YARP
Yet Another Robot Platform
fakeMotionControl.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 #ifndef YARP_DEVICE_FAKE_MOTIONCONTROL
7 #define YARP_DEVICE_FAKE_MOTIONCONTROL
8 
9 #include <yarp/os/Time.h>
10 #include <yarp/os/Bottle.h>
11 #include <yarp/sig/Vector.h>
12 #include <yarp/os/PeriodicThread.h>
13 #include <yarp/dev/DeviceDriver.h>
14 #include <yarp/dev/ControlBoardInterfaces.h>
15 #include <yarp/dev/ControlBoardInterfacesImpl.h>
16 #include <yarp/dev/IVirtualAnalogSensor.h>
17 #include <yarp/dev/ImplementVirtualAnalogSensor.h>
18 #include <yarp/dev/ImplementPositionControl.h>
19 #include <yarp/dev/ImplementVelocityControl.h>
20 
21 #include <mutex>
22 
23 
24 struct ImpedanceLimits
25 {
26  double min_stiff;
27  double max_stiff;
28  double min_damp;
29  double max_damp;
30  double param_a;
31  double param_b;
32  double param_c;
33 
34 public:
35  ImpedanceLimits()
36  {
37  min_stiff=0;
38  max_stiff=0;
39  min_damp=0;
40  max_damp=0;
41  param_a=0;
42  param_b=0;
43  param_c=0;
44  }
45 
46  double get_min_stiff()
47  {
48  return min_stiff;
49  }
50  double get_max_stiff()
51  {
52  return max_stiff;
53  }
54  double get_min_damp()
55  {
56  return min_damp;
57  }
58  double get_max_damp()
59  {
60  return max_damp;
61  }
62 };
63 
64 struct ImpedanceParameters
65 {
66  double stiffness;
67  double damping;
68  ImpedanceLimits limits;
69  ImpedanceParameters() {stiffness=0; damping=0;}
70 };
71 
85 class FakeMotionControl :
86  public yarp::dev::DeviceDriver,
87 // public yarp::dev::DeviceResponder,
88  public yarp::os::PeriodicThread,
89  public yarp::dev::IPidControlRaw,
90  public yarp::dev::IControlCalibrationRaw,
91  public yarp::dev::IAmplifierControlRaw,
92  public yarp::dev::IEncodersTimedRaw,
93  public yarp::dev::IMotorEncodersRaw,
94  public yarp::dev::IMotorRaw,
95  public yarp::dev::IPositionControlRaw,
96  public yarp::dev::IVelocityControlRaw,
97  public yarp::dev::IControlModeRaw,
98  public yarp::dev::IControlLimitsRaw,
99  public yarp::dev::IPositionDirectRaw,
100  public yarp::dev::ITorqueControlRaw,
101  public yarp::dev::ICurrentControlRaw,
102  public yarp::dev::IPWMControlRaw,
103  public yarp::dev::IImpedanceControlRaw,
104  public yarp::dev::IInteractionModeRaw,
105  public yarp::dev::IAxisInfoRaw,
106  public yarp::dev::IVirtualAnalogSensorRaw, //*
107  public yarp::dev::ImplementControlCalibration,
108  public yarp::dev::ImplementAmplifierControl,
109  public yarp::dev::ImplementPidControl,
110  public yarp::dev::ImplementEncodersTimed,
111  public yarp::dev::ImplementPositionControl,
112  public yarp::dev::ImplementVelocityControl,
113  public yarp::dev::ImplementControlMode,
114  public yarp::dev::ImplementImpedanceControl,
115  public yarp::dev::ImplementMotorEncoders,
116  public yarp::dev::ImplementTorqueControl,
117  public yarp::dev::ImplementControlLimits,
118  public yarp::dev::ImplementPositionDirect,
119  public yarp::dev::ImplementInteractionMode,
120  public yarp::dev::ImplementCurrentControl,
121  public yarp::dev::ImplementPWMControl,
122  public yarp::dev::ImplementMotor,
123  public yarp::dev::ImplementAxisInfo,
124  public yarp::dev::ImplementVirtualAnalogSensor //*
125 {
126 private:
127  enum VerboseLevel
128  {
129  MUTE = 0, // only errors that prevent device from working
130  QUIET = 1, // adds errors that can cause malfunctioning
131  DEFAULT = 2, // adds warnings // DEFAULT // show noisy messages about back-compatible changes
132  CHATTY = 3, // adds info messages
133  VERBOSE = 4, // adds debug messages
134  VERY_VERBOSE = 5, // adds trace of events (shows thread running and catch if they get stuck)
135  VERY_VERY_VERBOSE = 6 // adds messages printed every cycle, so too much verbose for usage, only for deep debugging
136  };
137 
138  std::mutex _mutex;
139  int _njoints;
140  int *_axisMap;
141  double *_angleToEncoder;
142  double *_encodersStamp;
143  double *_ampsToSensor;
144  double *_dutycycleToPWM;
145  float *_DEPRECATED_encoderconversionfactor;
146  float *_DEPRECATED_encoderconversionoffset;
147 // uint8_t *_jointEncoderType; /** joint encoder type*/
148  int *_jointEncoderRes;
149  int *_rotorEncoderRes;
150 // uint8_t *_rotorEncoderType; /** rotor encoder type*/
151  double *_gearbox;
152  bool *_hasHallSensor;
153  bool *_hasTempSensor;
154  bool *_hasRotorEncoder;
155  bool *_hasRotorEncoderIndex;
156  int *_rotorIndexOffset;
157  int *_motorPoles;
158  double *_rotorlimits_max;
159  double *_rotorlimits_min;
160  yarp::dev::Pid *_ppids;
161  yarp::dev::Pid *_tpids;
162  yarp::dev::Pid *_cpids;
163  yarp::dev::Pid *_vpids;
164  bool *_ppids_ena;
165  bool *_tpids_ena;
166  bool *_cpids_ena;
167  bool *_vpids_ena;
168  double *_ppids_lim;
169  double *_tpids_lim;
170  double *_cpids_lim;
171  double *_vpids_lim;
172  double *_ppids_ref;
173  double *_tpids_ref;
174  double *_cpids_ref;
175  double *_vpids_ref;
176 
177  std::string *_axisName;
178  yarp::dev::JointTypeEnum *_jointType;
179 // ImpedanceLimits *_impedance_limits; /** impedance limits */
180  double *_limitsMin;
181  double *_limitsMax;
182  double *_kinematic_mj;
183  //double *_currentLimits; /** current limits */
184 // MotorCurrentLimits *_currentLimits;
185  double *_maxJntCmdVelocity;
186  double *_maxMotorVelocity;
187  int *_velocityShifts;
188  int *_velocityTimeout;
189  double *_kbemf;
190  double *_ktau;
191  int *_kbemf_scale;
192  int *_ktau_scale;
193  int * _filterType;
194  int *_torqueSensorId;
195  int *_torqueSensorChan;
196  double *_maxTorque;
197  double *_newtonsToSensor;
198  bool *checking_motiondone; /* flag telling if I'm already waiting for motion done */
199  double *_last_position_move_time;
200  double *_motorPwmLimits;
201  double *_torques;
203 // ImpedanceParameters *_impedance_params; /** impedance parameters */
204 
205  bool verbosewhenok;
206  bool useRawEncoderData;
207  bool _pwmIsLimited;
208  bool _torqueControlEnabled;
210  enum torqueControlUnitsType {T_MACHINE_UNITS=0, T_METRIC_UNITS=1};
211  torqueControlUnitsType _torqueControlUnits;
212 
213  enum positionControlUnitsType {P_MACHINE_UNITS=0, P_METRIC_UNITS=1};
214  positionControlUnitsType _positionControlUnits;
215 
216  // internal stuff
217  int *_controlModes;
218  int *_interactMode;
219  bool *_enabledAmp; // Middle step toward a full enabled motor controller. Amp (pwm) plus Pid enable command must be sent in order to get the joint into an active state.
220  bool *_enabledPid; // Depends on enabledAmp. When both are set, the joint exits the idle mode and goes into position mode. If one of them is disabled, it falls to idle.
221  bool *_calibrated; // Flag to know if the calibrate function has been called for the joint
222  double *_posCtrl_references; // used for position control.
223  double *_posDir_references; // used for position Direct control.
224  double *_ref_speeds; // used for position control.
225  double *_command_speeds; // used for velocity control.
226  double *_ref_accs; // for velocity control, in position min jerk eq is used.
227  double *_ref_torques; // for torque control.
228  double *_ref_currents;
229  yarp::sig::Vector current, nominalCurrent, maxCurrent, peakCurrent;
230  yarp::sig::Vector pwm, pwmLimit, refpwm, supplyVoltage,last_velocity_command, last_pwm_command;
231  yarp::sig::Vector pos, dpos, vel, speed, acc, loc, amp;
232  double prev_time;
233  bool opened;
234 
235  // debugging
236  VerboseLevel verbose;
237 public:
238 
239  FakeMotionControl();
240  ~FakeMotionControl();
241 
242  // Device Driver
243  bool open(yarp::os::Searchable &par) override;
244  bool close() override;
245  bool fromConfig(yarp::os::Searchable &config);
246 
247  virtual bool initialised();
248 
252  bool alloc(int njoints);
253 
257  void resizeBuffers();
258 
259  bool threadInit() override;
260  void threadRelease() override;
261 
263  bool setPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, const yarp::dev::Pid &pid) override;
264  bool setPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const yarp::dev::Pid *pids) override;
265  bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double ref) override;
266  bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *refs) override;
267  bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double limit) override;
268  bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *limits) override;
269  bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *err) override;
270  bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum& pidtype, double *errs) override;
271  bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *out) override;
272  bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *outs) override;
273  bool getPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, yarp::dev::Pid *pid) override;
274  bool getPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype, yarp::dev::Pid *pids) override;
275  bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *ref) override;
276  bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *refs) override;
277  bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *limit) override;
278  bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *limits) override;
279  bool resetPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
280  bool disablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
281  bool enablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
282  bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double v) override;
283  bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum& pidtype, int j, bool* enabled) override;
284 
285  // POSITION CONTROL INTERFACE RAW
286  bool getAxes(int *ax) override;
287  bool positionMoveRaw(int j, double ref) override;
288  bool positionMoveRaw(const double *refs) override;
289  bool relativeMoveRaw(int j, double delta) override;
290  bool relativeMoveRaw(const double *deltas) override;
291  bool checkMotionDoneRaw(bool *flag) override;
292  bool checkMotionDoneRaw(int j, bool *flag) override;
293  bool setRefSpeedRaw(int j, double sp) override;
294  bool setRefSpeedsRaw(const double *spds) override;
295  bool setRefAccelerationRaw(int j, double acc) override;
296  bool setRefAccelerationsRaw(const double *accs) override;
297  bool getRefSpeedRaw(int j, double *ref) override;
298  bool getRefSpeedsRaw(double *spds) override;
299  bool getRefAccelerationRaw(int j, double *acc) override;
300  bool getRefAccelerationsRaw(double *accs) override;
301  bool stopRaw(int j) override;
302  bool stopRaw() override;
303 
304  // Position Control2 Interface
305  bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override;
306  bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas) override;
307  bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override;
308  bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override;
309  bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override;
310  bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override;
311  bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override;
312  bool stopRaw(const int n_joint, const int *joints) override;
313  bool getTargetPositionRaw(const int joint, double *ref) override;
314  bool getTargetPositionsRaw(double *refs) override;
315  bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override;
316 
317  // Velocity control interface raw
318  bool velocityMoveRaw(int j, double sp) override;
319  bool velocityMoveRaw(const double *sp) override;
320 
321 
322  // calibration2raw
323  bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters& params) override;
324  bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override;
325  bool calibrationDoneRaw(int j) override;
326 
327 
329 
330  // ControlMode
331  bool getControlModeRaw(int j, int *v) override;
332  bool getControlModesRaw(int *v) override;
333 
334  // ControlMode 2
335  bool getControlModesRaw(const int n_joint, const int *joints, int *modes) override;
336  bool setControlModeRaw(const int j, const int mode) override;
337  bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override;
338  bool setControlModesRaw(int *modes) override;
339 
341  bool resetEncoderRaw(int j) override;
342  bool resetEncodersRaw() override;
343  bool setEncoderRaw(int j, double val) override;
344  bool setEncodersRaw(const double *vals) override;
345  bool getEncoderRaw(int j, double *v) override;
346  bool getEncodersRaw(double *encs) override;
347  bool getEncoderSpeedRaw(int j, double *sp) override;
348  bool getEncoderSpeedsRaw(double *spds) override;
349  bool getEncoderAccelerationRaw(int j, double *spds) override;
350  bool getEncoderAccelerationsRaw(double *accs) override;
352 
353  bool getEncodersTimedRaw(double *encs, double *stamps) override;
354  bool getEncoderTimedRaw(int j, double *encs, double *stamp) override;
355 
357  bool getNumberOfMotorEncodersRaw(int * num) override;
358  bool resetMotorEncoderRaw(int m) override;
359  bool resetMotorEncodersRaw() override;
360  bool setMotorEncoderRaw(int m, const double val) override;
361  bool setMotorEncodersRaw(const double *vals) override;
362  bool getMotorEncoderRaw(int m, double *v) override;
363  bool getMotorEncodersRaw(double *encs) override;
364  bool getMotorEncoderSpeedRaw(int m, double *sp) override;
365  bool getMotorEncoderSpeedsRaw(double *spds) override;
366  bool getMotorEncoderAccelerationRaw(int m, double *spds) override;
367  bool getMotorEncoderAccelerationsRaw(double *accs) override;
368  bool getMotorEncodersTimedRaw(double *encs, double *stamps) override;
369  bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override;\
370  bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override;
371  bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override;
373 
375  bool getAxisNameRaw(int axis, std::string& name) override;
376  bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type) override;
378 
379  //Internal use, not exposed by YARP (yet)
380  bool getGearboxRatioRaw(int m, double *gearbox) override;
381  virtual bool getRotorEncoderResolutionRaw(int m, double &rotres);
382  virtual bool getJointEncoderResolutionRaw(int m, double &jntres);
383  virtual bool getJointEncoderTypeRaw(int j, int &type);
384  virtual bool getRotorEncoderTypeRaw(int j, int &type);
385  virtual bool getKinematicMJRaw(int j, double &rotres);
386  virtual bool getHasTempSensorsRaw(int j, int& ret);
387  virtual bool getHasHallSensorRaw(int j, int& ret);
388  virtual bool getHasRotorEncoderRaw(int j, int& ret);
389  virtual bool getHasRotorEncoderIndexRaw(int j, int& ret);
390  virtual bool getMotorPolesRaw(int j, int& poles);
391  virtual bool getRotorIndexOffsetRaw(int j, double& rotorOffset);
392  virtual bool getTorqueControlFilterType(int j, int& type);
393 
395  bool enableAmpRaw(int j) override;
396  bool disableAmpRaw(int j) override;
397  bool getCurrentsRaw(double *vals) override;
398  bool getCurrentRaw(int j, double *val) override;
399  bool getNominalCurrentRaw(int m, double *val) override;
400  bool setNominalCurrentRaw(int m, const double val) override;
401  bool setMaxCurrentRaw(int j, double val) override;
402  bool getMaxCurrentRaw(int j, double *val) override;
403  bool getPeakCurrentRaw(int m, double *val) override;
404  bool setPeakCurrentRaw(int m, const double val) override;
405  bool getAmpStatusRaw(int *st) override;
406  bool getAmpStatusRaw(int j, int *st) override;
407  bool getPWMRaw(int j, double* val) override;
408  bool getPWMLimitRaw(int j, double* val) override;
409  bool setPWMLimitRaw(int j, const double val) override;
410  bool getPowerSupplyVoltageRaw(int j, double* val) override;
412 
413  // Limits
414  bool setLimitsRaw(int axis, double min, double max) override;
415  bool getLimitsRaw(int axis, double *min, double *max) override;
416  // Limits 2
417  bool setVelLimitsRaw(int axis, double min, double max) override;
418  bool getVelLimitsRaw(int axis, double *min, double *max) override;
419 
420  // Torque control
421  bool getTorqueRaw(int j, double *t) override;
422  bool getTorquesRaw(double *t) override;
423  bool getTorqueRangeRaw(int j, double *min, double *max) override;
424  bool getTorqueRangesRaw(double *min, double *max) override;
425  bool setRefTorquesRaw(const double *t) override;
426  bool setRefTorqueRaw(int j, double t) override;
427  bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) override;
428  bool getRefTorquesRaw(double *t) override;
429  bool getRefTorqueRaw(int j, double *t) override;
430  bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override;
431  bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override;
432 // int32_t getRefSpeedInTbl(uint8_t boardNum, int j, eOmeas_position_t pos) override;
433 
434  // IVelocityControl interface
435  bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
436  bool getRefVelocityRaw(const int joint, double *ref) override;
437  bool getRefVelocitiesRaw(double *refs) override;
438  bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *refs) override;
439 
440  // Impedance interface
441  bool getImpedanceRaw(int j, double *stiffness, double *damping) override;
442  bool setImpedanceRaw(int j, double stiffness, double damping) override;
443  bool setImpedanceOffsetRaw(int j, double offset) override;
444  bool getImpedanceOffsetRaw(int j, double *offset) override;
445  bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
446 
447  // PositionDirect Interface
448  bool setPositionRaw(int j, double ref) override;
449  bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
450  bool setPositionsRaw(const double *refs) override;
451  bool getRefPositionRaw(const int joint, double *ref) override;
452  bool getRefPositionsRaw(double *refs) override;
453  bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) override;
454 
455  // InteractionMode interface
456  bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum* _mode) override;
457  bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
458  bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
459  bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override;
460  bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
461  bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
462 
463  // IMotor interface
464  bool getNumberOfMotorsRaw(int * num) override;
465  bool getTemperatureRaw(int m, double* val) override;
466  bool getTemperaturesRaw(double *vals) override;
467  bool getTemperatureLimitRaw(int m, double *temp) override;
468  bool setTemperatureLimitRaw(int m, const double temp) override;
469 
470  // PWM interface
471  bool setRefDutyCycleRaw(int j, double v) override;
472  bool setRefDutyCyclesRaw(const double *v) override;
473  bool getRefDutyCycleRaw(int j, double *v) override;
474  bool getRefDutyCyclesRaw(double *v) override;
475  bool getDutyCycleRaw(int j, double *v) override;
476  bool getDutyCyclesRaw(double *v) override;
477 
478  // Current interface
479  //bool getAxes(int *ax) override;
480  //bool getCurrentRaw(int j, double *t) override;
481  //bool getCurrentsRaw(double *t) override;
482  bool getCurrentRangeRaw(int j, double *min, double *max) override;
483  bool getCurrentRangesRaw(double *min, double *max) override;
484  bool setRefCurrentsRaw(const double *t) override;
485  bool setRefCurrentRaw(int j, double t) override;
486  bool setRefCurrentsRaw(const int n_joint, const int *joints, const double *t) override;
487  bool getRefCurrentsRaw(double *t) override;
488  bool getRefCurrentRaw(int j, double *t) override;
489 
490  yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override;
491  int getVirtualAnalogSensorChannelsRaw() override;
492  bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override;
493  bool updateVirtualAnalogSensorMeasureRaw(int ch, double &measure) override;
494 
495  void run() override;
496 private:
497  void cleanup();
498  bool dealloc();
499  bool parsePositionPidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[]);
500  bool parseTorquePidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[], double kbemf[], double ktau[], int filterType[]);
501  bool parseImpedanceGroup_NewFormat(yarp::os::Bottle& pidsGroup, ImpedanceParameters vals[]);
502 
503  bool extractGroup(yarp::os::Bottle &input, yarp::os::Bottle &out, const std::string &key1, const std::string &txt, int size);
504 };
505 
506 #endif // YARP_DEVICE_FAKE_MOTIONCONTROL
ControlBoardInterfaces.h
define control board standard interfaces
t
float t
Definition: FfmpegWriter.cpp:71
IVirtualAnalogSensor.h
virtual analog sensor interface
ret
bool ret
Definition: ImplementAxisInfo.cpp:70
Vector.h
contains the definition of a Vector type
FakeMotionControl
fakeMotionControl: Documentation to be added
Definition: fakeMotionControl.h:125
FakeMotionControl::getPowerSupplyVoltageRaw
bool getPowerSupplyVoltageRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2631
FakeMotionControl::getRefSpeedRaw
bool getRefSpeedRaw(int j, double *ref) override
Get reference speed for a joint.
Definition: fakeMotionControl.cpp:2063
FakeMotionControl::getHasTempSensorsRaw
virtual bool getHasTempSensorsRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2686
FakeMotionControl::setRefCurrentsRaw
bool setRefCurrentsRaw(const double *t) override
Set the reference value of the currents for all motors.
Definition: fakeMotionControl.cpp:3173
FakeMotionControl::setRefTorqueRaw
bool setRefTorqueRaw(int j, double t) override
Set the reference value of the torque for a given joint.
Definition: fakeMotionControl.cpp:2792
FakeMotionControl::getCurrentsRaw
bool getCurrentsRaw(double *vals) override
Definition: fakeMotionControl.cpp:2550
FakeMotionControl::getImpedanceOffsetRaw
bool getImpedanceOffsetRaw(int j, double *offset) override
Get current force Offset for a specific joint.
Definition: fakeMotionControl.cpp:2827
FakeMotionControl::getTargetPositionRaw
bool getTargetPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: fakeMotionControl.cpp:2894
FakeMotionControl::getTorqueRangeRaw
bool getTorqueRangeRaw(int j, double *min, double *max) override
Get the full scale of the torque sensor of a given joint.
Definition: fakeMotionControl.cpp:2773
FakeMotionControl::getCurrentImpedanceLimitRaw
bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
Get the current impedandance limits for a specific joint.
Definition: fakeMotionControl.cpp:2832
FakeMotionControl::setTemperatureLimitRaw
bool setTemperatureLimitRaw(int m, const double temp) override
Set the temperature limit for a specific motor.
Definition: fakeMotionControl.cpp:3089
FakeMotionControl::getPidErrorRaw
bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition: fakeMotionControl.cpp:1567
FakeMotionControl::setPeakCurrentRaw
bool setPeakCurrentRaw(int m, const double val) override
Definition: fakeMotionControl.cpp:2595
FakeMotionControl::velocityMoveRaw
bool velocityMoveRaw(int j, double sp) override
Start motion at a given speed, single joint.
Definition: fakeMotionControl.cpp:1833
FakeMotionControl::checkMotionDoneRaw
bool checkMotionDoneRaw(bool *flag) override
Check if the current trajectory is terminated.
Definition: fakeMotionControl.cpp:1982
FakeMotionControl::getMotorEncoderSpeedRaw
bool getMotorEncoderSpeedRaw(int m, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition: fakeMotionControl.cpp:2476
FakeMotionControl::getJointEncoderTypeRaw
virtual bool getJointEncoderTypeRaw(int j, int &type)
Definition: fakeMotionControl.cpp:2670
FakeMotionControl::setRefDutyCycleRaw
bool setRefDutyCycleRaw(int j, double v) override
Sets the reference dutycycle of a single motor.
Definition: fakeMotionControl.cpp:3095
FakeMotionControl::getTemperatureRaw
bool getTemperatureRaw(int m, double *val) override
Get temperature of a motor.
Definition: fakeMotionControl.cpp:3069
FakeMotionControl::getEncoderAccelerationRaw
bool getEncoderAccelerationRaw(int j, double *spds) override
Read the instantaneous acceleration of an axis.
Definition: fakeMotionControl.cpp:2380
FakeMotionControl::getRefAccelerationRaw
bool getRefAccelerationRaw(int j, double *acc) override
Get reference acceleration for a joint.
Definition: fakeMotionControl.cpp:2075
FakeMotionControl::getMotorEncoderSpeedsRaw
bool getMotorEncoderSpeedsRaw(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition: fakeMotionControl.cpp:2482
FakeMotionControl::setPidsRaw
bool setPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override
Set new pid value on multiple axes.
Definition: fakeMotionControl.cpp:1493
FakeMotionControl::setVelLimitsRaw
bool setVelLimitsRaw(int axis, double min, double max) override
Set the software speed limits for a particular axis, the behavior of the control card when these limi...
Definition: fakeMotionControl.cpp:2744
FakeMotionControl::getJointTypeRaw
bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
Definition: fakeMotionControl.cpp:2730
FakeMotionControl::setMotorEncoderRaw
bool setMotorEncoderRaw(int m, const double val) override
Set the value of the motor encoder for a given motor.
Definition: fakeMotionControl.cpp:2429
FakeMotionControl::getPidErrorLimitRaw
bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
Get the error limit for the controller on a specific joint.
Definition: fakeMotionControl.cpp:1670
FakeMotionControl::getPidOutputRaw
bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition: fakeMotionControl.cpp:1796
FakeMotionControl::setControlModeRaw
bool setControlModeRaw(const int j, const int mode) override
Definition: fakeMotionControl.cpp:2270
FakeMotionControl::getMotorEncoderAccelerationRaw
bool getMotorEncoderAccelerationRaw(int m, double *spds) override
Read the instantaneous acceleration of a motor encoder.
Definition: fakeMotionControl.cpp:2492
FakeMotionControl::open
bool open(yarp::os::Searchable &par) override
Open the DeviceDriver.
Definition: fakeMotionControl.cpp:495
FakeMotionControl::getHasHallSensorRaw
virtual bool getHasHallSensorRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2691
FakeMotionControl::getTemperatureLimitRaw
bool getTemperatureLimitRaw(int m, double *temp) override
Retreives the current temperature limit for a specific motor.
Definition: fakeMotionControl.cpp:3084
FakeMotionControl::getNumberOfMotorsRaw
bool getNumberOfMotorsRaw(int *num) override
Retrieves the number of controlled motors from the current physical interface.
Definition: fakeMotionControl.cpp:3063
FakeMotionControl::disableAmpRaw
bool disableAmpRaw(int j) override
Disable the amplifier on a specific joint.
Definition: fakeMotionControl.cpp:2538
FakeMotionControl::setMotorTorqueParamsRaw
bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override
Set the motor parameters.
Definition: fakeMotionControl.cpp:2847
FakeMotionControl::calibrateAxisWithParamsRaw
bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override
Start calibration, this method is very often platform specific.
Definition: fakeMotionControl.cpp:1870
FakeMotionControl::setRefAccelerationRaw
bool setRefAccelerationRaw(int j, double acc) override
Set reference acceleration for a joint.
Definition: fakeMotionControl.cpp:2020
FakeMotionControl::initialised
virtual bool initialised()
Definition: fakeMotionControl.cpp:465
FakeMotionControl::setEncodersRaw
bool setEncodersRaw(const double *vals) override
Set the value of all encoders.
Definition: fakeMotionControl.cpp:2325
FakeMotionControl::getPidOutputsRaw
bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition: fakeMotionControl.cpp:1819
FakeMotionControl::isPidEnabledRaw
bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid controller.
Definition: fakeMotionControl.cpp:1774
FakeMotionControl::setRefSpeedsRaw
bool setRefSpeedsRaw(const double *spds) override
Set reference speed on all joints.
Definition: fakeMotionControl.cpp:2009
FakeMotionControl::getTargetPositionsRaw
bool getTargetPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition: fakeMotionControl.cpp:2913
FakeMotionControl::getRefDutyCycleRaw
bool getRefDutyCycleRaw(int j, double *v) override
Gets the last reference sent using the setRefDutyCycleRaw function.
Definition: fakeMotionControl.cpp:3112
FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw
bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition: fakeMotionControl.cpp:2439
FakeMotionControl::setPidErrorLimitsRaw
bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition: fakeMotionControl.cpp:1557
FakeMotionControl::getPidReferenceRaw
bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
Get the current reference of the pid controller for a specific joint.
Definition: fakeMotionControl.cpp:1635
FakeMotionControl::getNominalCurrentRaw
bool getNominalCurrentRaw(int m, double *val) override
Definition: fakeMotionControl.cpp:2601
FakeMotionControl::getControlModeRaw
bool getControlModeRaw(int j, int *v) override
Definition: fakeMotionControl.cpp:2234
FakeMotionControl::calibrationDoneRaw
bool calibrationDoneRaw(int j) override
Check if the calibration is terminated, on a particular joint.
Definition: fakeMotionControl.cpp:1876
FakeMotionControl::threadInit
bool threadInit() override
Initialization method.
Definition: fakeMotionControl.cpp:470
FakeMotionControl::getRefDutyCyclesRaw
bool getRefDutyCyclesRaw(double *v) override
Gets the last reference sent using the setRefDutyCyclesRaw function.
Definition: fakeMotionControl.cpp:3118
FakeMotionControl::getRefVelocityRaw
bool getRefVelocityRaw(const int joint, double *ref) override
Get the last reference speed set by velocityMove for single joint.
Definition: fakeMotionControl.cpp:2932
FakeMotionControl::getEncoderTimedRaw
bool getEncoderTimedRaw(int j, double *encs, double *stamp) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2411
FakeMotionControl::disablePidRaw
bool disablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition: fakeMotionControl.cpp:1707
FakeMotionControl::getVirtualAnalogSensorStatusRaw
yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override
Check the status of a given channel.
Definition: fakeMotionControl.cpp:3220
FakeMotionControl::getMotorEncodersRaw
bool getMotorEncodersRaw(double *encs) override
Read the position of all motor encoders.
Definition: fakeMotionControl.cpp:2465
FakeMotionControl::getTorqueRangesRaw
bool getTorqueRangesRaw(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition: fakeMotionControl.cpp:2778
FakeMotionControl::getRefCurrentsRaw
bool getRefCurrentsRaw(double *t) override
Get the reference value of the currents for all motors.
Definition: fakeMotionControl.cpp:3200
FakeMotionControl::setRefDutyCyclesRaw
bool setRefDutyCyclesRaw(const double *v) override
Sets the reference dutycycle for all motors.
Definition: fakeMotionControl.cpp:3103
FakeMotionControl::getEncoderSpeedRaw
bool getEncoderSpeedRaw(int j, double *sp) override
Read the instantaneous speed of an axis.
Definition: fakeMotionControl.cpp:2363
FakeMotionControl::getVirtualAnalogSensorChannelsRaw
int getVirtualAnalogSensorChannelsRaw() override
Get the number of channels of the virtual sensor.
Definition: fakeMotionControl.cpp:3225
FakeMotionControl::resetPidRaw
bool resetPidRaw(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 ...
Definition: fakeMotionControl.cpp:1702
FakeMotionControl::getCurrentRangesRaw
bool getCurrentRangesRaw(double *min, double *max) override
Get the full scale of the current measurements for all motors motor (e.g.
Definition: fakeMotionControl.cpp:3162
FakeMotionControl::getEncoderRaw
bool getEncoderRaw(int j, double *v) override
Read the value of an encoder.
Definition: fakeMotionControl.cpp:2340
FakeMotionControl::getPidErrorLimitsRaw
bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition: fakeMotionControl.cpp:1692
FakeMotionControl::enableAmpRaw
bool enableAmpRaw(int j) override
Enable the amplifier on a specific joint.
Definition: fakeMotionControl.cpp:2533
FakeMotionControl::fromConfig
bool fromConfig(yarp::os::Searchable &config)
Definition: fakeMotionControl.cpp:855
FakeMotionControl::getPidsRaw
bool getPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
Get current pid value for a specific joint.
Definition: fakeMotionControl.cpp:1622
FakeMotionControl::getRefPositionsRaw
bool getRefPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition: fakeMotionControl.cpp:2976
FakeMotionControl::getMotorTorqueParamsRaw
bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override
Get the motor parameters.
Definition: fakeMotionControl.cpp:2837
FakeMotionControl::setControlModesRaw
bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
Definition: fakeMotionControl.cpp:2289
FakeMotionControl::setRefSpeedRaw
bool setRefSpeedRaw(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Definition: fakeMotionControl.cpp:2000
FakeMotionControl::getHasRotorEncoderIndexRaw
virtual bool getHasRotorEncoderIndexRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2701
FakeMotionControl::updateVirtualAnalogSensorMeasureRaw
bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override
Set a vector of torque values for virtual sensor.
Definition: fakeMotionControl.cpp:3230
FakeMotionControl::resizeBuffers
void resizeBuffers()
Resize previously allocated buffers.
Definition: fakeMotionControl.cpp:147
FakeMotionControl::threadRelease
void threadRelease() override
Release method.
Definition: fakeMotionControl.cpp:491
FakeMotionControl::getAmpStatusRaw
bool getAmpStatusRaw(int *st) override
Definition: fakeMotionControl.cpp:2579
FakeMotionControl::setImpedanceRaw
bool setImpedanceRaw(int j, double stiffness, double damping) override
Set current impedance parameters (stiffness,damping) for a specific joint.
Definition: fakeMotionControl.cpp:2817
FakeMotionControl::setPWMLimitRaw
bool setPWMLimitRaw(int j, const double val) override
Definition: fakeMotionControl.cpp:2625
FakeMotionControl::relativeMoveRaw
bool relativeMoveRaw(int j, double delta) override
Set relative position.
Definition: fakeMotionControl.cpp:1933
FakeMotionControl::getMotorPolesRaw
virtual bool getMotorPolesRaw(int j, int &poles)
Definition: fakeMotionControl.cpp:2706
FakeMotionControl::getPidRaw
bool getPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override
Get current pid value for a specific joint.
Definition: fakeMotionControl.cpp:1599
FakeMotionControl::getCurrentRaw
bool getCurrentRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2543
FakeMotionControl::getPeakCurrentRaw
bool getPeakCurrentRaw(int m, double *val) override
Definition: fakeMotionControl.cpp:2589
FakeMotionControl::getDutyCyclesRaw
bool getDutyCyclesRaw(double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: fakeMotionControl.cpp:3133
FakeMotionControl::setEncoderRaw
bool setEncoderRaw(int j, double val) override
Set the value of the encoder for a given joint.
Definition: fakeMotionControl.cpp:2320
FakeMotionControl::getRefPositionRaw
bool getRefPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: fakeMotionControl.cpp:2958
FakeMotionControl::getLimitsRaw
bool getLimitsRaw(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition: fakeMotionControl.cpp:2645
FakeMotionControl::getRotorIndexOffsetRaw
virtual bool getRotorIndexOffsetRaw(int j, double &rotorOffset)
Definition: fakeMotionControl.cpp:2711
FakeMotionControl::getVelLimitsRaw
bool getVelLimitsRaw(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition: fakeMotionControl.cpp:2749
FakeMotionControl::setPositionsRaw
bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override
Set new reference point for all axes.
Definition: fakeMotionControl.cpp:2875
FakeMotionControl::setPidReferenceRaw
bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition: fakeMotionControl.cpp:1503
FakeMotionControl::resetEncodersRaw
bool resetEncodersRaw() override
Reset encoders.
Definition: fakeMotionControl.cpp:2335
FakeMotionControl::getPWMRaw
bool getPWMRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2613
FakeMotionControl::getAxisNameRaw
bool getAxisNameRaw(int axis, std::string &name) override
Definition: fakeMotionControl.cpp:2716
FakeMotionControl::setCalibrationParametersRaw
bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition: fakeMotionControl.cpp:1864
FakeMotionControl::setPidOffsetRaw
bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
Set an offset value on the ourput of pid controller.
Definition: fakeMotionControl.cpp:1751
FakeMotionControl::getInteractionModeRaw
bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum *_mode) override
Get the current interaction mode of the robot, values can be stiff or compliant.
Definition: fakeMotionControl.cpp:2998
FakeMotionControl::getCurrentRangeRaw
bool getCurrentRangeRaw(int j, double *min, double *max) override
Get the full scale of the current measurement for a given motor (e.g.
Definition: fakeMotionControl.cpp:3154
FakeMotionControl::stopRaw
bool stopRaw() override
Stop motion, multiple joints.
Definition: fakeMotionControl.cpp:2092
FakeMotionControl::getKinematicMJRaw
virtual bool getKinematicMJRaw(int j, double &rotres)
Definition: fakeMotionControl.cpp:2680
FakeMotionControl::getRefSpeedsRaw
bool getRefSpeedsRaw(double *spds) override
Get reference speed of all joints.
Definition: fakeMotionControl.cpp:2069
FakeMotionControl::getRefAccelerationsRaw
bool getRefAccelerationsRaw(double *accs) override
Get reference acceleration of all joints.
Definition: fakeMotionControl.cpp:2081
FakeMotionControl::getJointEncoderResolutionRaw
virtual bool getJointEncoderResolutionRaw(int m, double &jntres)
Definition: fakeMotionControl.cpp:2665
FakeMotionControl::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition: fakeMotionControl.cpp:1887
FakeMotionControl::setMaxCurrentRaw
bool setMaxCurrentRaw(int j, double val) override
Definition: fakeMotionControl.cpp:2561
FakeMotionControl::alloc
bool alloc(int njoints)
Allocated buffers.
Definition: fakeMotionControl.cpp:187
FakeMotionControl::resetMotorEncodersRaw
bool resetMotorEncodersRaw() override
Reset motor encoders.
Definition: fakeMotionControl.cpp:2454
FakeMotionControl::setRefTorquesRaw
bool setRefTorquesRaw(const double *t) override
Set the reference value of the torque for all joints.
Definition: fakeMotionControl.cpp:2783
FakeMotionControl::getEncodersRaw
bool getEncodersRaw(double *encs) override
Read the position of all axes.
Definition: fakeMotionControl.cpp:2351
FakeMotionControl::setRefAccelerationsRaw
bool setRefAccelerationsRaw(const double *accs) override
Set reference acceleration on all joints.
Definition: fakeMotionControl.cpp:2041
FakeMotionControl::getControlModesRaw
bool getControlModesRaw(int *v) override
Definition: fakeMotionControl.cpp:2245
FakeMotionControl::setPidRaw
bool setPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override
Set new pid value for a joint axis.
Definition: fakeMotionControl.cpp:1470
FakeMotionControl::getPWMLimitRaw
bool getPWMLimitRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2619
FakeMotionControl::getRotorEncoderTypeRaw
virtual bool getRotorEncoderTypeRaw(int j, int &type)
Definition: fakeMotionControl.cpp:2675
FakeMotionControl::getRefCurrentRaw
bool getRefCurrentRaw(int j, double *t) override
Get the reference value of the current for a single motor.
Definition: fakeMotionControl.cpp:3209
FakeMotionControl::getDutyCycleRaw
bool getDutyCycleRaw(int j, double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: fakeMotionControl.cpp:3127
FakeMotionControl::setPidErrorLimitRaw
bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
Set the error limit for the controller on a specific joint.
Definition: fakeMotionControl.cpp:1535
FakeMotionControl::getInteractionModesRaw
bool getInteractionModesRaw(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.
Definition: fakeMotionControl.cpp:3007
FakeMotionControl::positionMoveRaw
bool positionMoveRaw(int j, double ref) override
Set new reference point for a single axis.
Definition: fakeMotionControl.cpp:1894
FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw
bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override
Gets number of counts per revolution for motor encoder m.
Definition: fakeMotionControl.cpp:2444
FakeMotionControl::setImpedanceOffsetRaw
bool setImpedanceOffsetRaw(int j, double offset) override
Set current force Offset for a specific joint.
Definition: fakeMotionControl.cpp:2822
FakeMotionControl::setMotorEncodersRaw
bool setMotorEncodersRaw(const double *vals) override
Set the value of all motor encoders.
Definition: fakeMotionControl.cpp:2434
FakeMotionControl::getPidErrorsRaw
bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition: fakeMotionControl.cpp:1589
FakeMotionControl::getGearboxRatioRaw
bool getGearboxRatioRaw(int m, double *gearbox) override
Get the gearbox ratio for a specific motor.
Definition: fakeMotionControl.cpp:2650
FakeMotionControl::getMaxCurrentRaw
bool getMaxCurrentRaw(int j, double *val) override
Returns the maximum electric current allowed for a given motor.
Definition: fakeMotionControl.cpp:2567
FakeMotionControl::close
bool close() override
Close the DeviceDriver.
Definition: fakeMotionControl.cpp:1436
FakeMotionControl::getRefTorquesRaw
bool getRefTorquesRaw(double *t) override
Get the reference value of the torque for all joints.
Definition: fakeMotionControl.cpp:2802
FakeMotionControl::setRefCurrentRaw
bool setRefCurrentRaw(int j, double t) override
Set the reference value of the current for a single motor.
Definition: fakeMotionControl.cpp:3183
FakeMotionControl::getNumberOfMotorEncodersRaw
bool getNumberOfMotorEncodersRaw(int *num) override
Get the number of available motor encoders.
Definition: fakeMotionControl.cpp:2423
FakeMotionControl::getPidReferencesRaw
bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition: fakeMotionControl.cpp:1657
FakeMotionControl::getTorqueRaw
bool getTorqueRaw(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).
Definition: fakeMotionControl.cpp:2758
FakeMotionControl::getImpedanceRaw
bool getImpedanceRaw(int j, double *stiffness, double *damping) override
Get current impedance parameters (stiffness,damping,offset) for a specific joint.
Definition: fakeMotionControl.cpp:2812
FakeMotionControl::enablePidRaw
bool enablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition: fakeMotionControl.cpp:1729
FakeMotionControl::getRefVelocitiesRaw
bool getRefVelocitiesRaw(double *refs) override
Get the last reference speed set by velocityMove for all joints.
Definition: fakeMotionControl.cpp:2938
FakeMotionControl::setPositionRaw
bool setPositionRaw(int j, double ref) override
Set new position for a single axis.
Definition: fakeMotionControl.cpp:2869
FakeMotionControl::getEncoderAccelerationsRaw
bool getEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2388
FakeMotionControl::setPidReferencesRaw
bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition: fakeMotionControl.cpp:1525
FakeMotionControl::getMotorEncoderRaw
bool getMotorEncoderRaw(int m, double *v) override
Read the value of a motor encoder.
Definition: fakeMotionControl.cpp:2459
FakeMotionControl::getRefTorqueRaw
bool getRefTorqueRaw(int j, double *t) override
Set the reference value of the torque for a given joint.
Definition: fakeMotionControl.cpp:2807
FakeMotionControl::getMotorEncoderAccelerationsRaw
bool getMotorEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition: fakeMotionControl.cpp:2498
FakeMotionControl::setInteractionModesRaw
bool setInteractionModesRaw(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.
Definition: fakeMotionControl.cpp:3042
FakeMotionControl::getTemperaturesRaw
bool getTemperaturesRaw(double *vals) override
Get temperature of all the motors.
Definition: fakeMotionControl.cpp:3074
FakeMotionControl::resetMotorEncoderRaw
bool resetMotorEncoderRaw(int m) override
Reset motor encoder, single motor.
Definition: fakeMotionControl.cpp:2449
FakeMotionControl::setNominalCurrentRaw
bool setNominalCurrentRaw(int m, const double val) override
Definition: fakeMotionControl.cpp:2607
FakeMotionControl::getRotorEncoderResolutionRaw
virtual bool getRotorEncoderResolutionRaw(int m, double &rotres)
Definition: fakeMotionControl.cpp:2660
FakeMotionControl::getHasRotorEncoderRaw
virtual bool getHasRotorEncoderRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2696
FakeMotionControl::getMotorEncodersTimedRaw
bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous position of all motor encoders.
Definition: fakeMotionControl.cpp:2508
FakeMotionControl::resetEncoderRaw
bool resetEncoderRaw(int j) override
Reset encoder, single joint.
Definition: fakeMotionControl.cpp:2330
FakeMotionControl::getTorquesRaw
bool getTorquesRaw(double *t) override
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
Definition: fakeMotionControl.cpp:2764
FakeMotionControl::setLimitsRaw
bool setLimitsRaw(int axis, double min, double max) override
Set the software limits for a particular axis, the behavior of the control card when these limits are...
Definition: fakeMotionControl.cpp:2639
FakeMotionControl::setInteractionModeRaw
bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override
Set the interaction mode of the robot, values can be stiff or compliant.
Definition: fakeMotionControl.cpp:3030
FakeMotionControl::run
void run() override
Loop function.
Definition: fakeMotionControl.cpp:36
FakeMotionControl::getMotorEncoderTimedRaw
bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override
Read the instantaneous position of a motor encoder.
Definition: fakeMotionControl.cpp:2520
FakeMotionControl::getEncodersTimedRaw
bool getEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2400
FakeMotionControl::getEncoderSpeedsRaw
bool getEncoderSpeedsRaw(double *spds) override
Read the instantaneous acceleration of an axis.
Definition: fakeMotionControl.cpp:2370
FakeMotionControl::getTorqueControlFilterType
virtual bool getTorqueControlFilterType(int j, int &type)
Definition: fakeMotionControl.cpp:2655
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition: DeviceDriver.h:35
yarp::dev::IAmplifierControlRaw
Interface for control devices, amplifier commands.
Definition: IAmplifierControl.h:176
yarp::dev::IAxisInfoRaw
Interface for getting information about specific axes, if available.
Definition: IAxisInfo.h:66
yarp::dev::IControlCalibrationRaw
Interface for control devices, calibration commands.
Definition: IControlCalibration.h:45
yarp::dev::IControlLimitsRaw
Interface for control devices.
Definition: IControlLimits.h:80
yarp::dev::IControlModeRaw
Interface for setting control mode in control board.
Definition: IControlMode.h:101
yarp::dev::ICurrentControlRaw
Interface for control boards implementing current control.
Definition: ICurrentControl.h:111
yarp::dev::IEncodersTimedRaw
Control board, extend encoder raw interface adding timestamps.
Definition: IEncodersTimed.h:25
yarp::dev::IImpedanceControlRaw
Interface for control boards implementing impedance control.
Definition: IImpedanceControl.h:25
yarp::dev::IInteractionModeRaw
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition: IInteractionMode.h:119
yarp::dev::IMotorEncodersRaw
Control board, encoder interface.
Definition: IMotorEncoders.h:25
yarp::dev::IMotorRaw
Control board, encoder interface.
Definition: IMotor.h:26
yarp::dev::IPWMControlRaw
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition: IPWMControl.h:85
yarp::dev::IPidControlRaw
Interface for a generic control board device implementing a PID controller.
Definition: IPidControl.h:29
yarp::dev::IPositionControlRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition: IPositionControl.h:27
yarp::dev::IPositionDirectRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition: IPositionDirect.h:115
yarp::dev::ITorqueControlRaw
Interface for control boards implementing torque control.
Definition: ITorqueControl.h:136
yarp::dev::IVelocityControlRaw
Interface for control boards implementig velocity control in encoder coordinates.
Definition: IVelocityControl.h:26
yarp::dev::IVirtualAnalogSensorRaw
A generic interface to a virtual sensors.
Definition: IVirtualAnalogSensor.h:81
yarp::dev::ImplementControlLimits
class ImplementControlLimits; class StubImplControlLimitsRaw;
Definition: ImplementControlLimits.h:26
yarp::dev::ImplementInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition: ImplementInteractionMode.h:38
yarp::dev::ImplementPositionControl
Default implementation of the IPositionControl interface.
Definition: ImplementPositionControl.h:36
yarp::dev::ImplementPositionDirect
Default implementation of the IPositionDirect interface.
Definition: ImplementPositionDirect.h:36
yarp::dev::Pid
Contains the parameters for a PID.
Definition: ControlBoardPid.h:26
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:74
yarp::os::PeriodicThread
An abstraction for a periodic thread.
Definition: PeriodicThread.h:28
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition: Searchable.h:66
Time.h
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition: PidEnums.h:18
ImpedanceParameters::limits
ImpedanceLimits limits
Definition: fakeMotionControl.h:68