YARP
Yet Another Robot Platform
FakeMotionControl Class Reference

#include <fakeMotionControl/fakeMotionControl.h>

+ Inheritance diagram for FakeMotionControl:

Detailed Description

Definition at line 83 of file fakeMotionControl.h.

Public Member Functions

 FakeMotionControl ()
 
 ~FakeMotionControl ()
 
bool open (yarp::os::Searchable &par) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool fromConfig (yarp::os::Searchable &config)
 
virtual bool initialised ()
 
bool alloc (int njoints)
 Allocated buffers. More...
 
void resizeBuffers ()
 Resize previously allocated buffers. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
bool setPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override
 Set new pid value for a joint axis. More...
 
bool setPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override
 Set new pid value on multiple axes. More...
 
bool setPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
 Set the controller reference for a given axis. More...
 
bool setPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
 Set the controller reference, multiple axes. More...
 
bool setPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
 Set the error limit for the controller on a specific joint. More...
 
bool setPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
 Get the error limit for the controller on all joints. More...
 
bool getPidErrorRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
 Get the current error for a joint. More...
 
bool getPidErrorsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
 Get the error of all joints. More...
 
bool getPidOutputRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
 Get the output of the controller (e.g. More...
 
bool getPidOutputsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
 Get the output of the controllers (e.g. More...
 
bool getPidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override
 Get current pid value for a specific joint. More...
 
bool getPidsRaw (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
 Get current pid value for a specific joint. More...
 
bool getPidReferenceRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
 Get the current reference of the pid controller for a specific joint. More...
 
bool getPidReferencesRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
 Get the current reference of all pid controllers. More...
 
bool getPidErrorLimitRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
 Get the error limit for the controller on a specific joint. More...
 
bool getPidErrorLimitsRaw (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
 Get the error limit for all controllers. More...
 
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 value for the PID, and resets the integrator. More...
 
bool disablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
 Disable the pid computation for a joint. More...
 
bool enablePidRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
 Enable the pid computation for a joint. More...
 
bool setPidOffsetRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
 Set an offset value on the ourput of pid controller. More...
 
bool isPidEnabledRaw (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
 Get the current status (enabled/disabled) of the pid controller. More...
 
bool getAxes (int *ax) override
 Get the number of controlled axes. More...
 
bool positionMoveRaw (int j, double ref) override
 Set new reference point for a single axis. More...
 
bool positionMoveRaw (const double *refs) override
 Set new reference point for all axes. More...
 
bool relativeMoveRaw (int j, double delta) override
 Set relative position. More...
 
bool relativeMoveRaw (const double *deltas) override
 Set relative position, all joints. More...
 
bool checkMotionDoneRaw (bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool checkMotionDoneRaw (int j, bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeedRaw (int j, double sp) override
 Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...
 
bool setRefSpeedsRaw (const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAccelerationRaw (int j, double acc) override
 Set reference acceleration for a joint. More...
 
bool setRefAccelerationsRaw (const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeedRaw (int j, double *ref) override
 Get reference speed for a joint. More...
 
bool getRefSpeedsRaw (double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAccelerationRaw (int j, double *acc) override
 Get reference acceleration for a joint. More...
 
bool getRefAccelerationsRaw (double *accs) override
 Get reference acceleration of all joints. More...
 
bool stopRaw (int j) override
 Stop motion, single joint. More...
 
bool stopRaw () override
 Stop motion, multiple joints. More...
 
bool positionMoveRaw (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for a subset of joints. More...
 
bool relativeMoveRaw (const int n_joint, const int *joints, const double *deltas) override
 Set relative position for a subset of joints. More...
 
bool checkMotionDoneRaw (const int n_joint, const int *joints, bool *flags) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeedsRaw (const int n_joint, const int *joints, const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAccelerationsRaw (const int n_joint, const int *joints, const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeedsRaw (const int n_joint, const int *joints, double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAccelerationsRaw (const int n_joint, const int *joints, double *accs) override
 Get reference acceleration for a joint. More...
 
bool stopRaw (const int n_joint, const int *joints) override
 Stop motion for subset of joints. More...
 
bool getTargetPositionRaw (const int joint, double *ref) override
 Get the last position reference for the specified axis. More...
 
bool getTargetPositionsRaw (double *refs) override
 Get the last position reference for all axes. More...
 
bool getTargetPositionsRaw (const int n_joint, const int *joints, double *refs) override
 Get the last position reference for the specified group of axes. More...
 
bool velocityMoveRaw (int j, double sp) override
 Start motion at a given speed, single joint. More...
 
bool velocityMoveRaw (const double *sp) override
 Start motion at a given speed, multiple joints. More...
 
bool setCalibrationParametersRaw (int axis, const yarp::dev::CalibrationParameters &params) override
 Start calibration, this method is very often platform specific. More...
 
bool calibrateAxisWithParamsRaw (int axis, unsigned int type, double p1, double p2, double p3) override
 Start calibration, this method is very often platform specific. More...
 
bool calibrationDoneRaw (int j) override
 Check if the calibration is terminated, on a particular joint. More...
 
bool getControlModeRaw (int j, int *v) override
 
bool getControlModesRaw (int *v) override
 
bool getControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
bool setControlModeRaw (const int j, const int mode) override
 
bool setControlModesRaw (const int n_joint, const int *joints, int *modes) override
 
bool setControlModesRaw (int *modes) override
 
bool resetEncoderRaw (int j) override
 Reset encoder, single joint. More...
 
bool resetEncodersRaw () override
 Reset encoders. More...
 
bool setEncoderRaw (int j, double val) override
 Set the value of the encoder for a given joint. More...
 
bool setEncodersRaw (const double *vals) override
 Set the value of all encoders. More...
 
bool getEncoderRaw (int j, double *v) override
 Read the value of an encoder. More...
 
bool getEncodersRaw (double *encs) override
 Read the position of all axes. More...
 
bool getEncoderSpeedRaw (int j, double *sp) override
 Read the instantaneous speed of an axis. More...
 
bool getEncoderSpeedsRaw (double *spds) override
 Read the instantaneous acceleration of an axis. More...
 
bool getEncoderAccelerationRaw (int j, double *spds) override
 Read the instantaneous acceleration of an axis. More...
 
bool getEncoderAccelerationsRaw (double *accs) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncodersTimedRaw (double *encs, double *stamps) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoderTimedRaw (int j, double *encs, double *stamp) override
 Read the instantaneous acceleration of all axes. More...
 
bool getNumberOfMotorEncodersRaw (int *num) override
 Get the number of available motor encoders. More...
 
bool resetMotorEncoderRaw (int m) override
 Reset motor encoder, single motor. More...
 
bool resetMotorEncodersRaw () override
 Reset motor encoders. More...
 
bool setMotorEncoderRaw (int m, const double val) override
 Set the value of the motor encoder for a given motor. More...
 
bool setMotorEncodersRaw (const double *vals) override
 Set the value of all motor encoders. More...
 
bool getMotorEncoderRaw (int m, double *v) override
 Read the value of a motor encoder. More...
 
bool getMotorEncodersRaw (double *encs) override
 Read the position of all motor encoders. More...
 
bool getMotorEncoderSpeedRaw (int m, double *sp) override
 Read the istantaneous speed of a motor encoder. More...
 
bool getMotorEncoderSpeedsRaw (double *spds) override
 Read the instantaneous speed of all motor encoders. More...
 
bool getMotorEncoderAccelerationRaw (int m, double *spds) override
 Read the instantaneous acceleration of a motor encoder. More...
 
bool getMotorEncoderAccelerationsRaw (double *accs) override
 Read the instantaneous acceleration of all motor encoders. More...
 
bool getMotorEncodersTimedRaw (double *encs, double *stamps) override
 Read the instantaneous position of all motor encoders. More...
 
bool getMotorEncoderTimedRaw (int m, double *encs, double *stamp) override
 Read the instantaneous position of a motor encoder. More...
 
bool getMotorEncoderCountsPerRevolutionRaw (int m, double *v) override
 Gets number of counts per revolution for motor encoder m. More...
 
bool setMotorEncoderCountsPerRevolutionRaw (int m, const double cpr) override
 Sets number of counts per revolution for motor encoder m. More...
 
bool getAxisNameRaw (int axis, std::string &name) override
 
bool getJointTypeRaw (int axis, yarp::dev::JointTypeEnum &type) override
 
bool getGearboxRatioRaw (int m, double *gearbox) override
 Get the gearbox ratio for a specific motor. More...
 
virtual bool getRotorEncoderResolutionRaw (int m, double &rotres)
 
virtual bool getJointEncoderResolutionRaw (int m, double &jntres)
 
virtual bool getJointEncoderTypeRaw (int j, int &type)
 
virtual bool getRotorEncoderTypeRaw (int j, int &type)
 
virtual bool getKinematicMJRaw (int j, double &rotres)
 
virtual bool getHasTempSensorsRaw (int j, int &ret)
 
virtual bool getHasHallSensorRaw (int j, int &ret)
 
virtual bool getHasRotorEncoderRaw (int j, int &ret)
 
virtual bool getHasRotorEncoderIndexRaw (int j, int &ret)
 
virtual bool getMotorPolesRaw (int j, int &poles)
 
virtual bool getRotorIndexOffsetRaw (int j, double &rotorOffset)
 
virtual bool getTorqueControlFilterType (int j, int &type)
 
bool enableAmpRaw (int j) override
 Enable the amplifier on a specific joint. More...
 
bool disableAmpRaw (int j) override
 Disable the amplifier on a specific joint. More...
 
bool getCurrentsRaw (double *vals) override
 
bool getCurrentRaw (int j, double *val) override
 
bool getNominalCurrentRaw (int m, double *val) override
 
bool setNominalCurrentRaw (int m, const double val) override
 
bool setMaxCurrentRaw (int j, double val) override
 
bool getMaxCurrentRaw (int j, double *val) override
 Returns the maximum electric current allowed for a given motor. More...
 
bool getPeakCurrentRaw (int m, double *val) override
 
bool setPeakCurrentRaw (int m, const double val) override
 
bool getAmpStatusRaw (int *st) override
 
bool getAmpStatusRaw (int j, int *st) override
 
bool getPWMRaw (int j, double *val) override
 
bool getPWMLimitRaw (int j, double *val) override
 
bool setPWMLimitRaw (int j, const double val) override
 
bool getPowerSupplyVoltageRaw (int j, double *val) override
 
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 exceeded, depends on the implementation. More...
 
bool getLimitsRaw (int axis, double *min, double *max) override
 Get the software limits for a particular axis. More...
 
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 limits are exceeded, depends on the implementation. More...
 
bool getVelLimitsRaw (int axis, double *min, double *max) override
 Get the software speed limits for a particular axis. More...
 
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). More...
 
bool getTorquesRaw (double *t) override
 Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...
 
bool getTorqueRangeRaw (int j, double *min, double *max) override
 Get the full scale of the torque sensor of a given joint. More...
 
bool getTorqueRangesRaw (double *min, double *max) override
 Get the full scale of the torque sensors of all joints. More...
 
bool setRefTorquesRaw (const double *t) override
 Set the reference value of the torque for all joints. More...
 
bool setRefTorqueRaw (int j, double t) override
 Set the reference value of the torque for a given joint. More...
 
bool setRefTorquesRaw (const int n_joint, const int *joints, const double *t) override
 Set new torque reference for a subset of joints. More...
 
bool getRefTorquesRaw (double *t) override
 Get the reference value of the torque for all joints. More...
 
bool getRefTorqueRaw (int j, double *t) override
 Set the reference value of the torque for a given joint. More...
 
bool getMotorTorqueParamsRaw (int j, yarp::dev::MotorTorqueParameters *params) override
 Get the motor parameters. More...
 
bool setMotorTorqueParamsRaw (int j, const yarp::dev::MotorTorqueParameters params) override
 Set the motor parameters. More...
 
bool velocityMoveRaw (const int n_joint, const int *joints, const double *spds) override
 Start motion at a given speed for a subset of joints. More...
 
bool getRefVelocityRaw (const int joint, double *ref) override
 Get the last reference speed set by velocityMove for single joint. More...
 
bool getRefVelocitiesRaw (double *refs) override
 Get the last reference speed set by velocityMove for all joints. More...
 
bool getRefVelocitiesRaw (const int n_joint, const int *joints, double *refs) override
 Get the last reference speed set by velocityMove for a group of joints. More...
 
bool getImpedanceRaw (int j, double *stiffness, double *damping) override
 Get current impedance parameters (stiffness,damping,offset) for a specific joint. More...
 
bool setImpedanceRaw (int j, double stiffness, double damping) override
 Set current impedance parameters (stiffness,damping) for a specific joint. More...
 
bool setImpedanceOffsetRaw (int j, double offset) override
 Set current force Offset for a specific joint. More...
 
bool getImpedanceOffsetRaw (int j, double *offset) override
 Get current force Offset for a specific joint. More...
 
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. More...
 
bool setPositionRaw (int j, double ref) override
 Set new position for a single axis. More...
 
bool setPositionsRaw (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for all axes. More...
 
bool setPositionsRaw (const double *refs) override
 Set new position for a set of axes. More...
 
bool getRefPositionRaw (const int joint, double *ref) override
 Get the last position reference for the specified axis. More...
 
bool getRefPositionsRaw (double *refs) override
 Get the last position reference for all axes. More...
 
bool getRefPositionsRaw (const int n_joint, const int *joints, double *refs) override
 Get the last position reference for the specified group of axes. More...
 
bool getInteractionModeRaw (int j, yarp::dev::InteractionModeEnum *_mode) override
 Get the current interaction mode of the robot, values can be stiff or compliant. More...
 
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. More...
 
bool getInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...
 
bool setInteractionModeRaw (int j, yarp::dev::InteractionModeEnum _mode) override
 Set the interaction mode of the robot, values can be stiff or compliant. More...
 
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. More...
 
bool setInteractionModesRaw (yarp::dev::InteractionModeEnum *modes) override
 Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...
 
bool getNumberOfMotorsRaw (int *num) override
 Retrieves the number of controlled motors from the current physical interface. More...
 
bool getTemperatureRaw (int m, double *val) override
 Get temperature of a motor. More...
 
bool getTemperaturesRaw (double *vals) override
 Get temperature of all the motors. More...
 
bool getTemperatureLimitRaw (int m, double *temp) override
 Retreives the current temperature limit for a specific motor. More...
 
bool setTemperatureLimitRaw (int m, const double temp) override
 Set the temperature limit for a specific motor. More...
 
bool setRefDutyCycleRaw (int j, double v) override
 Sets the reference dutycycle of a single motor. More...
 
bool setRefDutyCyclesRaw (const double *v) override
 Sets the reference dutycycle for all motors. More...
 
bool getRefDutyCycleRaw (int j, double *v) override
 Gets the last reference sent using the setRefDutyCycleRaw function. More...
 
bool getRefDutyCyclesRaw (double *v) override
 Gets the last reference sent using the setRefDutyCyclesRaw function. More...
 
bool getDutyCycleRaw (int j, double *v) override
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 
bool getDutyCyclesRaw (double *v) override
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 
bool getCurrentRangeRaw (int j, double *min, double *max) override
 Get the full scale of the current measurement for a given motor (e.g. More...
 
bool getCurrentRangesRaw (double *min, double *max) override
 Get the full scale of the current measurements for all motors motor (e.g. More...
 
bool setRefCurrentsRaw (const double *t) override
 Set the reference value of the currents for all motors. More...
 
bool setRefCurrentRaw (int j, double t) override
 Set the reference value of the current for a single motor. More...
 
bool setRefCurrentsRaw (const int n_joint, const int *joints, const double *t) override
 Set the reference value of the current for a group of motors. More...
 
bool getRefCurrentsRaw (double *t) override
 Get the reference value of the currents for all motors. More...
 
bool getRefCurrentRaw (int j, double *t) override
 Get the reference value of the current for a single motor. More...
 
yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw (int ch) override
 Check the status of a given channel. More...
 
int getVirtualAnalogSensorChannelsRaw () override
 Get the number of channels of the virtual sensor. More...
 
bool updateVirtualAnalogSensorMeasureRaw (yarp::sig::Vector &measure) override
 Set a vector of torque values for virtual sensor. More...
 
bool updateVirtualAnalogSensorMeasureRaw (int ch, double &measure) override
 
void run () override
 Loop function. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::IPidControlRaw
virtual ~IPidControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IControlCalibrationRaw
 IControlCalibrationRaw ()
 
virtual ~IControlCalibrationRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IAmplifierControlRaw
virtual ~IAmplifierControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IEncodersTimedRaw
virtual ~IEncodersTimedRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IEncodersRaw
virtual ~IEncodersRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IMotorEncodersRaw
virtual ~IMotorEncodersRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IMotorRaw
virtual ~IMotorRaw ()
 Destructor. More...
 
virtual bool setGearboxRatioRaw (int m, const double val)
 Set the gearbox ratio for a specific motor. More...
 
- Public Member Functions inherited from yarp::dev::IPositionControlRaw
virtual ~IPositionControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IVelocityControlRaw
virtual ~IVelocityControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IControlModeRaw
virtual ~IControlModeRaw ()
 
- Public Member Functions inherited from yarp::dev::IControlLimitsRaw
virtual ~IControlLimitsRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IPositionDirectRaw
virtual ~IPositionDirectRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ITorqueControlRaw
virtual ~ITorqueControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ICurrentControlRaw
virtual ~ICurrentControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IPWMControlRaw
virtual ~IPWMControlRaw ()
 
- Public Member Functions inherited from yarp::dev::IImpedanceControlRaw
virtual ~IImpedanceControlRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IInteractionModeRaw
virtual ~IInteractionModeRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IAxisInfoRaw
virtual ~IAxisInfoRaw ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IVirtualAnalogSensorRaw
virtual ~IVirtualAnalogSensorRaw ()
 
- Public Member Functions inherited from yarp::dev::ImplementControlCalibration
 ImplementControlCalibration (yarp::dev::IControlCalibrationRaw *y)
 
virtual ~ImplementControlCalibration ()
 Destructor. More...
 
bool calibrateAxisWithParams (int axis, unsigned int type, double p1, double p2, double p3) override
 Start calibration, this method is very often platform specific. More...
 
bool setCalibrationParameters (int axis, const CalibrationParameters &params) override
 Start calibration, this method is very often platform specific. More...
 
bool calibrationDone (int j) override
 Check if the calibration is terminated, on a particular joint. More...
 
- Public Member Functions inherited from yarp::dev::IControlCalibration
 IControlCalibration ()
 
virtual ~IControlCalibration ()
 Destructor. More...
 
virtual bool setCalibrator (ICalibrator *c)
 Set the calibrator object to be used to calibrate the robot. More...
 
virtual bool calibrateRobot ()
 Calibrate robot by using an external calibrator. More...
 
virtual bool park (bool wait=true)
 
virtual bool abortCalibration ()
 
virtual bool abortPark ()
 
- Public Member Functions inherited from yarp::dev::ImplementAmplifierControl
 ImplementAmplifierControl (yarp::dev::IAmplifierControlRaw *y)
 
virtual ~ImplementAmplifierControl ()
 Destructor. More...
 
bool enableAmp (int j) override
 Enable the amplifier on a specific joint. More...
 
bool disableAmp (int j) override
 Disable the amplifier on a specific joint. More...
 
bool getAmpStatus (int *st) override
 
bool getAmpStatus (int j, int *st) override
 
bool getCurrents (double *vals) override
 
bool getCurrent (int j, double *val) override
 
bool setMaxCurrent (int j, double v) override
 
bool getMaxCurrent (int j, double *v) override
 Returns the maximum electric current allowed for a given motor. More...
 
bool getNominalCurrent (int m, double *val) override
 
bool setNominalCurrent (int m, const double val) override
 
bool getPeakCurrent (int m, double *val) override
 
bool setPeakCurrent (int m, const double val) override
 
bool getPWM (int j, double *val) override
 
bool getPWMLimit (int j, double *val) override
 
bool setPWMLimit (int j, const double val) override
 
bool getPowerSupplyVoltage (int j, double *val) override
 
- Public Member Functions inherited from yarp::dev::IAmplifierControl
virtual ~IAmplifierControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementPidControl
 ImplementPidControl (yarp::dev::IPidControlRaw *y)
 
virtual ~ImplementPidControl ()
 
bool setPid (const PidControlTypeEnum &pidtype, int j, const Pid &pid) override
 Set new pid value for a joint axis. More...
 
bool setPids (const PidControlTypeEnum &pidtype, const Pid *pids) override
 Set new pid value on multiple axes. More...
 
bool setPidReference (const PidControlTypeEnum &pidtype, int j, double ref) override
 Set the controller reference for a given axis. More...
 
bool setPidReferences (const PidControlTypeEnum &pidtype, const double *refs) override
 Set the controller reference, multiple axes. More...
 
bool setPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double limit) override
 Set the error limit for the controller on a specifi joint. More...
 
bool setPidErrorLimits (const PidControlTypeEnum &pidtype, const double *limits) override
 Get the error limit for the controller on all joints. More...
 
bool getPidError (const PidControlTypeEnum &pidtype, int j, double *err) override
 Get the current error for a joint. More...
 
bool getPidErrors (const PidControlTypeEnum &pidtype, double *errs) override
 Get the error of all joints. More...
 
bool getPidOutput (const PidControlTypeEnum &pidtype, int j, double *out) override
 Get the output of the controller (e.g. More...
 
bool getPidOutputs (const PidControlTypeEnum &pidtype, double *outs) override
 Get the output of the controllers (e.g. More...
 
bool getPid (const PidControlTypeEnum &pidtype, int j, Pid *pid) override
 Get current pid value for a specific joint. More...
 
bool getPids (const PidControlTypeEnum &pidtype, Pid *pids) override
 Get current pid value for a specific joint. More...
 
bool getPidReference (const PidControlTypeEnum &pidtype, int j, double *ref) override
 Get the current reference of the pid controller for a specific joint. More...
 
bool getPidReferences (const PidControlTypeEnum &pidtype, double *refs) override
 Get the current reference of all pid controllers. More...
 
bool getPidErrorLimit (const PidControlTypeEnum &pidtype, int j, double *ref) override
 Get the error limit for the controller on a specific joint. More...
 
bool getPidErrorLimits (const PidControlTypeEnum &pidtype, double *refs) override
 Get the error limit for all controllers. More...
 
bool resetPid (const PidControlTypeEnum &pidtype, int j) override
 Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...
 
bool enablePid (const PidControlTypeEnum &pidtype, int j) override
 Enable the pid computation for a joint. More...
 
bool disablePid (const PidControlTypeEnum &pidtype, int j) override
 Disable the pid computation for a joint. More...
 
bool setPidOffset (const PidControlTypeEnum &pidtype, int j, double v) override
 Set offset value for a given controller. More...
 
bool isPidEnabled (const PidControlTypeEnum &pidtype, int j, bool *enabled) override
 Get the current status (enabled/disabled) of the pid. More...
 
void b ()
 
- Public Member Functions inherited from yarp::dev::IPidControl
virtual ~IPidControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementEncodersTimed
 ImplementEncodersTimed (yarp::dev::IEncodersTimedRaw *y)
 
virtual ~ImplementEncodersTimed ()
 
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 getEncodersTimed (double *encs, double *time) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoderTimed (int j, double *v, double *t) override
 Read the instantaneous acceleration of all axes. More...
 
bool getEncoders (double *encs) override
 Read the position of all axes. More...
 
bool getEncoderSpeed (int j, double *spds) override
 Read the istantaneous 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::IEncodersTimed
virtual ~IEncodersTimed ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IEncoders
virtual ~IEncoders ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementPositionControl
 ImplementPositionControl (yarp::dev::IPositionControlRaw *y)
 Constructor. More...
 
virtual ~ImplementPositionControl ()
 Destructor. More...
 
bool positionMove (int j, double ref) override
 Set new reference point for a single axis. More...
 
bool positionMove (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for a subset of joints. More...
 
bool positionMove (const double *refs) override
 Set new reference point for all axes. More...
 
bool relativeMove (int j, double delta) override
 Set relative position. More...
 
bool relativeMove (const int n_joint, const int *joints, const double *deltas) override
 Set relative position for a subset of joints. More...
 
bool relativeMove (const double *deltas) override
 Set relative position, all joints. More...
 
bool checkMotionDone (bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool checkMotionDone (const int n_joint, const int *joints, bool *flags) override
 Check if the current trajectory is terminated. More...
 
bool checkMotionDone (int j, bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeed (int j, double sp) override
 Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...
 
bool setRefSpeeds (const int n_joint, const int *joints, const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefSpeeds (const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAcceleration (int j, double acc) override
 Set reference acceleration for a joint. More...
 
bool setRefAccelerations (const int n_joint, const int *joints, const double *accs) override
 Set reference acceleration on all joints. More...
 
bool setRefAccelerations (const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeed (int j, double *ref) override
 Get reference speed for a joint. More...
 
bool getRefSpeeds (const int n_joint, const int *joints, double *spds) override
 Get reference speed of all joints. More...
 
bool getRefSpeeds (double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAcceleration (int j, double *acc) override
 Get reference acceleration for a joint. More...
 
bool getRefAccelerations (const int n_joint, const int *joints, double *accs) override
 Get reference acceleration for a joint. More...
 
bool getRefAccelerations (double *accs) override
 Get reference acceleration of all joints. More...
 
bool stop (int j) override
 Stop motion, single joint. More...
 
bool stop (const int n_joint, const int *joints) override
 Stop motion for subset of joints. More...
 
bool stop () override
 Stop motion, multiple joints. More...
 
bool getTargetPosition (const int joint, double *ref) override
 Get the last position reference for the specified axis. More...
 
bool getTargetPositions (double *refs) override
 Get the last position reference for all axes. More...
 
bool getTargetPositions (const int n_joint, const int *joints, double *refs) override
 Get the last position reference for the specified group of axes. More...
 
- Public Member Functions inherited from yarp::dev::IPositionControl
virtual ~IPositionControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementVelocityControl
 ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y)
 Constructor. More...
 
virtual ~ImplementVelocityControl ()
 Destructor. More...
 
bool velocityMove (int j, double sp) override
 Start motion at a given speed, single joint. More...
 
bool velocityMove (const double *sp) override
 Start motion at a given speed, multiple joints. More...
 
bool setRefAcceleration (int j, double acc) override
 Set reference acceleration for a joint. More...
 
bool setRefAccelerations (const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefAcceleration (int j, double *acc) override
 Get reference acceleration for a joint. More...
 
bool getRefAccelerations (double *accs) override
 Get reference acceleration of all joints. More...
 
bool stop (int j) override
 Stop motion, single joint. More...
 
bool stop () override
 Stop motion, multiple joints. More...
 
bool velocityMove (const int n_joint, const int *joints, const double *spds) override
 Start motion at a given speed for a subset of joints. More...
 
bool getRefVelocity (const int joint, double *vel) override
 Get the last reference speed set by velocityMove for single joint. More...
 
bool getRefVelocities (double *vels) override
 Get the last reference speed set by velocityMove for all joints. More...
 
bool getRefVelocities (const int n_joint, const int *joints, double *vels) override
 Get the last reference speed set by velocityMove for a group of joints. More...
 
bool setRefAccelerations (const int n_joint, const int *joints, const double *accs) override
 Set reference acceleration for a subset of joints. More...
 
bool getRefAccelerations (const int n_joint, const int *joints, double *accs) override
 Get reference acceleration for a subset of joints. More...
 
bool stop (const int n_joint, const int *joints) override
 Stop motion for a subset of joints. More...
 
- Public Member Functions inherited from yarp::dev::IVelocityControl
virtual ~IVelocityControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementControlMode
bool initialize (int k, const int *amap)
 
bool uninitialize ()
 
 ImplementControlMode (IControlModeRaw *v)
 
 ~ImplementControlMode ()
 
bool getControlMode (int j, int *f) override
 Get the current control mode. More...
 
bool getControlModes (int *modes) override
 Get the current control mode (multiple joints). More...
 
bool getControlModes (const int n_joint, const int *joints, int *modes) override
 Get the current control mode for a subset of axes. More...
 
bool setControlMode (const int j, const int mode) override
 Set the current control mode. More...
 
bool setControlModes (const int n_joint, const int *joints, int *modes) override
 Set the current control mode for a subset of axes. More...
 
bool setControlModes (int *modes) override
 Set the current control mode (multiple joints). More...
 
- Public Member Functions inherited from yarp::dev::IControlMode
virtual ~IControlMode ()
 
- Public Member Functions inherited from yarp::dev::ImplementImpedanceControl
 ImplementImpedanceControl (yarp::dev::IImpedanceControlRaw *y)
 
virtual ~ImplementImpedanceControl ()
 Destructor. More...
 
bool getImpedance (int j, double *stiffness, double *damping) override
 Get current impedance gains (stiffness,damping,offset) for a specific joint. More...
 
bool setImpedance (int j, double stiffness, double damping) override
 Set current impedance gains (stiffness,damping) for a specific joint. More...
 
bool setImpedanceOffset (int j, double offset) override
 Set current force Offset for a specific joint. More...
 
bool getImpedanceOffset (int j, double *offset) override
 Get current force Offset for a specific joint. More...
 
bool getCurrentImpedanceLimit (int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
 Get the current impedandance limits for a specific joint. More...
 
- Public Member Functions inherited from yarp::dev::IImpedanceControl
virtual ~IImpedanceControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementMotorEncoders
 ImplementMotorEncoders (yarp::dev::IMotorEncodersRaw *y)
 
virtual ~ImplementMotorEncoders ()
 
bool getNumberOfMotorEncoders (int *num) override
 Get the number of available motor encoders. More...
 
bool resetMotorEncoder (int m) override
 Reset motor encoder, single motor. More...
 
bool resetMotorEncoders () override
 Reset motor encoders. More...
 
bool setMotorEncoder (int m, const double val) override
 Set the value of the motor encoder for a given motor. More...
 
bool setMotorEncoders (const double *vals) override
 Set the value of all motor encoders. More...
 
bool setMotorEncoderCountsPerRevolution (int m, const double cpr) override
 Sets number of counts per revolution for motor encoder m. More...
 
bool getMotorEncoderCountsPerRevolution (int m, double *cpr) override
 Gets number of counts per revolution for motor encoder m. More...
 
bool getMotorEncoder (int m, double *v) override
 Read the value of a motor encoder. More...
 
bool getMotorEncodersTimed (double *encs, double *time) override
 Read the instantaneous position of all motor encoders. More...
 
bool getMotorEncoderTimed (int m, double *v, double *t) override
 Read the instantaneous position of a motor encoder. More...
 
bool getMotorEncoders (double *encs) override
 Read the position of all motor encoders. More...
 
bool getMotorEncoderSpeed (int m, double *spds) override
 Read the istantaneous speed of a motor encoder. More...
 
bool getMotorEncoderSpeeds (double *spds) override
 Read the instantaneous speed of all motor encoders. More...
 
bool getMotorEncoderAcceleration (int m, double *spds) override
 Read the instantaneous acceleration of a motor encoder. More...
 
bool getMotorEncoderAccelerations (double *accs) override
 Read the instantaneous acceleration of all motor encoders. More...
 
- Public Member Functions inherited from yarp::dev::IMotorEncoders
virtual ~IMotorEncoders ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementTorqueControl
 ImplementTorqueControl (yarp::dev::ITorqueControlRaw *y)
 
virtual ~ImplementTorqueControl ()
 Destructor. More...
 
bool getRefTorque (int j, double *) override
 Get the reference value of the torque for a given joint. More...
 
bool getRefTorques (double *t) override
 Get the reference value of the torque for all joints. More...
 
bool setRefTorques (const double *t) override
 Set the reference value of the torque for all joints. More...
 
bool setRefTorque (int j, double t) override
 Set the reference value of the torque for a given joint. More...
 
bool setRefTorques (const int n_joint, const int *joints, const double *t) override
 Set new torque reference for a subset of joints. More...
 
bool getTorques (double *t) override
 Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...
 
bool getTorque (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). More...
 
bool setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
 Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
bool getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
 Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
bool getTorqueRange (int j, double *min, double *max) override
 Get the full scale of the torque sensor of a given joint. More...
 
bool getTorqueRanges (double *min, double *max) override
 Get the full scale of the torque sensors of all joints. More...
 
- Public Member Functions inherited from yarp::dev::ITorqueControl
virtual ~ITorqueControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementControlLimits
 ImplementControlLimits (yarp::dev::IControlLimitsRaw *y)
 Constructor. More...
 
virtual ~ImplementControlLimits ()
 Destructor. More...
 
bool setLimits (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 exceeded, depends on the implementation. More...
 
bool getLimits (int axis, double *min, double *max) override
 Get the software limits for a particular axis. More...
 
bool setVelLimits (int axis, double min, double max) override
 Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...
 
bool getVelLimits (int axis, double *min, double *max) override
 Get the software speed limits for a particular axis. More...
 
- Public Member Functions inherited from yarp::dev::IControlLimits
virtual ~IControlLimits ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementPositionDirect
 ImplementPositionDirect (yarp::dev::IPositionDirectRaw *y)
 Constructor. More...
 
virtual ~ImplementPositionDirect ()
 Destructor. More...
 
bool setPosition (int j, double ref) override
 Set new position for a single axis. More...
 
bool setPositions (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for all axes. More...
 
bool setPositions (const double *refs) override
 Set new position for a set of axis. More...
 
bool getRefPosition (const int joint, double *ref) override
 Get the last position reference for the specified axis. More...
 
bool getRefPositions (double *refs) override
 Get the last position reference for all axes. More...
 
bool getRefPositions (const int n_joint, const int *joints, double *refs) override
 Get the last position reference for the specified group of axes. More...
 
- Public Member Functions inherited from yarp::dev::IPositionDirect
virtual ~IPositionDirect ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementInteractionMode
 ImplementInteractionMode (yarp::dev::IInteractionModeRaw *Class_p)
 Constructor. More...
 
virtual ~ImplementInteractionMode ()
 Destructor. More...
 
bool getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
 Get the current interaction mode of the robot, values can be stiff or compliant. More...
 
bool getInteractionModes (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. More...
 
bool getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
 Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...
 
bool setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
 Set the interaction mode of the robot, values can be stiff or compliant. More...
 
bool setInteractionModes (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. More...
 
bool setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
 Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...
 
- Public Member Functions inherited from yarp::dev::IInteractionMode
virtual ~IInteractionMode ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementCurrentControl
 ImplementCurrentControl (yarp::dev::ICurrentControlRaw *y)
 
virtual ~ImplementCurrentControl ()
 Destructor. More...
 
bool getNumberOfMotors (int *ax) override
 Retrieves the number of controlled axes from the current physical interface. More...
 
bool getRefCurrent (int j, double *) override
 Get the reference value of the current for a single motor. More...
 
bool getRefCurrents (double *t) override
 Get the reference value of the currents for all motors. More...
 
bool setRefCurrents (const double *t) override
 Set the reference value of the currents for all motors. More...
 
bool setRefCurrent (int j, double t) override
 Set the reference value of the current for a single motor. More...
 
bool setRefCurrents (const int n_joint, const int *joints, const double *t) override
 Set the reference value of the current for a group of motors. More...
 
bool getCurrents (double *t) override
 Get the instantaneous current measurement for all motors. More...
 
bool getCurrent (int j, double *t) override
 Get the instantaneous current measurement for a single motor. More...
 
bool getCurrentRange (int j, double *min, double *max) override
 Get the full scale of the current measurement for a given motor (e.g. More...
 
bool getCurrentRanges (double *min, double *max) override
 Get the full scale of the current measurements for all motors motor (e.g. More...
 
- Public Member Functions inherited from yarp::dev::ICurrentControl
virtual ~ICurrentControl ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementPWMControl
bool initialize (int k, const int *amap, const double *dutyToPWM)
 
bool uninitialize ()
 
 ImplementPWMControl (IPWMControlRaw *v)
 
 ~ImplementPWMControl ()
 
bool getNumberOfMotors (int *ax) override
 Retrieves the number of controlled motors from the current physical interface. More...
 
bool setRefDutyCycle (int j, double v) override
 Sets the reference dutycycle to a single motor. More...
 
bool setRefDutyCycles (const double *v) override
 Sets the reference dutycycle for all the motors. More...
 
bool getRefDutyCycle (int j, double *v) override
 Gets the last reference sent using the setRefDutyCycle function. More...
 
bool getRefDutyCycles (double *v) override
 Gets the last reference sent using the setRefDutyCycles function. More...
 
bool getDutyCycle (int j, double *v) override
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 
bool getDutyCycles (double *v) override
 Gets the current dutycycle of the output of the amplifier (i.e. More...
 
- Public Member Functions inherited from yarp::dev::IPWMControl
virtual ~IPWMControl ()
 
- Public Member Functions inherited from yarp::dev::ImplementMotor
 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...
 
- Public Member Functions inherited from yarp::dev::ImplementAxisInfo
 ImplementAxisInfo (yarp::dev::IAxisInfoRaw *y)
 
virtual ~ImplementAxisInfo ()
 
bool getAxisName (int axis, std::string &name) override
 
bool getJointType (int axis, yarp::dev::JointTypeEnum &type) override
 
- Public Member Functions inherited from yarp::dev::IAxisInfo
virtual ~IAxisInfo ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::ImplementVirtualAnalogSensor
bool initialize (int k, const int *amap, const double *userToRaw)
 
bool uninitialize ()
 
 ImplementVirtualAnalogSensor (IVirtualAnalogSensorRaw *virt)
 
 ~ImplementVirtualAnalogSensor ()
 
VAS_status getVirtualAnalogSensorStatus (int ch) override
 Check the status of a given channel. More...
 
int getVirtualAnalogSensorChannels () override
 Get the number of channels of the virtual sensor. More...
 
bool updateVirtualAnalogSensorMeasure (yarp::sig::Vector &measure) override
 Set a vector of torque values for virtual sensor. More...
 
bool updateVirtualAnalogSensorMeasure (int ch, double &measure) override
 
- Public Member Functions inherited from yarp::dev::IVirtualAnalogSensor
virtual ~IVirtualAnalogSensor ()
 

Additional Inherited Members

- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 
- Protected Member Functions inherited from yarp::dev::ImplementControlCalibration
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 Member Functions inherited from yarp::dev::ImplementAmplifierControl
bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *ampereFactor=NULL, const double *voltFactor=NULL)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 
- Protected Member Functions inherited from yarp::dev::ImplementPidControl
bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *newtons, const double *amps, const double *dutys)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 
bool setConversionUnits (const PidControlTypeEnum &pidtype, const PidFeedbackUnitsEnum fbk_conv_units, const PidOutputUnitsEnum out_conv_units)
 
- Protected Member Functions inherited from yarp::dev::ImplementEncodersTimed
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 Member Functions inherited from yarp::dev::ImplementPositionControl
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 Member Functions inherited from yarp::dev::ImplementVelocityControl
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 Member Functions inherited from yarp::dev::ImplementImpedanceControl
bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 
- Protected Member Functions inherited from yarp::dev::ImplementMotorEncoders
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 Member Functions inherited from yarp::dev::ImplementTorqueControl
bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw, const double *amps, const double *dutys, const double *bemfs, const double *ktaus)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 
- Protected Member Functions inherited from yarp::dev::ImplementControlLimits
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 Member Functions inherited from yarp::dev::ImplementPositionDirect
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 Member Functions inherited from yarp::dev::ImplementInteractionMode
bool initialize (int size, const int *amap)
 Initialize the internal data and alloc memory, smaller version. More...
 
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 Member Functions inherited from yarp::dev::ImplementCurrentControl
bool initialize (int size, const int *amap, const double *ampsToSens)
 Initialize the internal data and alloc memory. More...
 
bool uninitialize ()
 Clean up internal data and memory. More...
 
- Protected Member Functions inherited from yarp::dev::ImplementMotor
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 Member Functions inherited from yarp::dev::ImplementAxisInfo
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 inherited from yarp::dev::ImplementControlCalibration
IControlCalibrationRawiCalibrate
 
void * helper
 
double * temp
 
- Protected Attributes inherited from yarp::dev::ImplementAmplifierControl
IAmplifierControlRawiAmplifier
 
void * helper
 
double * dTemp
 
int * iTemp
 
- Protected Attributes inherited from yarp::dev::ImplementPidControl
IPidControlRawiPid
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::Pid > * pidBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementEncodersTimed
IEncodersTimedRawiEncoders
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * buffManager
 
- Protected Attributes inherited from yarp::dev::ImplementPositionControl
IPositionControlRawiPosition
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< bool > * boolBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementVelocityControl
IVelocityControlRawiVelocity
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementImpedanceControl
yarp::dev::IImpedanceControlRawiImpedanceRaw
 
void * helper
 
- Protected Attributes inherited from yarp::dev::ImplementMotorEncoders
IMotorEncodersRawiMotorEncoders
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * buffManager
 
- Protected Attributes inherited from yarp::dev::ImplementTorqueControl
yarp::dev::ITorqueControlRawiTorqueRaw
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementControlLimits
IControlLimitsRawiLimits2
 
void * helper
 
- Protected Attributes inherited from yarp::dev::ImplementPositionDirect
IPositionDirectRawiPDirect
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementInteractionMode
yarp::dev::IInteractionModeRawiInteraction
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< yarp::dev::InteractionModeEnum > * imodeBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementCurrentControl
yarp::dev::ICurrentControlRawiCurrentRaw
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< int > * intBuffManager
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementMotor
IMotorRawimotor
 
void * helper
 
yarp::dev::impl::FixedSizeBuffersManager< double > * doubleBuffManager
 
- Protected Attributes inherited from yarp::dev::ImplementAxisInfo
IAxisInfoRawiinfo
 
void * helper
 
double * temp1
 
double * temp2
 

Constructor & Destructor Documentation

◆ FakeMotionControl()

FakeMotionControl::FakeMotionControl ( )

Definition at line 358 of file fakeMotionControl.cpp.

◆ ~FakeMotionControl()

FakeMotionControl::~FakeMotionControl ( )

Definition at line 463 of file fakeMotionControl.cpp.

Member Function Documentation

◆ alloc()

bool FakeMotionControl::alloc ( int  njoints)

Allocated buffers.

Definition at line 191 of file fakeMotionControl.cpp.

◆ calibrateAxisWithParamsRaw()

bool FakeMotionControl::calibrateAxisWithParamsRaw ( int  axis,
unsigned int  type,
double  p1,
double  p2,
double  p3 
)
overridevirtual

Start calibration, this method is very often platform specific.

Returns
true/false on success failure

Implements yarp::dev::IControlCalibrationRaw.

Definition at line 1863 of file fakeMotionControl.cpp.

◆ calibrationDoneRaw()

bool FakeMotionControl::calibrationDoneRaw ( int  j)
overridevirtual

Check if the calibration is terminated, on a particular joint.

Non blocking.

Returns
true/false

Implements yarp::dev::IControlCalibrationRaw.

Definition at line 1869 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [1/3]

bool FakeMotionControl::checkMotionDoneRaw ( bool *  flag)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
flagis a pointer to return value ("and" of all joints)
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 1970 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [2/3]

bool FakeMotionControl::checkMotionDoneRaw ( const int  n_joint,
const int *  joints,
bool *  flags 
)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
jointspointer to the array of joint numbers
flagtrue if the trajectory is terminated, false otherwise (a single value which is the 'and' of all joints')
Returns
true/false if network communication went well.

Implements yarp::dev::IPositionControlRaw.

Definition at line 2125 of file fakeMotionControl.cpp.

◆ checkMotionDoneRaw() [3/3]

bool FakeMotionControl::checkMotionDoneRaw ( int  j,
bool *  flag 
)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
jis the axis number
flagis a pointer to return value
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControlRaw.

Definition at line 1961 of file fakeMotionControl.cpp.

◆ close()

bool FakeMotionControl::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 1430 of file fakeMotionControl.cpp.

◆ disableAmpRaw()

bool FakeMotionControl::disableAmpRaw ( int  j)
overridevirtual

Disable the amplifier on a specific joint.

All computations within the board will be carried out normally, but the output will be disabled.

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2511 of file fakeMotionControl.cpp.

◆ disablePidRaw()

bool FakeMotionControl::disablePidRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j 
)
overridevirtual

Disable the pid computation for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1701 of file fakeMotionControl.cpp.

◆ enableAmpRaw()

bool FakeMotionControl::enableAmpRaw ( int  j)
overridevirtual

Enable the amplifier on a specific joint.

Be careful, check that the output of the controller is appropriate (usually zero), to avoid generating abrupt movements.

Returns
true/false on success/failure

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2506 of file fakeMotionControl.cpp.

◆ enablePidRaw()

bool FakeMotionControl::enablePidRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j 
)
overridevirtual

Enable the pid computation for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1723 of file fakeMotionControl.cpp.

◆ fromConfig()

bool FakeMotionControl::fromConfig ( yarp::os::Searchable config)

Definition at line 854 of file fakeMotionControl.cpp.

◆ getAmpStatusRaw() [1/2]

bool FakeMotionControl::getAmpStatusRaw ( int *  st)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2552 of file fakeMotionControl.cpp.

◆ getAmpStatusRaw() [2/2]

bool FakeMotionControl::getAmpStatusRaw ( int  j,
int *  st 
)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2546 of file fakeMotionControl.cpp.

◆ getAxes()

bool FakeMotionControl::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::IImpedanceControlRaw.

Definition at line 1880 of file fakeMotionControl.cpp.

◆ getAxisNameRaw()

bool FakeMotionControl::getAxisNameRaw ( int  axis,
std::string &  name 
)
overridevirtual

Implements yarp::dev::IAxisInfoRaw.

Definition at line 2689 of file fakeMotionControl.cpp.

◆ getControlModeRaw()

bool FakeMotionControl::getControlModeRaw ( int  j,
int *  v 
)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2213 of file fakeMotionControl.cpp.

◆ getControlModesRaw() [1/2]

bool FakeMotionControl::getControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2233 of file fakeMotionControl.cpp.

◆ getControlModesRaw() [2/2]

bool FakeMotionControl::getControlModesRaw ( int *  v)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2223 of file fakeMotionControl.cpp.

◆ getCurrentImpedanceLimitRaw()

bool FakeMotionControl::getCurrentImpedanceLimitRaw ( int  j,
double *  min_stiff,
double *  max_stiff,
double *  min_damp,
double *  max_damp 
)
overridevirtual

Get the current impedandance limits for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2804 of file fakeMotionControl.cpp.

◆ getCurrentRangeRaw()

bool FakeMotionControl::getCurrentRangeRaw ( int  m,
double *  min,
double *  max 
)
overridevirtual

Get the full scale of the current measurement for a given motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters
mmotor number
minminimum current of the motor m
maxmaximum current of the motor m
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3121 of file fakeMotionControl.cpp.

◆ getCurrentRangesRaw()

bool FakeMotionControl::getCurrentRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Get the full scale of the current measurements for all motors motor (e.g.

-20A +20A) Reference values set by user with methods such as setRefCurrent() should be in this range. This method is not related to the current overload protection methods belonging to the iAmplifierControl interface.

Parameters
minpointer to the array that will store minimum currents
maxpointer to the array that will store maximum currents
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3129 of file fakeMotionControl.cpp.

◆ getCurrentRaw()

bool FakeMotionControl::getCurrentRaw ( int  j,
double *  val 
)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2516 of file fakeMotionControl.cpp.

◆ getCurrentsRaw()

bool FakeMotionControl::getCurrentsRaw ( double *  vals)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2523 of file fakeMotionControl.cpp.

◆ getDutyCycleRaw()

bool FakeMotionControl::getDutyCycleRaw ( int  m,
double *  val 
)
overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm value sent to the motor)

Parameters
mmotor number
valpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3094 of file fakeMotionControl.cpp.

◆ getDutyCyclesRaw()

bool FakeMotionControl::getDutyCyclesRaw ( double *  vals)
overridevirtual

Gets the current dutycycle of the output of the amplifier (i.e.

pwm values sent to all motors)

Parameters
valspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3100 of file fakeMotionControl.cpp.

◆ getEncoderAccelerationRaw()

bool FakeMotionControl::getEncoderAccelerationRaw ( int  j,
double *  spds 
)
overridevirtual

Read the instantaneous acceleration of an axis.

Parameters
jaxis number
spdspointer to the array that will contain the output

Implements yarp::dev::IEncodersRaw.

Definition at line 2355 of file fakeMotionControl.cpp.

◆ getEncoderAccelerationsRaw()

bool FakeMotionControl::getEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
accspointer to the array that will contain the output
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersRaw.

Definition at line 2363 of file fakeMotionControl.cpp.

◆ getEncoderRaw()

bool FakeMotionControl::getEncoderRaw ( int  j,
double *  v 
)
overridevirtual

Read the value of an encoder.

Parameters
jencoder number
vpointer to storage for the return value
Returns
true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncodersRaw.

Definition at line 2315 of file fakeMotionControl.cpp.

◆ getEncoderSpeedRaw()

bool FakeMotionControl::getEncoderSpeedRaw ( int  j,
double *  sp 
)
overridevirtual

Read the instantaneous speed of an axis.

Parameters
jaxis number
sppointer to storage for the output
Returns
true if successful, false ... otherwise.

Implements yarp::dev::IEncodersRaw.

Definition at line 2338 of file fakeMotionControl.cpp.

◆ getEncoderSpeedsRaw()

bool FakeMotionControl::getEncoderSpeedsRaw ( double *  spds)
overridevirtual

Read the instantaneous acceleration of an axis.

Parameters
spdspointer to storage for the output values
Returns
guess what? (true/false on success or failure).

Implements yarp::dev::IEncodersRaw.

Definition at line 2345 of file fakeMotionControl.cpp.

◆ getEncodersRaw()

bool FakeMotionControl::getEncodersRaw ( double *  encs)
overridevirtual

Read the position of all axes.

Parameters
encspointer to the array that will contain the output
Returns
true/false on success/failure

Implements yarp::dev::IEncodersRaw.

Definition at line 2326 of file fakeMotionControl.cpp.

◆ getEncodersTimedRaw()

bool FakeMotionControl::getEncodersTimedRaw ( double *  encs,
double *  stamps 
)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
encspointer to the array that will contain the output
stampspointer to the array that will contain individual timestamps
Returns
return true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 2375 of file fakeMotionControl.cpp.

◆ getEncoderTimedRaw()

bool FakeMotionControl::getEncoderTimedRaw ( int  j,
double *  encs,
double *  stamp 
)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
jaxis index
encsencoder value
stampcorresponding timestamp
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimedRaw.

Definition at line 2385 of file fakeMotionControl.cpp.

◆ getGearboxRatioRaw()

bool FakeMotionControl::getGearboxRatioRaw ( int  m,
double *  val 
)
overridevirtual

Get the gearbox ratio for a specific motor.

Parameters
mmotor number
valretrieved gearbox ratio
Returns
true/false

Reimplemented from yarp::dev::IMotorRaw.

Definition at line 2623 of file fakeMotionControl.cpp.

◆ getHasHallSensorRaw()

bool FakeMotionControl::getHasHallSensorRaw ( int  j,
int &  ret 
)
virtual

Definition at line 2664 of file fakeMotionControl.cpp.

◆ getHasRotorEncoderIndexRaw()

bool FakeMotionControl::getHasRotorEncoderIndexRaw ( int  j,
int &  ret 
)
virtual

Definition at line 2674 of file fakeMotionControl.cpp.

◆ getHasRotorEncoderRaw()

bool FakeMotionControl::getHasRotorEncoderRaw ( int  j,
int &  ret 
)
virtual

Definition at line 2669 of file fakeMotionControl.cpp.

◆ getHasTempSensorsRaw()

bool FakeMotionControl::getHasTempSensorsRaw ( int  j,
int &  ret 
)
virtual

Definition at line 2659 of file fakeMotionControl.cpp.

◆ getImpedanceOffsetRaw()

bool FakeMotionControl::getImpedanceOffsetRaw ( int  j,
double *  offset 
)
overridevirtual

Get current force Offset for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2799 of file fakeMotionControl.cpp.

◆ getImpedanceRaw()

bool FakeMotionControl::getImpedanceRaw ( int  j,
double *  stiffness,
double *  damping 
)
overridevirtual

Get current impedance parameters (stiffness,damping,offset) for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2784 of file fakeMotionControl.cpp.

◆ getInteractionModeRaw()

bool FakeMotionControl::getInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum mode 
)
overridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters
axisjoint number
modecontains the requested information about interaction mode of the joint
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2968 of file fakeMotionControl.cpp.

◆ getInteractionModesRaw() [1/2]

bool FakeMotionControl::getInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum modes 
)
overridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters
n_jointshow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
modesarray containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2976 of file fakeMotionControl.cpp.

◆ getInteractionModesRaw() [2/2]

bool FakeMotionControl::getInteractionModesRaw ( yarp::dev::InteractionModeEnum modes)
overridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters
modearray containing the requested information about interaction mode, one value for each joint.
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2987 of file fakeMotionControl.cpp.

◆ getJointEncoderResolutionRaw()

bool FakeMotionControl::getJointEncoderResolutionRaw ( int  m,
double &  jntres 
)
virtual

Definition at line 2638 of file fakeMotionControl.cpp.

◆ getJointEncoderTypeRaw()

bool FakeMotionControl::getJointEncoderTypeRaw ( int  j,
int &  type 
)
virtual

Definition at line 2643 of file fakeMotionControl.cpp.

◆ getJointTypeRaw()

bool FakeMotionControl::getJointTypeRaw ( int  axis,
yarp::dev::JointTypeEnum type 
)
overridevirtual

Reimplemented from yarp::dev::IAxisInfoRaw.

Definition at line 2703 of file fakeMotionControl.cpp.

◆ getKinematicMJRaw()

bool FakeMotionControl::getKinematicMJRaw ( int  j,
double &  rotres 
)
virtual

Definition at line 2653 of file fakeMotionControl.cpp.

◆ getLimitsRaw()

bool FakeMotionControl::getLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Get the software limits for a particular axis.

Parameters
axisjoint number
pointerto store the value of the lower limit
pointerto store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2618 of file fakeMotionControl.cpp.

◆ getMaxCurrentRaw()

bool FakeMotionControl::getMaxCurrentRaw ( int  j,
double *  v 
)
overridevirtual

Returns the maximum electric current allowed for a given motor.

Exceeding this value will trigger instantaneous hardware fault.

Parameters
jmotor number
vthe return value
Returns
probably true, might return false in bad times

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2540 of file fakeMotionControl.cpp.

◆ getMotorEncoderAccelerationRaw()

bool FakeMotionControl::getMotorEncoderAccelerationRaw ( int  m,
double *  spds 
)
overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters
mmotor number
accpointer to the array that will contain the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2466 of file fakeMotionControl.cpp.

◆ getMotorEncoderAccelerationsRaw()

bool FakeMotionControl::getMotorEncoderAccelerationsRaw ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters
accspointer to the array that will contain the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2472 of file fakeMotionControl.cpp.

◆ getMotorEncoderCountsPerRevolutionRaw()

bool FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw ( int  m,
double *  cpr 
)
overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters
mmotor number
cprvals pointer to the new value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2418 of file fakeMotionControl.cpp.

◆ getMotorEncoderRaw()

bool FakeMotionControl::getMotorEncoderRaw ( int  m,
double *  v 
)
overridevirtual

Read the value of a motor encoder.

Parameters
mmotor encoder number
vpointer to storage for the return value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2433 of file fakeMotionControl.cpp.

◆ getMotorEncoderSpeedRaw()

bool FakeMotionControl::getMotorEncoderSpeedRaw ( int  m,
double *  sp 
)
overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters
mmotor number
sppointer to storage for the output
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2450 of file fakeMotionControl.cpp.

◆ getMotorEncoderSpeedsRaw()

bool FakeMotionControl::getMotorEncoderSpeedsRaw ( double *  spds)
overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters
spdspointer to storage for the output values
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2456 of file fakeMotionControl.cpp.

◆ getMotorEncodersRaw()

bool FakeMotionControl::getMotorEncodersRaw ( double *  encs)
overridevirtual

Read the position of all motor encoders.

Parameters
encspointer to the array that will contain the output
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2439 of file fakeMotionControl.cpp.

◆ getMotorEncodersTimedRaw()

bool FakeMotionControl::getMotorEncodersTimedRaw ( double *  encs,
double *  stamps 
)
overridevirtual

Read the instantaneous position of all motor encoders.

Parameters
encspointer to the array that will contain the output
timepointer to the array that will contain individual timestamps
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2482 of file fakeMotionControl.cpp.

◆ getMotorEncoderTimedRaw()

bool FakeMotionControl::getMotorEncoderTimedRaw ( int  m,
double *  encs,
double *  stamp 
)
overridevirtual

Read the instantaneous position of a motor encoder.

Parameters
mmotor index
encsencoder value (pointer to)
timecorresponding timestamp (pointer to)
Returns
true if successful, false otherwise.

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2493 of file fakeMotionControl.cpp.

◆ getMotorPolesRaw()

bool FakeMotionControl::getMotorPolesRaw ( int  j,
int &  poles 
)
virtual

Definition at line 2679 of file fakeMotionControl.cpp.

◆ getMotorTorqueParamsRaw()

bool FakeMotionControl::getMotorTorqueParamsRaw ( int  j,
yarp::dev::MotorTorqueParameters params 
)
overridevirtual

Get the motor parameters.

Parameters
jjoint number
paramsa struct containing the motor parameters to be retrieved
Returns
true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2809 of file fakeMotionControl.cpp.

◆ getNominalCurrentRaw()

bool FakeMotionControl::getNominalCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2574 of file fakeMotionControl.cpp.

◆ getNumberOfMotorEncodersRaw()

bool FakeMotionControl::getNumberOfMotorEncodersRaw ( int *  num)
overridevirtual

Get the number of available motor encoders.

Parameters
mpointer to a value representing the number of available motor encoders.
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2397 of file fakeMotionControl.cpp.

◆ getNumberOfMotorsRaw()

bool FakeMotionControl::getNumberOfMotorsRaw ( int *  number)
overridevirtual

Retrieves the number of controlled motors from the current physical interface.

Parameters
numberreturns the number of controlled motors.
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3030 of file fakeMotionControl.cpp.

◆ getPeakCurrentRaw()

bool FakeMotionControl::getPeakCurrentRaw ( int  m,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2562 of file fakeMotionControl.cpp.

◆ getPidErrorLimitRaw()

bool FakeMotionControl::getPidErrorLimitRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double *  limit 
)
overridevirtual

Get the error limit for the controller on a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
limitpointer to storage
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1664 of file fakeMotionControl.cpp.

◆ getPidErrorLimitsRaw()

bool FakeMotionControl::getPidErrorLimitsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
double *  limits 
)
overridevirtual

Get the error limit for all controllers.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
limitspointer to the array that will store the output
Returns
success or failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1686 of file fakeMotionControl.cpp.

◆ getPidErrorRaw()

bool FakeMotionControl::getPidErrorRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double *  err 
)
overridevirtual

Get the current error for a joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
errpointer to the storage for the return value
Returns
true/false on success failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1561 of file fakeMotionControl.cpp.

◆ getPidErrorsRaw()

bool FakeMotionControl::getPidErrorsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
double *  errs 
)
overridevirtual

Get the error of all joints.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
errspointer to the vector that will store the errors

Implements yarp::dev::IPidControlRaw.

Definition at line 1583 of file fakeMotionControl.cpp.

◆ getPidOutputRaw()

bool FakeMotionControl::getPidOutputRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double *  out 
)
overridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
outpointer to storage for return value
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1790 of file fakeMotionControl.cpp.

◆ getPidOutputsRaw()

bool FakeMotionControl::getPidOutputsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
double *  outs 
)
overridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
outspinter to the vector that will store the output values

Implements yarp::dev::IPidControlRaw.

Definition at line 1813 of file fakeMotionControl.cpp.

◆ getPidRaw()

bool FakeMotionControl::getPidRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
yarp::dev::Pid pid 
)
overridevirtual

Get current pid value for a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
pidpointer to storage for the return value.
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1593 of file fakeMotionControl.cpp.

◆ getPidReferenceRaw()

bool FakeMotionControl::getPidReferenceRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double *  ref 
)
overridevirtual

Get the current reference of the pid controller for a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
refpointer to storage for return value
Returns
reference value

Implements yarp::dev::IPidControlRaw.

Definition at line 1629 of file fakeMotionControl.cpp.

◆ getPidReferencesRaw()

bool FakeMotionControl::getPidReferencesRaw ( const yarp::dev::PidControlTypeEnum pidtype,
double *  refs 
)
overridevirtual

Get the current reference of all pid controllers.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
refsvector that will store the output.

Implements yarp::dev::IPidControlRaw.

Definition at line 1651 of file fakeMotionControl.cpp.

◆ getPidsRaw()

bool FakeMotionControl::getPidsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
yarp::dev::Pid pids 
)
overridevirtual

Get current pid value for a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
pidsvector that will store the values of the pids.
Returns
success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1616 of file fakeMotionControl.cpp.

◆ getPowerSupplyVoltageRaw()

bool FakeMotionControl::getPowerSupplyVoltageRaw ( int  j,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2604 of file fakeMotionControl.cpp.

◆ getPWMLimitRaw()

bool FakeMotionControl::getPWMLimitRaw ( int  j,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2592 of file fakeMotionControl.cpp.

◆ getPWMRaw()

bool FakeMotionControl::getPWMRaw ( int  j,
double *  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2586 of file fakeMotionControl.cpp.

◆ getRefAccelerationRaw()

bool FakeMotionControl::getRefAccelerationRaw ( int  j,
double *  acc 
)
overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters
jjoint number
accpointer to storage for the return value
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2062 of file fakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [1/2]

bool FakeMotionControl::getRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
double *  accs 
)
overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters
jointspointer to the array of joint numbers
accspointer to the array that will store the acceleration values
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2182 of file fakeMotionControl.cpp.

◆ getRefAccelerationsRaw() [2/2]

bool FakeMotionControl::getRefAccelerationsRaw ( double *  accs)
overridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters
accspointer to the array that will store the acceleration values.
Returns
true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2068 of file fakeMotionControl.cpp.

◆ getRefCurrentRaw()

bool FakeMotionControl::getRefCurrentRaw ( int  m,
double *  curr 
)
overridevirtual

Get the reference value of the current for a single motor.

Parameters
mmotor number
currthe current reference value for motor m
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3176 of file fakeMotionControl.cpp.

◆ getRefCurrentsRaw()

bool FakeMotionControl::getRefCurrentsRaw ( double *  currs)
overridevirtual

Get the reference value of the currents for all motors.

Parameters
currspointer to the array to be filled with reference current values.
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3167 of file fakeMotionControl.cpp.

◆ getRefDutyCycleRaw()

bool FakeMotionControl::getRefDutyCycleRaw ( int  m,
double *  ref 
)
overridevirtual

Gets the last reference sent using the setRefDutyCycleRaw function.

Parameters
mmotor number
refpointer to storage for return value, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3079 of file fakeMotionControl.cpp.

◆ getRefDutyCyclesRaw()

bool FakeMotionControl::getRefDutyCyclesRaw ( double *  refs)
overridevirtual

Gets the last reference sent using the setRefDutyCyclesRaw function.

Parameters
refspointer to the vector that will store the values, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3085 of file fakeMotionControl.cpp.

◆ getRefPositionRaw()

bool FakeMotionControl::getRefPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Get the last position reference for the specified axis.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters
reflast reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2928 of file fakeMotionControl.cpp.

◆ getRefPositionsRaw() [1/2]

bool FakeMotionControl::getRefPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Get the last position reference for the specified group of axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters
refarray containing last reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2956 of file fakeMotionControl.cpp.

◆ getRefPositionsRaw() [2/2]

bool FakeMotionControl::getRefPositionsRaw ( double *  refs)
overridevirtual

Get the last position reference for all axes.

This is the dual of setPositionsRaw and shall return only values sent using IPositionDirect interface. If other interfaces like IPositionControl are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionControl::PositionMove.

Parameters
refarray containing last reference sent using setPosition(s) functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionDirectRaw.

Definition at line 2946 of file fakeMotionControl.cpp.

◆ getRefSpeedRaw()

bool FakeMotionControl::getRefSpeedRaw ( int  j,
double *  ref 
)
overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters
jjoint number
refpointer to storage for the return value
Returns
true/false on success or failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2050 of file fakeMotionControl.cpp.

◆ getRefSpeedsRaw() [1/2]

bool FakeMotionControl::getRefSpeedsRaw ( const int  n_joint,
const int *  joints,
double *  spds 
)
overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters
jointspointer to the array of joint numbers
spdspointer to the array that will store the speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2169 of file fakeMotionControl.cpp.

◆ getRefSpeedsRaw() [2/2]

bool FakeMotionControl::getRefSpeedsRaw ( double *  spds)
overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters
spdspointer to the array that will store the speed values.

Implements yarp::dev::IPositionControlRaw.

Definition at line 2056 of file fakeMotionControl.cpp.

◆ getRefTorqueRaw()

bool FakeMotionControl::getRefTorqueRaw ( int  j,
double *  t 
)
overridevirtual

Set the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters
jjoint number
tnew value
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2779 of file fakeMotionControl.cpp.

◆ getRefTorquesRaw()

bool FakeMotionControl::getRefTorquesRaw ( double *  t)
overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2774 of file fakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [1/2]

bool FakeMotionControl::getRefVelocitiesRaw ( const int  n_joint,
const int *  joints,
double *  vels 
)
overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters
n_jointhow many joints this command is referring to
jointsof joints controlled. The size of this array is n_joints
velspointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2918 of file fakeMotionControl.cpp.

◆ getRefVelocitiesRaw() [2/2]

bool FakeMotionControl::getRefVelocitiesRaw ( double *  vels)
overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters
velspointer to the array containing the new speed values, one value for each joint
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2908 of file fakeMotionControl.cpp.

◆ getRefVelocityRaw()

bool FakeMotionControl::getRefVelocityRaw ( const int  joint,
double *  vel 
)
overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters
jjoint number
velreturns the requested reference.
Returns
true/false on success/failure

Reimplemented from yarp::dev::IVelocityControlRaw.

Definition at line 2902 of file fakeMotionControl.cpp.

◆ getRotorEncoderResolutionRaw()

bool FakeMotionControl::getRotorEncoderResolutionRaw ( int  m,
double &  rotres 
)
virtual

Definition at line 2633 of file fakeMotionControl.cpp.

◆ getRotorEncoderTypeRaw()

bool FakeMotionControl::getRotorEncoderTypeRaw ( int  j,
int &  type 
)
virtual

Definition at line 2648 of file fakeMotionControl.cpp.

◆ getRotorIndexOffsetRaw()

bool FakeMotionControl::getRotorIndexOffsetRaw ( int  j,
double &  rotorOffset 
)
virtual

Definition at line 2684 of file fakeMotionControl.cpp.

◆ getTargetPositionRaw()

bool FakeMotionControl::getTargetPositionRaw ( const int  joint,
double *  ref 
)
overridevirtual

Get the last position reference for the specified axis.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2866 of file fakeMotionControl.cpp.

◆ getTargetPositionsRaw() [1/2]

bool FakeMotionControl::getTargetPositionsRaw ( const int  n_joint,
const int *  joints,
double *  refs 
)
overridevirtual

Get the last position reference for the specified group of axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2892 of file fakeMotionControl.cpp.

◆ getTargetPositionsRaw() [2/2]

bool FakeMotionControl::getTargetPositionsRaw ( double *  refs)
overridevirtual

Get the last position reference for all axes.

This is the dual of PositionMove and shall return only values sent using IPositionControl interface. If other interfaces like IPositionDirect are implemented by the device, this call must ignore their values, i.e. this call must never return a reference sent using IPositionDirect::SetPosition

Parameters
reflast reference sent using PositionMove functions
Returns
true/false on success/failure

Reimplemented from yarp::dev::IPositionControlRaw.

Definition at line 2884 of file fakeMotionControl.cpp.

◆ getTemperatureLimitRaw()

bool FakeMotionControl::getTemperatureLimitRaw ( 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
mmotor number
tempthe current temperature limit.
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3051 of file fakeMotionControl.cpp.

◆ getTemperatureRaw()

bool FakeMotionControl::getTemperatureRaw ( int  m,
double *  val 
)
overridevirtual

Get temperature of a motor.

Parameters
mmotor number
valretrieved motor temperature
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3036 of file fakeMotionControl.cpp.

◆ getTemperaturesRaw()

bool FakeMotionControl::getTemperaturesRaw ( double *  vals)
overridevirtual

Get temperature of all the motors.

Parameters
valspointer to an array containing all motor temperatures
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3041 of file fakeMotionControl.cpp.

◆ getTorqueControlFilterType()

bool FakeMotionControl::getTorqueControlFilterType ( int  j,
int &  type 
)
virtual

Definition at line 2628 of file fakeMotionControl.cpp.

◆ getTorqueRangeRaw()

bool FakeMotionControl::getTorqueRangeRaw ( int  j,
double *  min,
double *  max 
)
overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters
jjoint number
minminimum torque of the joint j
maxmaximum torque of the joint j
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2746 of file fakeMotionControl.cpp.

◆ getTorqueRangesRaw()

bool FakeMotionControl::getTorqueRangesRaw ( double *  min,
double *  max 
)
overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters
minpointer to the array that will store minimum torques of the joints
maxpointer to the array that will store maximum torques of the joints
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2751 of file fakeMotionControl.cpp.

◆ getTorqueRaw()

bool FakeMotionControl::getTorqueRaw ( int  j,
double *  t 
)
overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters
jjoint number
Returns
torque value
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2731 of file fakeMotionControl.cpp.

◆ getTorquesRaw()

bool FakeMotionControl::getTorquesRaw ( double *  t)
overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters
tpointer to the array that will store the output
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2737 of file fakeMotionControl.cpp.

◆ getVelLimitsRaw()

bool FakeMotionControl::getVelLimitsRaw ( int  axis,
double *  min,
double *  max 
)
overridevirtual

Get the software speed limits for a particular axis.

Parameters
axisjoint number
minpointer to store the value of the lower limit
maxpointer to store the value of the upper limit
Returns
true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2722 of file fakeMotionControl.cpp.

◆ getVirtualAnalogSensorChannelsRaw()

int FakeMotionControl::getVirtualAnalogSensorChannelsRaw ( )
overridevirtual

Get the number of channels of the virtual sensor.

Returns
number of channels (0 in case of errors).

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3192 of file fakeMotionControl.cpp.

◆ getVirtualAnalogSensorStatusRaw()

yarp::dev::VAS_status FakeMotionControl::getVirtualAnalogSensorStatusRaw ( int  ch)
overridevirtual

Check the status of a given channel.

Parameters
chchannel number.
Returns
VAS_status type.

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3187 of file fakeMotionControl.cpp.

◆ initialised()

bool FakeMotionControl::initialised ( )
virtual

Definition at line 469 of file fakeMotionControl.cpp.

◆ isPidEnabledRaw()

bool FakeMotionControl::isPidEnabledRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
bool *  enabled 
)
overridevirtual

Get the current status (enabled/disabled) of the pid controller.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
enabledthe current status of the pid controller.
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1768 of file fakeMotionControl.cpp.

◆ open()

bool FakeMotionControl::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 499 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [1/3]

bool FakeMotionControl::positionMoveRaw ( const double *  refs)
overridevirtual

Set new reference point for all axes.

Parameters
refsarray, new reference points.
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1911 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [2/3]

bool FakeMotionControl::positionMoveRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Set new reference point for a subset of joints.

Parameters
jointspointer to the array of joint numbers
refspointer to the array specifies the new reference points
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2094 of file fakeMotionControl.cpp.

◆ positionMoveRaw() [3/3]

bool FakeMotionControl::positionMoveRaw ( int  j,
double  ref 
)
overridevirtual

Set new reference point for a single axis.

Parameters
jjoint number
refspecifies the new ref point
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1887 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [1/3]

bool FakeMotionControl::relativeMoveRaw ( const double *  deltas)
overridevirtual

Set relative position, all joints.

Parameters
deltaspointer to the relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1947 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [2/3]

bool FakeMotionControl::relativeMoveRaw ( const int  n_joint,
const int *  joints,
const double *  deltas 
)
overridevirtual

Set relative position for a subset of joints.

Parameters
jointspointer to the array of joint numbers
deltaspointer to the array of relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2112 of file fakeMotionControl.cpp.

◆ relativeMoveRaw() [3/3]

bool FakeMotionControl::relativeMoveRaw ( int  j,
double  delta 
)
overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters
jjoint axis number
deltarelative command
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1924 of file fakeMotionControl.cpp.

◆ resetEncoderRaw()

bool FakeMotionControl::resetEncoderRaw ( int  j)
overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2305 of file fakeMotionControl.cpp.

◆ resetEncodersRaw()

bool FakeMotionControl::resetEncodersRaw ( )
overridevirtual

Reset encoders.

Set the encoders value to zero

Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2310 of file fakeMotionControl.cpp.

◆ resetMotorEncoderRaw()

bool FakeMotionControl::resetMotorEncoderRaw ( int  m)
overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters
mmotor number
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2423 of file fakeMotionControl.cpp.

◆ resetMotorEncodersRaw()

bool FakeMotionControl::resetMotorEncodersRaw ( )
overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2428 of file fakeMotionControl.cpp.

◆ resetPidRaw()

bool FakeMotionControl::resetPidRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j 
)
overridevirtual

Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1696 of file fakeMotionControl.cpp.

◆ resizeBuffers()

void FakeMotionControl::resizeBuffers ( )

Resize previously allocated buffers.

Definition at line 151 of file fakeMotionControl.cpp.

◆ run()

void FakeMotionControl::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 40 of file fakeMotionControl.cpp.

◆ setCalibrationParametersRaw()

bool FakeMotionControl::setCalibrationParametersRaw ( int  axis,
const yarp::dev::CalibrationParameters params 
)
overridevirtual

Start calibration, this method is very often platform specific.

Returns
true/false on success failure

Reimplemented from yarp::dev::IControlCalibrationRaw.

Definition at line 1857 of file fakeMotionControl.cpp.

◆ setControlModeRaw()

bool FakeMotionControl::setControlModeRaw ( const int  j,
const int  mode 
)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2248 of file fakeMotionControl.cpp.

◆ setControlModesRaw() [1/2]

bool FakeMotionControl::setControlModesRaw ( const int  n_joint,
const int *  joints,
int *  modes 
)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2266 of file fakeMotionControl.cpp.

◆ setControlModesRaw() [2/2]

bool FakeMotionControl::setControlModesRaw ( int *  modes)
overridevirtual

Implements yarp::dev::IControlModeRaw.

Definition at line 2279 of file fakeMotionControl.cpp.

◆ setEncoderRaw()

bool FakeMotionControl::setEncoderRaw ( int  j,
double  val 
)
overridevirtual

Set the value of the encoder for a given joint.

Parameters
jencoder number
valnew value
Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2295 of file fakeMotionControl.cpp.

◆ setEncodersRaw()

bool FakeMotionControl::setEncodersRaw ( const double *  vals)
overridevirtual

Set the value of all encoders.

Parameters
valspointer to the new values
Returns
true/false

Implements yarp::dev::IEncodersRaw.

Definition at line 2300 of file fakeMotionControl.cpp.

◆ setImpedanceOffsetRaw()

bool FakeMotionControl::setImpedanceOffsetRaw ( int  j,
double  offset 
)
overridevirtual

Set current force Offset for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2794 of file fakeMotionControl.cpp.

◆ setImpedanceRaw()

bool FakeMotionControl::setImpedanceRaw ( int  j,
double  stiffness,
double  damping 
)
overridevirtual

Set current impedance parameters (stiffness,damping) for a specific joint.

Returns
success/failure

Implements yarp::dev::IImpedanceControlRaw.

Definition at line 2789 of file fakeMotionControl.cpp.

◆ setInteractionModeRaw()

bool FakeMotionControl::setInteractionModeRaw ( int  axis,
yarp::dev::InteractionModeEnum  mode 
)
overridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters
axisjoint number
modethe desired interaction mode
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 2998 of file fakeMotionControl.cpp.

◆ setInteractionModesRaw() [1/2]

bool FakeMotionControl::setInteractionModesRaw ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum modes 
)
overridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters
n_jointshow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
modesarray containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT
Returns
true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 3009 of file fakeMotionControl.cpp.

◆ setInteractionModesRaw() [2/2]

bool FakeMotionControl::setInteractionModesRaw ( yarp::dev::InteractionModeEnum modes)
overridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters
modearray with the desired interaction mode for all joints, length is the total number of joints for the part
Returns
true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionModeRaw.

Definition at line 3019 of file fakeMotionControl.cpp.

◆ setLimitsRaw()

bool FakeMotionControl::setLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters
axisjoint number (why am I telling you this)
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2612 of file fakeMotionControl.cpp.

◆ setMaxCurrentRaw()

bool FakeMotionControl::setMaxCurrentRaw ( int  j,
double  val 
)
overridevirtual

Implements yarp::dev::IAmplifierControlRaw.

Definition at line 2534 of file fakeMotionControl.cpp.

◆ setMotorEncoderCountsPerRevolutionRaw()

bool FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw ( int  m,
const double  cpr 
)
overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters
mmotor number
cprnew value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2413 of file fakeMotionControl.cpp.

◆ setMotorEncoderRaw()

bool FakeMotionControl::setMotorEncoderRaw ( int  m,
const double  val 
)
overridevirtual

Set the value of the motor encoder for a given motor.

Parameters
mmotor number
valnew value
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2403 of file fakeMotionControl.cpp.

◆ setMotorEncodersRaw()

bool FakeMotionControl::setMotorEncodersRaw ( const double *  vals)
overridevirtual

Set the value of all motor encoders.

Parameters
valspointer to the new values
Returns
true/false

Implements yarp::dev::IMotorEncodersRaw.

Definition at line 2408 of file fakeMotionControl.cpp.

◆ setMotorTorqueParamsRaw()

bool FakeMotionControl::setMotorTorqueParamsRaw ( int  j,
const yarp::dev::MotorTorqueParameters  params 
)
overridevirtual

Set the motor parameters.

Parameters
jjoint number
paramsa struct containing the motor parameters to be set
Returns
true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2819 of file fakeMotionControl.cpp.

◆ setNominalCurrentRaw()

bool FakeMotionControl::setNominalCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2580 of file fakeMotionControl.cpp.

◆ setPeakCurrentRaw()

bool FakeMotionControl::setPeakCurrentRaw ( int  m,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2568 of file fakeMotionControl.cpp.

◆ setPidErrorLimitRaw()

bool FakeMotionControl::setPidErrorLimitRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double  limit 
)
overridevirtual

Set the error limit for the controller on a specific joint.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
limitlimit value
Returns
true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1529 of file fakeMotionControl.cpp.

◆ setPidErrorLimitsRaw()

bool FakeMotionControl::setPidErrorLimitsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
const double *  limits 
)
overridevirtual

Get the error limit for the controller on all joints.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
limitspointer to the vector with the new limits
Returns
true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1551 of file fakeMotionControl.cpp.

◆ setPidOffsetRaw()

bool FakeMotionControl::setPidOffsetRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double  v 
)
overridevirtual

Set an offset value on the ourput of pid controller.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
vthe offset to be added to the output of the pid controller
Returns
true on success, false on failure.

Implements yarp::dev::IPidControlRaw.

Definition at line 1745 of file fakeMotionControl.cpp.

◆ setPidRaw()

bool FakeMotionControl::setPidRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
const yarp::dev::Pid pid 
)
overridevirtual

Set new pid value for a joint axis.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
pidnew pid value
Returns
true/false on success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1464 of file fakeMotionControl.cpp.

◆ setPidReferenceRaw()

bool FakeMotionControl::setPidReferenceRaw ( const yarp::dev::PidControlTypeEnum pidtype,
int  j,
double  ref 
)
overridevirtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
jjoint number
refnew reference point
Returns
true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1497 of file fakeMotionControl.cpp.

◆ setPidReferencesRaw()

bool FakeMotionControl::setPidReferencesRaw ( const yarp::dev::PidControlTypeEnum pidtype,
const double *  refs 
)
overridevirtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
refspointer to the vector that contains the new reference points.
Returns
true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1519 of file fakeMotionControl.cpp.

◆ setPidsRaw()

bool FakeMotionControl::setPidsRaw ( const yarp::dev::PidControlTypeEnum pidtype,
const yarp::dev::Pid pids 
)
overridevirtual

Set new pid value on multiple axes.

Parameters
pidtypethe id of the pid that will be affected by the command (e.g. position, velocity etc)
pidspointer to a vector of pids
Returns
true/false upon success/failure

Implements yarp::dev::IPidControlRaw.

Definition at line 1487 of file fakeMotionControl.cpp.

◆ setPositionRaw()

bool FakeMotionControl::setPositionRaw ( int  j,
double  ref 
)
overridevirtual

Set new position for a single axis.

Parameters
jjoint number
refspecifies the new ref point
Returns
true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2841 of file fakeMotionControl.cpp.

◆ setPositionsRaw() [1/2]

bool FakeMotionControl::setPositionsRaw ( const double *  refs)
overridevirtual

Set new position for a set of axes.

Parameters
refsspecifies the new reference points
Returns
true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2856 of file fakeMotionControl.cpp.

◆ setPositionsRaw() [2/2]

bool FakeMotionControl::setPositionsRaw ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Set new reference point for all axes.

Parameters
n_jointhow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
refsarray, new reference points, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 refs 10 30 40
Returns
true/false on success/failure

Implements yarp::dev::IPositionDirectRaw.

Definition at line 2847 of file fakeMotionControl.cpp.

◆ setPWMLimitRaw()

bool FakeMotionControl::setPWMLimitRaw ( int  j,
const double  val 
)
overridevirtual

Reimplemented from yarp::dev::IAmplifierControlRaw.

Definition at line 2598 of file fakeMotionControl.cpp.

◆ setRefAccelerationRaw()

bool FakeMotionControl::setRefAccelerationRaw ( int  j,
double  acc 
)
overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters
jjoint number
accacceleration value
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2007 of file fakeMotionControl.cpp.

◆ setRefAccelerationsRaw() [1/2]

bool FakeMotionControl::setRefAccelerationsRaw ( const double *  accs)
overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters
accspointer to the array of acceleration values
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2028 of file fakeMotionControl.cpp.

◆ setRefAccelerationsRaw() [2/2]

bool FakeMotionControl::setRefAccelerationsRaw ( const int  n_joint,
const int *  joints,
const double *  accs 
)
overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters
jointspointer to the array of joint numbers
accspointer to the array with acceleration values
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2156 of file fakeMotionControl.cpp.

◆ setRefCurrentRaw()

bool FakeMotionControl::setRefCurrentRaw ( int  m,
double  curr 
)
overridevirtual

Set the reference value of the current for a single motor.

Parameters
mmotor number
currthe current reference value for motor m
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3150 of file fakeMotionControl.cpp.

◆ setRefCurrentsRaw() [1/2]

bool FakeMotionControl::setRefCurrentsRaw ( const double *  currs)
overridevirtual

Set the reference value of the currents for all motors.

Parameters
currsthe array containt the reference current values
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3140 of file fakeMotionControl.cpp.

◆ setRefCurrentsRaw() [2/2]

bool FakeMotionControl::setRefCurrentsRaw ( const int  n_motor,
const int *  motors,
const double *  currs 
)
overridevirtual

Set the reference value of the current for a group of motors.

Parameters
n_motorsize of motors ans currs arrays
motorspointer to the array of motor numbers
refspointer to the array specifying the new current reference
Returns
true/false on success/failure

Implements yarp::dev::ICurrentControlRaw.

Definition at line 3157 of file fakeMotionControl.cpp.

◆ setRefDutyCycleRaw()

bool FakeMotionControl::setRefDutyCycleRaw ( int  m,
double  ref 
)
overridevirtual

Sets the reference dutycycle of a single motor.

Parameters
mmotor number
refthe dutycycle, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3062 of file fakeMotionControl.cpp.

◆ setRefDutyCyclesRaw()

bool FakeMotionControl::setRefDutyCyclesRaw ( const double *  refs)
overridevirtual

Sets the reference dutycycle for all motors.

Parameters
refsthe dutycycle, expressed as percentage (-100% +100%)
Returns
true/false on success/failure

Implements yarp::dev::IPWMControlRaw.

Definition at line 3070 of file fakeMotionControl.cpp.

◆ setRefSpeedRaw()

bool FakeMotionControl::setRefSpeedRaw ( int  j,
double  sp 
)
overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters
jjoint number
spspeed value
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1987 of file fakeMotionControl.cpp.

◆ setRefSpeedsRaw() [1/2]

bool FakeMotionControl::setRefSpeedsRaw ( const double *  spds)
overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters
spdspointer to the array of speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 1996 of file fakeMotionControl.cpp.

◆ setRefSpeedsRaw() [2/2]

bool FakeMotionControl::setRefSpeedsRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters
jointspointer to the array of joint numbers
spdspointer to the array with speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2143 of file fakeMotionControl.cpp.

◆ setRefTorqueRaw()

bool FakeMotionControl::setRefTorqueRaw ( int  j,
double  t 
)
overridevirtual

Set the reference value of the torque for a given joint.

Parameters
jjoint number
tnew value
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2764 of file fakeMotionControl.cpp.

◆ setRefTorquesRaw() [1/2]

bool FakeMotionControl::setRefTorquesRaw ( const double *  t)
overridevirtual

Set the reference value of the torque for all joints.

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControlRaw.

Definition at line 2756 of file fakeMotionControl.cpp.

◆ setRefTorquesRaw() [2/2]

bool FakeMotionControl::setRefTorquesRaw ( const int  n_joint,
const int *  joints,
const double *  t 
)
overridevirtual

Set new torque reference for a subset of joints.

Parameters
jointspointer to the array of joint numbers
refspointer to the array specifying the new torque reference
Returns
true/false on success/failure

Reimplemented from yarp::dev::ITorqueControlRaw.

Definition at line 2769 of file fakeMotionControl.cpp.

◆ setTemperatureLimitRaw()

bool FakeMotionControl::setTemperatureLimitRaw ( 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
mmotor number
tempthe temperature limit to be set
Returns
true/false

Implements yarp::dev::IMotorRaw.

Definition at line 3056 of file fakeMotionControl.cpp.

◆ setVelLimitsRaw()

bool FakeMotionControl::setVelLimitsRaw ( int  axis,
double  min,
double  max 
)
overridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters
axisjoint number
minthe value of the lower limit
maxthe value of the upper limit
Returns
true or false on success or failure

Implements yarp::dev::IControlLimitsRaw.

Definition at line 2717 of file fakeMotionControl.cpp.

◆ stopRaw() [1/3]

bool FakeMotionControl::stopRaw ( )
overridevirtual

Stop motion, multiple joints.

Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2079 of file fakeMotionControl.cpp.

◆ stopRaw() [2/3]

bool FakeMotionControl::stopRaw ( const int  n_joint,
const int *  joints 
)
overridevirtual

Stop motion for subset of joints.

Parameters
jointspointer to the array of joint numbers
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2195 of file fakeMotionControl.cpp.

◆ stopRaw() [3/3]

bool FakeMotionControl::stopRaw ( int  j)
overridevirtual

Stop motion, single joint.

Parameters
jjoint number
Returns
true/false on success/failure

Implements yarp::dev::IPositionControlRaw.

Definition at line 2074 of file fakeMotionControl.cpp.

◆ threadInit()

bool FakeMotionControl::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 474 of file fakeMotionControl.cpp.

◆ threadRelease()

void FakeMotionControl::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 495 of file fakeMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasureRaw() [1/2]

bool FakeMotionControl::updateVirtualAnalogSensorMeasureRaw ( int  ch,
double &  measure 
)
overridevirtual

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3206 of file fakeMotionControl.cpp.

◆ updateVirtualAnalogSensorMeasureRaw() [2/2]

bool FakeMotionControl::updateVirtualAnalogSensorMeasureRaw ( yarp::sig::Vector measure)
overridevirtual

Set a vector of torque values for virtual sensor.

Parameters
measurea vector containing the sensor's last readings.
Returns
true if ok, false otherwise.

Implements yarp::dev::IVirtualAnalogSensorRaw.

Definition at line 3197 of file fakeMotionControl.cpp.

◆ velocityMoveRaw() [1/3]

bool FakeMotionControl::velocityMoveRaw ( const double *  sp)
overridevirtual

Start motion at a given speed, multiple joints.

Parameters
sppointer to the array containing the new speed values
Returns
true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 1843 of file fakeMotionControl.cpp.

◆ velocityMoveRaw() [2/3]

bool FakeMotionControl::velocityMoveRaw ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Start motion at a given speed for a subset of joints.

Parameters
n_jointhow many joints this command is referring to
jointspointer to the array of joint numbers
spdspointer to the array containing the new speed values
Returns
true/false upon success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 2830 of file fakeMotionControl.cpp.

◆ velocityMoveRaw() [3/3]

bool FakeMotionControl::velocityMoveRaw ( int  j,
double  sp 
)
overridevirtual

Start motion at a given speed, single joint.

Parameters
jjoint number
spspeed value
Returns
bool/false upone success/failure

Implements yarp::dev::IVelocityControlRaw.

Definition at line 1827 of file fakeMotionControl.cpp.


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