp::dev::ICurrentControl* SubDevice::iCurr

Definition at line 89 of file SubDevice.h.

◆ id

std::string SubDevice::id

Definition at line 58 of file SubDevice.h.

◆ iImpedance

yarp::dev::IImpedanceControl* SubDevice::iImpedance

Definition at line 81 of file SubDevice.h.

◆ iInteract

yarp::dev::IInteractionMode* SubDevice::iInteract

Definition at line 85 of file SubDevice.h.

◆ iJntEnc

yarp::dev::IEncodersTimed* SubDevice::iJntEnc

Definition at line 74 of file SubDevice.h.

◆ iMode

yarp::dev::IControlMode* SubDevice::iMode

Definition at line 82 of file SubDevice.h.

◆ iMotEnc

yarp::dev::IMotorEncoders* SubDevice::iMotEnc

Definition at line 75 of file SubDevice.h.

◆ imotor

yarp::dev::IMotor* SubDevice::imotor

Definition at line 86 of file SubDevice.h.

◆ info

yarp::dev::IAxisInfo* SubDevice::info

Definition at line 83 of file SubDevice.h.

◆ iPWM

yarp::dev::IPWMControl* SubDevice::iPWM

Definition at line 88 of file SubDevice.h.

◆ iTimed

yarp::dev::IPreciselyTimed* SubDevice::iTimed

Definition at line 79 of file SubDevice.h.

◆ iTorque

yarp::dev::ITorqueControl* SubDevice::iTorque

Definition at line 80 of file SubDevice.h.

◆ iVar

yarp::dev::IRemoteVariables* SubDevice::iVar

Definition at line 87 of file SubDevice.h.

◆ jointEncodersTimes

yarp::sig::Vector SubDevice::jointEncodersTimes

Definition at line 92 of file SubDevice.h.

◆ lim

yarp::dev::IControlLimits* SubDevice::lim

Definition at line 77 of file SubDevice.h.

◆ motorEncodersTimes

yarp::sig::Vector SubDevice::motorEncodersTimes

Definition at line 94 of file SubDevice.h.

◆ parent

ControlBoardWrapper* SubDevice::parent

Definition at line 68 of file SubDevice.h.

◆ pid

yarp::dev::IPidControl* SubDevice::pid

Definition at line 71 of file SubDevice.h.

◆ pos

yarp::dev::IPositionControl* SubDevice::pos

Definition at line 72 of file SubDevice.h.

◆ posDir

yarp::dev::IPositionDirect* SubDevice::posDir

Definition at line 84 of file SubDevice.h.

◆ subDev_joint_encoders

yarp::sig::Vector SubDevice::subDev_joint_encoders

Definition at line 91 of file SubDevice.h.

◆ subDev_motor_encoders

yarp::sig::Vector SubDevice::subDev_motor_encoders

Definition at line 93 of file SubDevice.h.

◆ subdevice

yarp::dev::PolyDriver* SubDevice::subdevice

Definition at line 70 of file SubDevice.h.

◆ top

int SubDevice::top

Definition at line 60 of file SubDevice.h.

◆ totalAxis

int SubDevice::totalAxis

Definition at line 64 of file SubDevice.h.

◆ vel

yarp::dev::IVelocityControl* SubDevice::vel

Definition at line 73 of file SubDevice.h.

◆ wbase

int SubDevice::wbase

Definition at line 61 of file SubDevice.h.

◆ wtop

int SubDevice::wtop

Definition at line 62 of file SubDevice.h.

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