yarp::dev::ImplementMotor Class Reference

#include <yarp/dev/ImplementMotor.h>

Inheritance diagram for yarp::dev::ImplementMotor:

Public Member Functions
	ImplementMotor (yarp::dev::IMotorRaw *y)
virtual	~ImplementMotor ()
bool	getNumberOfMotors (int *num) override
	Get the number of available motors. 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...
Public Member Functions inherited from yarp::dev::IMotor
virtual	~IMotor ()
	Destructor. More...
virtual bool	getNumberOfMotors (int *num)=0
	Get the number of available motors. More...
virtual bool	getTemperature (int m, double *val)=0
	Get temperature of a motor. More...
virtual bool	getTemperatures (double *vals)=0
	Get temperature of all the motors. More...
virtual bool	getTemperatureLimit (int m, double *temp)=0
	Retreives the current temperature limit for a specific motor. More...
virtual bool	setTemperatureLimit (int m, const double temp)=0
	Set the temperature limit for a specific motor. More...
virtual bool	getGearboxRatio (int m, double *val)
	Get the gearbox ratio for a specific motor. More...
virtual bool	setGearboxRatio (int m, const double val)
	Set the gearbox ratio for a specific motor. More...

Protected Member Functions
bool	initialize (int size, const int *amap)
	Initialize the internal data and alloc memory. More...
bool	uninitialize ()
	Clean up internal data and memory. More...

Protected Attributes
IMotorRaw *	imotor
void *	helper
yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Detailed Description

Definition at line 23 of file ImplementMotor.h.

Constructor & Destructor Documentation

ImplementMotor()

ImplementMotor::ImplementMotor

(

yarp::dev::IMotorRaw *

y

)

Definition at line 17 of file ImplementMotor.cpp.

~ImplementMotor()

ImplementMotor::~ImplementMotor ( )

virtual

Definition at line 23 of file ImplementMotor.cpp.

Member Function Documentation

getGearboxRatio()

bool ImplementMotor::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 103 of file ImplementMotor.cpp.

getNumberOfMotors()

bool ImplementMotor::getNumberOfMotors ( int *  num )

overridevirtual

Get the number of available motors.

Parameters

num	retrieved number of available motors

Returns

true/false

Implements yarp::dev::IMotor.

Definition at line 64 of file ImplementMotor.cpp.

getTemperature()

bool ImplementMotor::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 70 of file ImplementMotor.cpp.

getTemperatureLimit()

bool ImplementMotor::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 81 of file ImplementMotor.cpp.

getTemperatures()

bool ImplementMotor::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 125 of file ImplementMotor.cpp.

initialize()

bool ImplementMotor::initialize ( int  size, const int *  amap  )

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.

Returns

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

Definition at line 28 of file ImplementMotor.cpp.

setGearboxRatio()

bool ImplementMotor::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 114 of file ImplementMotor.cpp.

setTemperatureLimit()

bool ImplementMotor::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 92 of file ImplementMotor.cpp.

uninitialize()

bool ImplementMotor::uninitialize ( )

protected

Clean up internal data and memory.

Returns

true if uninitialization is executed, false otherwise.

Definition at line 47 of file ImplementMotor.cpp.

Member Data Documentation

doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementMotor::doubleBuffManager

protected

Definition at line 29 of file ImplementMotor.h.

helper

void* yarp::dev::ImplementMotor::helper

protected

Definition at line 27 of file ImplementMotor.h.

imotor

IMotorRaw* yarp::dev::ImplementMotor::imotor

protected

Definition at line 26 of file ImplementMotor.h.

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

• src/libYARP_dev/src/yarp/dev/ImplementMotor.h
• src/libYARP_dev/src/yarp/dev/ImplementMotor.cpp