#include <yarp/dev/ImplementEncoders.h>

Inheritance diagram for yarp::dev::ImplementEncoders:

Public Member Functions
	ImplementEncoders (yarp::dev::IEncodersRaw *y)

virtual	~ImplementEncoders ()
	Destructor. More...

bool	getAxes (int *ax) override
	Get the number of controlled 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	getEncoderSpeed (int j, double *spds) override
	Read the instantaneous speed of an axis. More...

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

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

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

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

virtual bool	getAxes (int *ax)=0
	Get the number of controlled axes. More...

virtual bool	resetEncoder (int j)=0
	Reset encoder, single joint. More...

virtual bool	resetEncoders ()=0
	Reset encoders. More...

virtual bool	setEncoder (int j, double val)=0
	Set the value of the encoder for a given joint. More...

virtual bool	setEncoders (const double *vals)=0
	Set the value of all encoders. More...

virtual bool	getEncoder (int j, double *v)=0
	Read the value of an encoder. More...

virtual bool	getEncoders (double *encs)=0
	Read the position of all axes. More...

virtual bool	getEncoderSpeed (int j, double *sp)=0
	Read the istantaneous speed of an axis. More...

virtual bool	getEncoderSpeeds (double *spds)=0
	Read the instantaneous speed of all axes. More...

virtual bool	getEncoderAcceleration (int j, double *spds)=0
	Read the instantaneous acceleration of an axis. More...

virtual bool	getEncoderAccelerations (double *accs)=0
	Read the instantaneous acceleration of all axes. More...

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

bool	uninitialize ()
	Clean up internal data and memory. More...

Protected Attributes
IEncodersRaw *	iEncoders

void *	helper

double *	temp

Detailed Description

Definition at line 16 of file ImplementEncoders.h.

Constructor & Destructor Documentation

◆ ImplementEncoders()

ImplementEncoders::ImplementEncoders ( yarp::dev::IEncodersRaw * y )

Definition at line 20 of file ImplementEncoders.cpp.

◆ ~ImplementEncoders()

ImplementEncoders::~ImplementEncoders ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 27 of file ImplementEncoders.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementEncoders::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

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

Returns: the number of controlled axes.

Implements yarp::dev::IEncoders.

Definition at line 62 of file ImplementEncoders.cpp.

◆ getEncoder()

bool ImplementEncoders::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 99 of file ImplementEncoders.cpp.

◆ getEncoderAcceleration()

bool ImplementEncoders::getEncoderAcceleration	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

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

Implements yarp::dev::IEncoders.

Definition at line 151 of file ImplementEncoders.cpp.

◆ getEncoderAccelerations()

bool ImplementEncoders::getEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous 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 166 of file ImplementEncoders.cpp.

◆ getEncoders()

bool ImplementEncoders::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 114 of file ImplementEncoders.cpp.

◆ getEncoderSpeed()

bool ImplementEncoders::getEncoderSpeed	(	int	j,
		double *	spds
	)

overridevirtual

Read the instantaneous speed of an axis.

Parameters

j	axis number
spds	pointer to storage for the output

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

Implements yarp::dev::IEncoders.

Definition at line 126 of file ImplementEncoders.cpp.

◆ getEncoderSpeeds()

bool ImplementEncoders::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 141 of file ImplementEncoders.cpp.

◆ initialize()

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

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.
enc	is an array containing the encoder to angles conversion factors.
zos	is an array containing the zeros of the encoders.

Returns: true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 32 of file ImplementEncoders.cpp.

◆ resetEncoder()

bool ImplementEncoders::resetEncoder ( int j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 68 of file ImplementEncoders.cpp.

◆ resetEncoders()

bool ImplementEncoders::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns: true/false

Implements yarp::dev::IEncoders.

Definition at line 77 of file ImplementEncoders.cpp.

◆ setEncoder()

bool ImplementEncoders::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 82 of file ImplementEncoders.cpp.

◆ setEncoders()

bool ImplementEncoders::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 92 of file ImplementEncoders.cpp.

◆ uninitialize()

bool ImplementEncoders::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 49 of file ImplementEncoders.cpp.

Member Data Documentation

◆ helper

void* yarp::dev::ImplementEncoders::helper

protected

Definition at line 20 of file ImplementEncoders.h.

◆ iEncoders

IEncodersRaw* yarp::dev::ImplementEncoders::iEncoders

protected

Definition at line 19 of file ImplementEncoders.h.

◆ temp

double* yarp::dev::ImplementEncoders::temp

protected

Definition at line 21 of file ImplementEncoders.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementEncoders()

◆ ~ImplementEncoders()

Member Function Documentation

◆ getAxes()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ initialize()

◆ resetEncoder()

◆ resetEncoders()

◆ setEncoder()

◆ setEncoders()

◆ uninitialize()

Member Data Documentation

◆ helper

◆ iEncoders

◆ temp