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#include <yarp/dev/ImplementJointFault.h>
21
22#include <mutex>
23
24
25struct ImpedanceLimits
26{
27 double min_stiff;
28 double max_stiff;
29 double min_damp;
30 double max_damp;
31 double param_a;
32 double param_b;
33 double param_c;
34
35public:
36 ImpedanceLimits()
37 {
38 min_stiff=0;
39 max_stiff=0;
40 min_damp=0;
41 max_damp=0;
42 param_a=0;
43 param_b=0;
44 param_c=0;
45 }
46
47 double get_min_stiff()
48 {
49 return min_stiff;
50 }
51 double get_max_stiff()
52 {
53 return max_stiff;
54 }
55 double get_min_damp()
56 {
57 return min_damp;
58 }
59 double get_max_damp()
60 {
61 return max_damp;
62 }
63};
64
65struct ImpedanceParameters
66{
67 double stiffness;
68 double damping;
69 ImpedanceLimits limits;
70 ImpedanceParameters() {stiffness=0; damping=0;}
71};
72
86class FakeMotionControl :
87 public yarp::dev::DeviceDriver,
88// public yarp::dev::DeviceResponder,
89 public yarp::os::PeriodicThread,
90 public yarp::dev::IPidControlRaw,
91 public yarp::dev::IControlCalibrationRaw,
92 public yarp::dev::IAmplifierControlRaw,
93 public yarp::dev::IEncodersTimedRaw,
94 public yarp::dev::IMotorEncodersRaw,
95 public yarp::dev::IMotorRaw,
96 public yarp::dev::IPositionControlRaw,
97 public yarp::dev::IVelocityControlRaw,
98 public yarp::dev::IControlModeRaw,
99 public yarp::dev::IControlLimitsRaw,
100 public yarp::dev::IPositionDirectRaw,
101 public yarp::dev::ITorqueControlRaw,
102 public yarp::dev::ICurrentControlRaw,
103 public yarp::dev::IPWMControlRaw,
104 public yarp::dev::IImpedanceControlRaw,
105 public yarp::dev::IInteractionModeRaw,
106 public yarp::dev::IAxisInfoRaw,
107 public yarp::dev::IVirtualAnalogSensorRaw, //*
108 public yarp::dev::IJointFaultRaw,
109 public yarp::dev::ImplementControlCalibration,
110 public yarp::dev::ImplementAmplifierControl,
111 public yarp::dev::ImplementPidControl,
112 public yarp::dev::ImplementEncodersTimed,
113 public yarp::dev::ImplementPositionControl,
114 public yarp::dev::ImplementVelocityControl,
115 public yarp::dev::ImplementControlMode,
116 public yarp::dev::ImplementImpedanceControl,
117 public yarp::dev::ImplementJointFault,
118 public yarp::dev::ImplementMotorEncoders,
119 public yarp::dev::ImplementTorqueControl,
120 public yarp::dev::ImplementControlLimits,
121 public yarp::dev::ImplementPositionDirect,
122 public yarp::dev::ImplementInteractionMode,
123 public yarp::dev::ImplementCurrentControl,
124 public yarp::dev::ImplementPWMControl,
125 public yarp::dev::ImplementMotor,
126 public yarp::dev::ImplementAxisInfo,
127 public yarp::dev::ImplementVirtualAnalogSensor //*
128{
129private:
130 enum VerboseLevel
131 {
132 MUTE = 0, // only errors that prevent device from working
133 QUIET = 1, // adds errors that can cause malfunctioning
134 DEFAULT = 2, // adds warnings // DEFAULT // show noisy messages about back-compatible changes
135 CHATTY = 3, // adds info messages
136 VERBOSE = 4, // adds debug messages
137 VERY_VERBOSE = 5, // adds trace of events (shows thread running and catch if they get stuck)
138 VERY_VERY_VERBOSE = 6 // adds messages printed every cycle, so too much verbose for usage, only for deep debugging
139 };
140
141 std::recursive_mutex _mutex;
142 int _njoints;
143 int *_axisMap;
144 double *_angleToEncoder;
145 double *_encodersStamp;
146 double *_ampsToSensor;
147 double *_dutycycleToPWM;
148 float *_DEPRECATED_encoderconversionfactor;
149 float *_DEPRECATED_encoderconversionoffset;
150// uint8_t *_jointEncoderType; /** joint encoder type*/
151 int *_jointEncoderRes;
152 int *_rotorEncoderRes;
153// uint8_t *_rotorEncoderType; /** rotor encoder type*/
154 double *_gearbox;
155 bool *_hasHallSensor;
156 bool *_hasTempSensor;
157 bool *_hasRotorEncoder;
158 bool *_hasRotorEncoderIndex;
159 int *_rotorIndexOffset;
160 int *_motorPoles;
161 double *_rotorlimits_max;
162 double *_rotorlimits_min;
163 yarp::dev::Pid *_ppids;
164 yarp::dev::Pid *_tpids;
165 yarp::dev::Pid *_cpids;
166 yarp::dev::Pid *_vpids;
167 bool *_ppids_ena;
168 bool *_tpids_ena;
169 bool *_cpids_ena;
170 bool *_vpids_ena;
171 double *_ppids_lim;
172 double *_tpids_lim;
173 double *_cpids_lim;
174 double *_vpids_lim;
175 double *_ppids_ref;
176 double *_tpids_ref;
177 double *_cpids_ref;
178 double *_vpids_ref;
179
180 std::string *_axisName;
181 yarp::dev::JointTypeEnum *_jointType;
182// ImpedanceLimits *_impedance_limits; /** impedance limits */
183 double *_limitsMin;
184 double *_limitsMax;
185 double *_kinematic_mj;
186 //double *_currentLimits; /** current limits */
187// MotorCurrentLimits *_currentLimits;
188 double *_maxJntCmdVelocity;
189 double *_maxMotorVelocity;
190 int *_velocityShifts;
191 int *_velocityTimeout;
192 double *_kbemf;
193 double *_ktau;
194 int *_kbemf_scale;
195 int *_ktau_scale;
196 double *_viscousPos;
197 double *_viscousNeg;
198 double *_coulombPos;
199 double *_coulombNeg;
200 int * _filterType;
201 int *_torqueSensorId;
202 int *_torqueSensorChan;
203 double *_maxTorque;
204 double *_newtonsToSensor;
205 bool *checking_motiondone; /* flag telling if I'm already waiting for motion done */
206 double *_last_position_move_time;
207 double *_motorPwmLimits;
208 double *_torques;
210// ImpedanceParameters *_impedance_params; /** impedance parameters */
211
212 bool verbosewhenok;
213 bool useRawEncoderData;
214 bool _pwmIsLimited;
215 bool _torqueControlEnabled;
217 enum torqueControlUnitsType {T_MACHINE_UNITS=0, T_METRIC_UNITS=1};
218 torqueControlUnitsType _torqueControlUnits;
219
220 enum positionControlUnitsType {P_MACHINE_UNITS=0, P_METRIC_UNITS=1};
221 positionControlUnitsType _positionControlUnits;
222
223 // internal stuff
224 int *_controlModes = nullptr;
225 int *_hwfault_code = nullptr;
226 std::string *_hwfault_message = nullptr;
227 int *_interactMode = nullptr;
228 bool *_enabledAmp = nullptr; // 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.
229 bool *_enabledPid = nullptr; // 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.
230 bool *_calibrated = nullptr; // Flag to know if the calibrate function has been called for the joint
231 double *_posCtrl_references = nullptr; // used for position control.
232 double *_posDir_references = nullptr; // used for position Direct control.
233 double *_ref_speeds = nullptr; // used for position control.
234 double *_command_speeds = nullptr; // used for velocity control.
235 double *_ref_accs = nullptr; // for velocity control, in position min jerk eq is used.
236 double *_ref_torques = nullptr; // for torque control.
237 double *_ref_currents = nullptr;
238 yarp::sig::Vector current, nominalCurrent, maxCurrent, peakCurrent;
239 yarp::sig::Vector pwm, pwmLimit, refpwm, supplyVoltage,last_velocity_command, last_pwm_command;
240 yarp::sig::Vector pos, dpos, vel, speed, acc, loc, amp;
241 double prev_time;
242 bool opened;
243
244 // debugging
245 VerboseLevel verbose;
246public:
247
248 FakeMotionControl();
249 ~FakeMotionControl();
250
251 // Device Driver
252 bool open(yarp::os::Searchable &par) override;
253 bool close() override;
254 bool fromConfig(yarp::os::Searchable &config);
255
256 virtual bool initialised();
257
261 bool alloc(int njoints);
262
266 void resizeBuffers();
267
268 bool threadInit() override;
269 void threadRelease() override;
270
272 bool setPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, const yarp::dev::Pid &pid) override;
273 bool setPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const yarp::dev::Pid *pids) override;
274 bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double ref) override;
275 bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *refs) override;
276 bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double limit) override;
277 bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *limits) override;
278 bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *err) override;
279 bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum& pidtype, double *errs) override;
280 bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *out) override;
281 bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *outs) override;
282 bool getPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, yarp::dev::Pid *pid) override;
283 bool getPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype, yarp::dev::Pid *pids) override;
284 bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *ref) override;
285 bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *refs) override;
286 bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *limit) override;
287 bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *limits) override;
288 bool resetPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
289 bool disablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
290 bool enablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
291 bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double v) override;
292 bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum& pidtype, int j, bool* enabled) override;
293
294 // POSITION CONTROL INTERFACE RAW
295 bool getAxes(int *ax) override;
296 bool positionMoveRaw(int j, double ref) override;
297 bool positionMoveRaw(const double *refs) override;
298 bool relativeMoveRaw(int j, double delta) override;
299 bool relativeMoveRaw(const double *deltas) override;
300 bool checkMotionDoneRaw(bool *flag) override;
301 bool checkMotionDoneRaw(int j, bool *flag) override;
302 bool setRefSpeedRaw(int j, double sp) override;
303 bool setRefSpeedsRaw(const double *spds) override;
304 bool setRefAccelerationRaw(int j, double acc) override;
305 bool setRefAccelerationsRaw(const double *accs) override;
306 bool getRefSpeedRaw(int j, double *ref) override;
307 bool getRefSpeedsRaw(double *spds) override;
308 bool getRefAccelerationRaw(int j, double *acc) override;
309 bool getRefAccelerationsRaw(double *accs) override;
310 bool stopRaw(int j) override;
311 bool stopRaw() override;
312
313 // Position Control2 Interface
314 bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override;
315 bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas) override;
316 bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override;
317 bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override;
318 bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override;
319 bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override;
320 bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override;
321 bool stopRaw(const int n_joint, const int *joints) override;
322 bool getTargetPositionRaw(const int joint, double *ref) override;
323 bool getTargetPositionsRaw(double *refs) override;
324 bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override;
325
326 // Velocity control interface raw
327 bool velocityMoveRaw(int j, double sp) override;
328 bool velocityMoveRaw(const double *sp) override;
329
330 // IJointFault
331 bool getLastJointFaultRaw(int j, int& fault, std::string& message) override;
332
333 // calibration2raw
334 bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters& params) override;
335 bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override;
336 bool calibrationDoneRaw(int j) override;
337
338
340
341 // ControlMode
342 bool getControlModeRaw(int j, int *v) override;
343 bool getControlModesRaw(int *v) override;
344
345 // ControlMode 2
346 bool getControlModesRaw(const int n_joint, const int *joints, int *modes) override;
347 bool setControlModeRaw(const int j, const int mode) override;
348 bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override;
349 bool setControlModesRaw(int *modes) override;
350
352 bool resetEncoderRaw(int j) override;
353 bool resetEncodersRaw() override;
354 bool setEncoderRaw(int j, double val) override;
355 bool setEncodersRaw(const double *vals) override;
356 bool getEncoderRaw(int j, double *v) override;
357 bool getEncodersRaw(double *encs) override;
358 bool getEncoderSpeedRaw(int j, double *sp) override;
359 bool getEncoderSpeedsRaw(double *spds) override;
360 bool getEncoderAccelerationRaw(int j, double *spds) override;
361 bool getEncoderAccelerationsRaw(double *accs) override;
363
364 bool getEncodersTimedRaw(double *encs, double *stamps) override;
365 bool getEncoderTimedRaw(int j, double *encs, double *stamp) override;
366
368 bool getNumberOfMotorEncodersRaw(int * num) override;
369 bool resetMotorEncoderRaw(int m) override;
370 bool resetMotorEncodersRaw() override;
371 bool setMotorEncoderRaw(int m, const double val) override;
372 bool setMotorEncodersRaw(const double *vals) override;
373 bool getMotorEncoderRaw(int m, double *v) override;
374 bool getMotorEncodersRaw(double *encs) override;
375 bool getMotorEncoderSpeedRaw(int m, double *sp) override;
376 bool getMotorEncoderSpeedsRaw(double *spds) override;
377 bool getMotorEncoderAccelerationRaw(int m, double *spds) override;
378 bool getMotorEncoderAccelerationsRaw(double *accs) override;
379 bool getMotorEncodersTimedRaw(double *encs, double *stamps) override;
380 bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override;\
381 bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override;
382 bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override;
384
386 bool getAxisNameRaw(int axis, std::string& name) override;
387 bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type) override;
389
390 //Internal use, not exposed by YARP (yet)
391 bool getGearboxRatioRaw(int m, double *gearbox) override;
392 virtual bool getRotorEncoderResolutionRaw(int m, double &rotres);
393 virtual bool getJointEncoderResolutionRaw(int m, double &jntres);
394 virtual bool getJointEncoderTypeRaw(int j, int &type);
395 virtual bool getRotorEncoderTypeRaw(int j, int &type);
396 virtual bool getKinematicMJRaw(int j, double &rotres);
397 virtual bool getHasTempSensorsRaw(int j, int& ret);
398 virtual bool getHasHallSensorRaw(int j, int& ret);
399 virtual bool getHasRotorEncoderRaw(int j, int& ret);
400 virtual bool getHasRotorEncoderIndexRaw(int j, int& ret);
401 virtual bool getMotorPolesRaw(int j, int& poles);
402 virtual bool getRotorIndexOffsetRaw(int j, double& rotorOffset);
403 virtual bool getTorqueControlFilterType(int j, int& type);
404
406 bool enableAmpRaw(int j) override;
407 bool disableAmpRaw(int j) override;
408 bool getCurrentsRaw(double *vals) override;
409 bool getCurrentRaw(int j, double *val) override;
410 bool getNominalCurrentRaw(int m, double *val) override;
411 bool setNominalCurrentRaw(int m, const double val) override;
412 bool setMaxCurrentRaw(int j, double val) override;
413 bool getMaxCurrentRaw(int j, double *val) override;
414 bool getPeakCurrentRaw(int m, double *val) override;
415 bool setPeakCurrentRaw(int m, const double val) override;
416 bool getAmpStatusRaw(int *st) override;
417 bool getAmpStatusRaw(int j, int *st) override;
418 bool getPWMRaw(int j, double* val) override;
419 bool getPWMLimitRaw(int j, double* val) override;
420 bool setPWMLimitRaw(int j, const double val) override;
421 bool getPowerSupplyVoltageRaw(int j, double* val) override;
423
424 // Limits
425 bool setLimitsRaw(int axis, double min, double max) override;
426 bool getLimitsRaw(int axis, double *min, double *max) override;
427 // Limits 2
428 bool setVelLimitsRaw(int axis, double min, double max) override;
429 bool getVelLimitsRaw(int axis, double *min, double *max) override;
430
431 // Torque control
432 bool getTorqueRaw(int j, double *t) override;
433 bool getTorquesRaw(double *t) override;
434 bool getTorqueRangeRaw(int j, double *min, double *max) override;
435 bool getTorqueRangesRaw(double *min, double *max) override;
436 bool setRefTorquesRaw(const double *t) override;
437 bool setRefTorqueRaw(int j, double t) override;
438 bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) override;
439 bool getRefTorquesRaw(double *t) override;
440 bool getRefTorqueRaw(int j, double *t) override;
441 bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override;
442 bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override;
443// int32_t getRefSpeedInTbl(uint8_t boardNum, int j, eOmeas_position_t pos) override;
444
445 // IVelocityControl interface
446 bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
447 bool getRefVelocityRaw(const int joint, double *ref) override;
448 bool getRefVelocitiesRaw(double *refs) override;
449 bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *refs) override;
450
451 // Impedance interface
452 bool getImpedanceRaw(int j, double *stiffness, double *damping) override;
453 bool setImpedanceRaw(int j, double stiffness, double damping) override;
454 bool setImpedanceOffsetRaw(int j, double offset) override;
455 bool getImpedanceOffsetRaw(int j, double *offset) override;
456 bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
457
458 // PositionDirect Interface
459 bool setPositionRaw(int j, double ref) override;
460 bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
461 bool setPositionsRaw(const double *refs) override;
462 bool getRefPositionRaw(const int joint, double *ref) override;
463 bool getRefPositionsRaw(double *refs) override;
464 bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) override;
465
466 // InteractionMode interface
467 bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum* _mode) override;
468 bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
469 bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
470 bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override;
471 bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
472 bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
473
474 // IMotor interface
475 bool getNumberOfMotorsRaw(int * num) override;
476 bool getTemperatureRaw(int m, double* val) override;
477 bool getTemperaturesRaw(double *vals) override;
478 bool getTemperatureLimitRaw(int m, double *temp) override;
479 bool setTemperatureLimitRaw(int m, const double temp) override;
480
481 // PWM interface
482 bool setRefDutyCycleRaw(int j, double v) override;
483 bool setRefDutyCyclesRaw(const double *v) override;
484 bool getRefDutyCycleRaw(int j, double *v) override;
485 bool getRefDutyCyclesRaw(double *v) override;
486 bool getDutyCycleRaw(int j, double *v) override;
487 bool getDutyCyclesRaw(double *v) override;
488
489 // Current interface
490 //bool getAxes(int *ax) override;
491 //bool getCurrentRaw(int j, double *t) override;
492 //bool getCurrentsRaw(double *t) override;
493 bool getCurrentRangeRaw(int j, double *min, double *max) override;
494 bool getCurrentRangesRaw(double *min, double *max) override;
495 bool setRefCurrentsRaw(const double *t) override;
496 bool setRefCurrentRaw(int j, double t) override;
497 bool setRefCurrentsRaw(const int n_joint, const int *joints, const double *t) override;
498 bool getRefCurrentsRaw(double *t) override;
499 bool getRefCurrentRaw(int j, double *t) override;
500
501 yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override;
502 int getVirtualAnalogSensorChannelsRaw() override;
503 bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override;
504 bool updateVirtualAnalogSensorMeasureRaw(int ch, double &measure) override;
505
506 void run() override;
507private:
508 void cleanup();
509 bool dealloc();
510 bool parsePositionPidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[]);
511 bool parseTorquePidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[], double kbemf[], double ktau[], int filterType[], double viscousPos[], double viscousNeg[], double coulombPos[], double coulombNeg[]);
512
513 bool parseImpedanceGroup_NewFormat(yarp::os::Bottle& pidsGroup, ImpedanceParameters vals[]);
514
515 bool extractGroup(yarp::os::Bottle &input, yarp::os::Bottle &out, const std::string &key1, const std::string &txt, int size);
516};
517
518#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:128
FakeMotionControl::getPowerSupplyVoltageRaw
bool getPowerSupplyVoltageRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2674
FakeMotionControl::getRefSpeedRaw
bool getRefSpeedRaw(int j, double *ref) override
Get reference speed for a joint.
Definition: fakeMotionControl.cpp:2106
FakeMotionControl::getHasTempSensorsRaw
virtual bool getHasTempSensorsRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2729
FakeMotionControl::setRefCurrentsRaw
bool setRefCurrentsRaw(const double *t) override
Set the reference value of the currents for all motors.
Definition: fakeMotionControl.cpp:3256
FakeMotionControl::setRefTorqueRaw
bool setRefTorqueRaw(int j, double t) override
Set the reference value of the torque for a given joint.
Definition: fakeMotionControl.cpp:2835
FakeMotionControl::getCurrentsRaw
bool getCurrentsRaw(double *vals) override
Definition: fakeMotionControl.cpp:2593
FakeMotionControl::getImpedanceOffsetRaw
bool getImpedanceOffsetRaw(int j, double *offset) override
Get current force Offset for a specific joint.
Definition: fakeMotionControl.cpp:2888
FakeMotionControl::getTargetPositionRaw
bool getTargetPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: fakeMotionControl.cpp:2977
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:2816
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:2893
FakeMotionControl::setTemperatureLimitRaw
bool setTemperatureLimitRaw(int m, const double temp) override
Set the temperature limit for a specific motor.
Definition: fakeMotionControl.cpp:3172
FakeMotionControl::getPidErrorRaw
bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition: fakeMotionControl.cpp:1610
FakeMotionControl::setPeakCurrentRaw
bool setPeakCurrentRaw(int m, const double val) override
Definition: fakeMotionControl.cpp:2638
FakeMotionControl::velocityMoveRaw
bool velocityMoveRaw(int j, double sp) override
Start motion at a given speed, single joint.
Definition: fakeMotionControl.cpp:1876
FakeMotionControl::checkMotionDoneRaw
bool checkMotionDoneRaw(bool *flag) override
Check if the current trajectory is terminated.
Definition: fakeMotionControl.cpp:2025
FakeMotionControl::getMotorEncoderSpeedRaw
bool getMotorEncoderSpeedRaw(int m, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition: fakeMotionControl.cpp:2519
FakeMotionControl::getJointEncoderTypeRaw
virtual bool getJointEncoderTypeRaw(int j, int &type)
Definition: fakeMotionControl.cpp:2713
FakeMotionControl::setRefDutyCycleRaw
bool setRefDutyCycleRaw(int j, double v) override
Sets the reference dutycycle of a single motor.
Definition: fakeMotionControl.cpp:3178
FakeMotionControl::getTemperatureRaw
bool getTemperatureRaw(int m, double *val) override
Get temperature of a motor.
Definition: fakeMotionControl.cpp:3152
FakeMotionControl::getEncoderAccelerationRaw
bool getEncoderAccelerationRaw(int j, double *spds) override
Read the instantaneous acceleration of an axis.
Definition: fakeMotionControl.cpp:2423
FakeMotionControl::getRefAccelerationRaw
bool getRefAccelerationRaw(int j, double *acc) override
Get reference acceleration for a joint.
Definition: fakeMotionControl.cpp:2118
FakeMotionControl::getMotorEncoderSpeedsRaw
bool getMotorEncoderSpeedsRaw(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition: fakeMotionControl.cpp:2525
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:1536
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:2787
FakeMotionControl::getJointTypeRaw
bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
Definition: fakeMotionControl.cpp:2773
FakeMotionControl::setMotorEncoderRaw
bool setMotorEncoderRaw(int m, const double val) override
Set the value of the motor encoder for a given motor.
Definition: fakeMotionControl.cpp:2472
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:1713
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:1839
FakeMotionControl::setControlModeRaw
bool setControlModeRaw(const int j, const int mode) override
Definition: fakeMotionControl.cpp:2313
FakeMotionControl::getMotorEncoderAccelerationRaw
bool getMotorEncoderAccelerationRaw(int m, double *spds) override
Read the instantaneous acceleration of a motor encoder.
Definition: fakeMotionControl.cpp:2535
FakeMotionControl::open
bool open(yarp::os::Searchable &par) override
Open the DeviceDriver.
Definition: fakeMotionControl.cpp:509
FakeMotionControl::getHasHallSensorRaw
virtual bool getHasHallSensorRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2734
FakeMotionControl::getTemperatureLimitRaw
bool getTemperatureLimitRaw(int m, double *temp) override
Retreives the current temperature limit for a specific motor.
Definition: fakeMotionControl.cpp:3167
FakeMotionControl::getNumberOfMotorsRaw
bool getNumberOfMotorsRaw(int *num) override
Retrieves the number of controlled motors from the current physical interface.
Definition: fakeMotionControl.cpp:3146
FakeMotionControl::disableAmpRaw
bool disableAmpRaw(int j) override
Disable the amplifier on a specific joint.
Definition: fakeMotionControl.cpp:2581
FakeMotionControl::setMotorTorqueParamsRaw
bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override
Set the motor parameters.
Definition: fakeMotionControl.cpp:2919
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:1913
FakeMotionControl::setRefAccelerationRaw
bool setRefAccelerationRaw(int j, double acc) override
Set reference acceleration for a joint.
Definition: fakeMotionControl.cpp:2063
FakeMotionControl::initialised
virtual bool initialised()
Definition: fakeMotionControl.cpp:479
FakeMotionControl::setEncodersRaw
bool setEncodersRaw(const double *vals) override
Set the value of all encoders.
Definition: fakeMotionControl.cpp:2368
FakeMotionControl::getPidOutputsRaw
bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition: fakeMotionControl.cpp:1862
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:1817
FakeMotionControl::setRefSpeedsRaw
bool setRefSpeedsRaw(const double *spds) override
Set reference speed on all joints.
Definition: fakeMotionControl.cpp:2052
FakeMotionControl::getTargetPositionsRaw
bool getTargetPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition: fakeMotionControl.cpp:2996
FakeMotionControl::getRefDutyCycleRaw
bool getRefDutyCycleRaw(int j, double *v) override
Gets the last reference sent using the setRefDutyCycleRaw function.
Definition: fakeMotionControl.cpp:3195
FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw
bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition: fakeMotionControl.cpp:2482
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:1600
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:1678
FakeMotionControl::getNominalCurrentRaw
bool getNominalCurrentRaw(int m, double *val) override
Definition: fakeMotionControl.cpp:2644
FakeMotionControl::getControlModeRaw
bool getControlModeRaw(int j, int *v) override
Definition: fakeMotionControl.cpp:2277
FakeMotionControl::calibrationDoneRaw
bool calibrationDoneRaw(int j) override
Check if the calibration is terminated, on a particular joint.
Definition: fakeMotionControl.cpp:1919
FakeMotionControl::threadInit
bool threadInit() override
Initialization method.
Definition: fakeMotionControl.cpp:484
FakeMotionControl::getRefDutyCyclesRaw
bool getRefDutyCyclesRaw(double *v) override
Gets the last reference sent using the setRefDutyCyclesRaw function.
Definition: fakeMotionControl.cpp:3201
FakeMotionControl::getRefVelocityRaw
bool getRefVelocityRaw(const int joint, double *ref) override
Get the last reference speed set by velocityMove for single joint.
Definition: fakeMotionControl.cpp:3015
FakeMotionControl::getEncoderTimedRaw
bool getEncoderTimedRaw(int j, double *encs, double *stamp) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2454
FakeMotionControl::disablePidRaw
bool disablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition: fakeMotionControl.cpp:1750
FakeMotionControl::getVirtualAnalogSensorStatusRaw
yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override
Check the status of a given channel.
Definition: fakeMotionControl.cpp:3303
FakeMotionControl::getMotorEncodersRaw
bool getMotorEncodersRaw(double *encs) override
Read the position of all motor encoders.
Definition: fakeMotionControl.cpp:2508
FakeMotionControl::getTorqueRangesRaw
bool getTorqueRangesRaw(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition: fakeMotionControl.cpp:2821
FakeMotionControl::getRefCurrentsRaw
bool getRefCurrentsRaw(double *t) override
Get the reference value of the currents for all motors.
Definition: fakeMotionControl.cpp:3283
FakeMotionControl::setRefDutyCyclesRaw
bool setRefDutyCyclesRaw(const double *v) override
Sets the reference dutycycle for all motors.
Definition: fakeMotionControl.cpp:3186
FakeMotionControl::getEncoderSpeedRaw
bool getEncoderSpeedRaw(int j, double *sp) override
Read the instantaneous speed of an axis.
Definition: fakeMotionControl.cpp:2406
FakeMotionControl::getVirtualAnalogSensorChannelsRaw
int getVirtualAnalogSensorChannelsRaw() override
Get the number of channels of the virtual sensor.
Definition: fakeMotionControl.cpp:3308
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:1745
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:3245
FakeMotionControl::getEncoderRaw
bool getEncoderRaw(int j, double *v) override
Read the value of an encoder.
Definition: fakeMotionControl.cpp:2383
FakeMotionControl::getPidErrorLimitsRaw
bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition: fakeMotionControl.cpp:1735
FakeMotionControl::enableAmpRaw
bool enableAmpRaw(int j) override
Enable the amplifier on a specific joint.
Definition: fakeMotionControl.cpp:2576
FakeMotionControl::fromConfig
bool fromConfig(yarp::os::Searchable &config)
Definition: fakeMotionControl.cpp:898
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:1665
FakeMotionControl::getRefPositionsRaw
bool getRefPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition: fakeMotionControl.cpp:3059
FakeMotionControl::getMotorTorqueParamsRaw
bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override
Get the motor parameters.
Definition: fakeMotionControl.cpp:2898
FakeMotionControl::setControlModesRaw
bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
Definition: fakeMotionControl.cpp:2332
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:2043
FakeMotionControl::getHasRotorEncoderIndexRaw
virtual bool getHasRotorEncoderIndexRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2744
FakeMotionControl::updateVirtualAnalogSensorMeasureRaw
bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override
Set a vector of torque values for virtual sensor.
Definition: fakeMotionControl.cpp:3313
FakeMotionControl::resizeBuffers
void resizeBuffers()
Resize previously allocated buffers.
Definition: fakeMotionControl.cpp:155
FakeMotionControl::threadRelease
void threadRelease() override
Release method.
Definition: fakeMotionControl.cpp:505
FakeMotionControl::getAmpStatusRaw
bool getAmpStatusRaw(int *st) override
Definition: fakeMotionControl.cpp:2622
FakeMotionControl::getLastJointFaultRaw
bool getLastJointFaultRaw(int j, int &fault, std::string &message) override
Definition: fakeMotionControl.cpp:3328
FakeMotionControl::setImpedanceRaw
bool setImpedanceRaw(int j, double stiffness, double damping) override
Set current impedance parameters (stiffness,damping) for a specific joint.
Definition: fakeMotionControl.cpp:2878
FakeMotionControl::setPWMLimitRaw
bool setPWMLimitRaw(int j, const double val) override
Definition: fakeMotionControl.cpp:2668
FakeMotionControl::relativeMoveRaw
bool relativeMoveRaw(int j, double delta) override
Set relative position.
Definition: fakeMotionControl.cpp:1976
FakeMotionControl::getMotorPolesRaw
virtual bool getMotorPolesRaw(int j, int &poles)
Definition: fakeMotionControl.cpp:2749
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:1642
FakeMotionControl::getCurrentRaw
bool getCurrentRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2586
FakeMotionControl::getPeakCurrentRaw
bool getPeakCurrentRaw(int m, double *val) override
Definition: fakeMotionControl.cpp:2632
FakeMotionControl::getDutyCyclesRaw
bool getDutyCyclesRaw(double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: fakeMotionControl.cpp:3216
FakeMotionControl::setEncoderRaw
bool setEncoderRaw(int j, double val) override
Set the value of the encoder for a given joint.
Definition: fakeMotionControl.cpp:2363
FakeMotionControl::getRefPositionRaw
bool getRefPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition: fakeMotionControl.cpp:3041
FakeMotionControl::getLimitsRaw
bool getLimitsRaw(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition: fakeMotionControl.cpp:2688
FakeMotionControl::getRotorIndexOffsetRaw
virtual bool getRotorIndexOffsetRaw(int j, double &rotorOffset)
Definition: fakeMotionControl.cpp:2754
FakeMotionControl::getVelLimitsRaw
bool getVelLimitsRaw(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition: fakeMotionControl.cpp:2792
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:2958
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:1546
FakeMotionControl::resetEncodersRaw
bool resetEncodersRaw() override
Reset encoders.
Definition: fakeMotionControl.cpp:2378
FakeMotionControl::getPWMRaw
bool getPWMRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2656
FakeMotionControl::getAxisNameRaw
bool getAxisNameRaw(int axis, std::string &name) override
Definition: fakeMotionControl.cpp:2759
FakeMotionControl::setCalibrationParametersRaw
bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition: fakeMotionControl.cpp:1907
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:1794
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:3081
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:3237
FakeMotionControl::stopRaw
bool stopRaw() override
Stop motion, multiple joints.
Definition: fakeMotionControl.cpp:2135
FakeMotionControl::getKinematicMJRaw
virtual bool getKinematicMJRaw(int j, double &rotres)
Definition: fakeMotionControl.cpp:2723
FakeMotionControl::getRefSpeedsRaw
bool getRefSpeedsRaw(double *spds) override
Get reference speed of all joints.
Definition: fakeMotionControl.cpp:2112
FakeMotionControl::getRefAccelerationsRaw
bool getRefAccelerationsRaw(double *accs) override
Get reference acceleration of all joints.
Definition: fakeMotionControl.cpp:2124
FakeMotionControl::getJointEncoderResolutionRaw
virtual bool getJointEncoderResolutionRaw(int m, double &jntres)
Definition: fakeMotionControl.cpp:2708
FakeMotionControl::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition: fakeMotionControl.cpp:1930
FakeMotionControl::setMaxCurrentRaw
bool setMaxCurrentRaw(int j, double val) override
Definition: fakeMotionControl.cpp:2604
FakeMotionControl::alloc
bool alloc(int njoints)
Allocated buffers.
Definition: fakeMotionControl.cpp:195
FakeMotionControl::resetMotorEncodersRaw
bool resetMotorEncodersRaw() override
Reset motor encoders.
Definition: fakeMotionControl.cpp:2497
FakeMotionControl::setRefTorquesRaw
bool setRefTorquesRaw(const double *t) override
Set the reference value of the torque for all joints.
Definition: fakeMotionControl.cpp:2826
FakeMotionControl::getEncodersRaw
bool getEncodersRaw(double *encs) override
Read the position of all axes.
Definition: fakeMotionControl.cpp:2394
FakeMotionControl::setRefAccelerationsRaw
bool setRefAccelerationsRaw(const double *accs) override
Set reference acceleration on all joints.
Definition: fakeMotionControl.cpp:2084
FakeMotionControl::getControlModesRaw
bool getControlModesRaw(int *v) override
Definition: fakeMotionControl.cpp:2288
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:1513
FakeMotionControl::getPWMLimitRaw
bool getPWMLimitRaw(int j, double *val) override
Definition: fakeMotionControl.cpp:2662
FakeMotionControl::getRotorEncoderTypeRaw
virtual bool getRotorEncoderTypeRaw(int j, int &type)
Definition: fakeMotionControl.cpp:2718
FakeMotionControl::getRefCurrentRaw
bool getRefCurrentRaw(int j, double *t) override
Get the reference value of the current for a single motor.
Definition: fakeMotionControl.cpp:3292
FakeMotionControl::getDutyCycleRaw
bool getDutyCycleRaw(int j, double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition: fakeMotionControl.cpp:3210
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:1578
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:3090
FakeMotionControl::positionMoveRaw
bool positionMoveRaw(int j, double ref) override
Set new reference point for a single axis.
Definition: fakeMotionControl.cpp:1937
FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw
bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override
Gets number of counts per revolution for motor encoder m.
Definition: fakeMotionControl.cpp:2487
FakeMotionControl::setImpedanceOffsetRaw
bool setImpedanceOffsetRaw(int j, double offset) override
Set current force Offset for a specific joint.
Definition: fakeMotionControl.cpp:2883
FakeMotionControl::setMotorEncodersRaw
bool setMotorEncodersRaw(const double *vals) override
Set the value of all motor encoders.
Definition: fakeMotionControl.cpp:2477
FakeMotionControl::getPidErrorsRaw
bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition: fakeMotionControl.cpp:1632
FakeMotionControl::getGearboxRatioRaw
bool getGearboxRatioRaw(int m, double *gearbox) override
Get the gearbox ratio for a specific motor.
Definition: fakeMotionControl.cpp:2693
FakeMotionControl::getMaxCurrentRaw
bool getMaxCurrentRaw(int j, double *val) override
Returns the maximum electric current allowed for a given motor.
Definition: fakeMotionControl.cpp:2610
FakeMotionControl::close
bool close() override
Close the DeviceDriver.
Definition: fakeMotionControl.cpp:1479
FakeMotionControl::getRefTorquesRaw
bool getRefTorquesRaw(double *t) override
Get the reference value of the torque for all joints.
Definition: fakeMotionControl.cpp:2856
FakeMotionControl::setRefCurrentRaw
bool setRefCurrentRaw(int j, double t) override
Set the reference value of the current for a single motor.
Definition: fakeMotionControl.cpp:3266
FakeMotionControl::getNumberOfMotorEncodersRaw
bool getNumberOfMotorEncodersRaw(int *num) override
Get the number of available motor encoders.
Definition: fakeMotionControl.cpp:2466
FakeMotionControl::getPidReferencesRaw
bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition: fakeMotionControl.cpp:1700
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:2801
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:2873
FakeMotionControl::enablePidRaw
bool enablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition: fakeMotionControl.cpp:1772
FakeMotionControl::getRefVelocitiesRaw
bool getRefVelocitiesRaw(double *refs) override
Get the last reference speed set by velocityMove for all joints.
Definition: fakeMotionControl.cpp:3021
FakeMotionControl::setPositionRaw
bool setPositionRaw(int j, double ref) override
Set new position for a single axis.
Definition: fakeMotionControl.cpp:2952
FakeMotionControl::getEncoderAccelerationsRaw
bool getEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2431
FakeMotionControl::setPidReferencesRaw
bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition: fakeMotionControl.cpp:1568
FakeMotionControl::getMotorEncoderRaw
bool getMotorEncoderRaw(int m, double *v) override
Read the value of a motor encoder.
Definition: fakeMotionControl.cpp:2502
FakeMotionControl::getRefTorqueRaw
bool getRefTorqueRaw(int j, double *t) override
Set the reference value of the torque for a given joint.
Definition: fakeMotionControl.cpp:2865
FakeMotionControl::getMotorEncoderAccelerationsRaw
bool getMotorEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition: fakeMotionControl.cpp:2541
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:3125
FakeMotionControl::getTemperaturesRaw
bool getTemperaturesRaw(double *vals) override
Get temperature of all the motors.
Definition: fakeMotionControl.cpp:3157
FakeMotionControl::resetMotorEncoderRaw
bool resetMotorEncoderRaw(int m) override
Reset motor encoder, single motor.
Definition: fakeMotionControl.cpp:2492
FakeMotionControl::setNominalCurrentRaw
bool setNominalCurrentRaw(int m, const double val) override
Definition: fakeMotionControl.cpp:2650
FakeMotionControl::getRotorEncoderResolutionRaw
virtual bool getRotorEncoderResolutionRaw(int m, double &rotres)
Definition: fakeMotionControl.cpp:2703
FakeMotionControl::getHasRotorEncoderRaw
virtual bool getHasRotorEncoderRaw(int j, int &ret)
Definition: fakeMotionControl.cpp:2739
FakeMotionControl::getMotorEncodersTimedRaw
bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous position of all motor encoders.
Definition: fakeMotionControl.cpp:2551
FakeMotionControl::resetEncoderRaw
bool resetEncoderRaw(int j) override
Reset encoder, single joint.
Definition: fakeMotionControl.cpp:2373
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:2807
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:2682
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:3113
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:2563
FakeMotionControl::getEncodersTimedRaw
bool getEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous acceleration of all axes.
Definition: fakeMotionControl.cpp:2443
FakeMotionControl::getEncoderSpeedsRaw
bool getEncoderSpeedsRaw(double *spds) override
Read the instantaneous acceleration of an axis.
Definition: fakeMotionControl.cpp:2413
FakeMotionControl::getTorqueControlFilterType
virtual bool getTorqueControlFilterType(int j, int &type)
Definition: fakeMotionControl.cpp:2698
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition: DeviceDriver.h:30
yarp::dev::IAmplifierControlRaw
Interface for control devices, amplifier commands.
Definition: IAmplifierControl.h:172
yarp::dev::IAxisInfoRaw
Interface for getting information about specific axes, if available.
Definition: IAxisInfo.h:62
yarp::dev::IControlCalibrationRaw
Interface for control devices, calibration commands.
Definition: IControlCalibration.h:43
yarp::dev::IControlLimitsRaw
Interface for control devices.
Definition: IControlLimits.h:76
yarp::dev::IControlModeRaw
Interface for setting control mode in control board.
Definition: IControlMode.h:99
yarp::dev::ICurrentControlRaw
Interface for control boards implementing current control.
Definition: ICurrentControl.h:109
yarp::dev::IEncodersTimedRaw
Control board, extend encoder raw interface adding timestamps.
Definition: IEncodersTimed.h:23
yarp::dev::IImpedanceControlRaw
Interface for control boards implementing impedance control.
Definition: IImpedanceControl.h:23
yarp::dev::IInteractionModeRaw
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition: IInteractionMode.h:117
yarp::dev::IJointFaultRaw
Interface for getting info about the fault which may occur on a robot.
Definition: IJointFault.h:35
yarp::dev::IMotorEncodersRaw
Control board, encoder interface.
Definition: IMotorEncoders.h:23
yarp::dev::IMotorRaw
Control board, encoder interface.
Definition: IMotor.h:24
yarp::dev::IPWMControlRaw
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition: IPWMControl.h:83
yarp::dev::IPidControlRaw
Interface for a generic control board device implementing a PID controller.
Definition: IPidControl.h:25
yarp::dev::IPositionControlRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition: IPositionControl.h:25
yarp::dev::IPositionDirectRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition: IPositionDirect.h:113
yarp::dev::ITorqueControlRaw
Interface for control boards implementing torque control.
Definition: ITorqueControl.h:138
yarp::dev::IVelocityControlRaw
Interface for control boards implementig velocity control in encoder coordinates.
Definition: IVelocityControl.h:24
yarp::dev::IVirtualAnalogSensorRaw
A generic interface to a virtual sensors.
Definition: IVirtualAnalogSensor.h:77
yarp::dev::ImplementControlLimits
class ImplementControlLimits; class StubImplControlLimitsRaw;
Definition: ImplementControlLimits.h:25
yarp::dev::ImplementInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition: ImplementInteractionMode.h:32
yarp::dev::ImplementPositionControl
Default implementation of the IPositionControl interface.
Definition: ImplementPositionControl.h:30
yarp::dev::ImplementPositionDirect
Default implementation of the IPositionDirect interface.
Definition: ImplementPositionDirect.h:30
yarp::dev::Pid
Contains the parameters for a PID.
Definition: ControlBoardPid.h:24
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:64
yarp::os::PeriodicThread
An abstraction for a periodic thread.
Definition: PeriodicThread.h:27
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition: Searchable.h:63
Time.h
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition: PidEnums.h:15
ImpedanceParameters::limits
ImpedanceLimits limits
Definition: fakeMotionControl.h:69