YARP
Yet Another Robot Platform

Control board, encoder interface. More...

#include <yarp/dev/IMotor.h>

+ Inheritance diagram for yarp:

Detailed Description

Control board, encoder interface.

An interface for retrieving intrinsic parameter from a depth camera.

An interface for retrieving intrinsic parameter from a rgb camera.

IRemoteVariables interface.

Definition at line 97 of file IMotor.h.

Public Member Functions

virtual ~IMotor ()
 Destructor. More...
 
virtual bool getNumberOfMotors (int *num)=0
 Get the number of available motors. More...
 
virtual bool getTemperature (int m, double *val)=0
 Get temperature of a motor. More...
 
virtual bool getTemperatures (double *vals)=0
 Get temperature of all the motors. More...
 
virtual bool getTemperatureLimit (int m, double *temp)=0
 Retreives the current temperature limit for a specific motor. More...
 
virtual bool setTemperatureLimit (int m, const double temp)=0
 Set the temperature limit for a specific motor. More...
 
virtual bool getGearboxRatio (int m, double *val)
 Get the gearbox ratio for a specific motor. More...
 
virtual bool setGearboxRatio (int m, const double val)
 Set the gearbox ratio for a specific motor. More...
 
virtual ~IMotorEncoders ()
 Destructor. More...
 
virtual bool getNumberOfMotorEncoders (int *num)=0
 Get the number of available motor encoders. More...
 
virtual bool resetMotorEncoder (int m)=0
 Reset motor encoder, single motor. More...
 
virtual bool resetMotorEncoders ()=0
 Reset motor encoders. More...
 
virtual bool setMotorEncoderCountsPerRevolution (int m, const double cpr)=0
 Sets number of counts per revolution for motor encoder m. More...
 
virtual bool getMotorEncoderCountsPerRevolution (int m, double *cpr)=0
 Gets number of counts per revolution for motor encoder m. More...
 
virtual bool setMotorEncoder (int m, const double val)=0
 Set the value of the motor encoder for a given motor. More...
 
virtual bool setMotorEncoders (const double *vals)=0
 Set the value of all motor encoders. More...
 
virtual bool getMotorEncoder (int m, double *v)=0
 Read the value of a motor encoder. More...
 
virtual bool getMotorEncoders (double *encs)=0
 Read the position of all motor encoders. More...
 
virtual bool getMotorEncodersTimed (double *encs, double *time)=0
 Read the instantaneous position of all motor encoders. More...
 
virtual bool getMotorEncoderTimed (int m, double *encs, double *time)=0
 Read the instantaneous position of a motor encoder. More...
 
virtual bool getMotorEncoderSpeed (int m, double *sp)=0
 Read the istantaneous speed of a motor encoder. More...
 
virtual bool getMotorEncoderSpeeds (double *spds)=0
 Read the instantaneous speed of all motor encoders. More...
 
virtual bool getMotorEncoderAcceleration (int m, double *acc)=0
 Read the instantaneous acceleration of a motor encoder. More...
 
virtual bool getMotorEncoderAccelerations (double *accs)=0
 Read the instantaneous acceleration of all motor encoders. More...
 
 ImplementMotor (yarp::dev::IMotorRaw *y)
 
virtual ~ImplementMotor ()
 
virtual bool getNumberOfMotors (int *num) override
 
virtual bool getTemperature (int m, double *val) override
 
virtual bool getTemperatures (double *vals) override
 
virtual bool getTemperatureLimit (int m, double *val) override
 
virtual bool setTemperatureLimit (int m, const double val) override
 
virtual bool getGearboxRatio (int m, double *val) override
 
virtual bool setGearboxRatio (int m, const double val) override
 
 ImplementMotorEncoders (yarp::dev::IMotorEncodersRaw *y)
 
virtual ~ImplementMotorEncoders ()
 
virtual bool getNumberOfMotorEncoders (int *num) override
 
virtual bool resetMotorEncoder (int m) override
 
virtual bool resetMotorEncoders () override
 
virtual bool setMotorEncoder (int m, const double val) override
 
virtual bool setMotorEncoders (const double *vals) override
 
virtual bool setMotorEncoderCountsPerRevolution (int m, const double cpr) override
 
virtual bool getMotorEncoderCountsPerRevolution (int m, double *cpr) override
 
virtual bool getMotorEncoder (int m, double *v) override
 
virtual bool getMotorEncodersTimed (double *encs, double *time) override
 
virtual bool getMotorEncoderTimed (int m, double *v, double *t) override
 
virtual bool getMotorEncoders (double *encs) override
 
virtual bool getMotorEncoderSpeed (int m, double *spds) override
 
virtual bool getMotorEncoderSpeeds (double *spds) override
 
virtual bool getMotorEncoderAcceleration (int m, double *spds) override
 
virtual bool getMotorEncoderAccelerations (double *accs) override
 
 ImplementRemoteVariables (yarp::dev::IRemoteVariablesRaw *y)
 
virtual ~ImplementRemoteVariables ()
 
virtual bool getRemoteVariable (std::string key, yarp::os::Bottle &val) override
 
virtual bool setRemoteVariable (std::string key, const yarp::os::Bottle &val) override
 
virtual bool getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override
 
virtual ~IRemoteVariables ()
 Destructor. More...
 
virtual bool getRemoteVariable (std::string key, yarp::os::Bottle &val)=0
 
virtual bool setRemoteVariable (std::string key, const yarp::os::Bottle &val)=0
 
virtual bool getRemoteVariablesList (yarp::os::Bottle *listOfKeys)=0
 
virtual ~IRgbVisualParams ()
 
virtual int getRgbHeight ()=0
 Return the height of each frame. More...
 
virtual int getRgbWidth ()=0
 Return the width of each frame. More...
 
virtual bool getRgbSupportedConfigurations (yarp::sig::VectorOf< yarp::dev::CameraConfig > &configurations)
 Get the possible configurations of the camera. More...
 
virtual bool getRgbResolution (int &width, int &height)
 Get the resolution of the rgb image from the camera. More...
 
virtual bool setRgbResolution (int width, int height)=0
 Set the resolution of the rgb image from the camera. More...
 
virtual bool getRgbFOV (double &horizontalFov, double &verticalFov)=0
 Get the field of view (FOV) of the rgb camera. More...
 
virtual bool setRgbFOV (double horizontalFov, double verticalFov)=0
 Set the field of view (FOV) of the rgb camera. More...
 
virtual bool getRgbIntrinsicParam (yarp::os::Property &intrinsic)=0
 Get the intrinsic parameters of the rgb camera. More...
 
virtual bool getRgbMirroring (bool &mirror)=0
 Get the mirroring setting of the sensor. More...
 
virtual bool setRgbMirroring (bool mirror)=0
 Set the mirroring setting of the sensor. More...
 
virtual ~IDepthVisualParams ()
 
virtual int getDepthHeight ()=0
 Return the height of each frame. More...
 
virtual int getDepthWidth ()=0
 Return the height of each frame. More...
 
virtual bool setDepthResolution (int width, int height)=0
 Set the resolution of the depth image from the camera. More...
 
virtual bool getDepthFOV (double &horizontalFov, double &verticalFov)=0
 Get the field of view (FOV) of the depth camera. More...
 
virtual bool setDepthFOV (double horizontalFov, double verticalFov)=0
 Set the field of view (FOV) of the depth camera. More...
 
virtual bool getDepthIntrinsicParam (yarp::os::Property &intrinsic)=0
 Get the intrinsic parameters of the depth camera. More...
 
virtual double getDepthAccuracy ()=0
 Get the accuracy of the depth measure in [meter]. More...
 
virtual bool setDepthAccuracy (double accuracy)=0
 Set the accuracy of the depth measure in [meter] when possible. More...
 
virtual bool getDepthClipPlanes (double &nearPlane, double &farPlane)=0
 Get the clipping planes of the sensor. More...
 
virtual bool setDepthClipPlanes (double nearPlane, double farPlane)=0
 Set the clipping planes of the sensor. More...
 
virtual bool getDepthMirroring (bool &mirror)=0
 Get the mirroring setting of the sensor. More...
 
virtual bool setDepthMirroring (bool mirror)=0
 Set the mirroring setting of the sensor. More...
 

Protected Member Functions

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

Protected Attributes

IMotorRaw * imotor
 
void * helper
 
int nj
 
IMotorEncodersRaw * iMotorEncoders
 
IRemoteVariablesRaw * ivar
 
double * temp1
 
double * temp2
 

Constructor & Destructor Documentation

◆ ~IMotor()

virtual yarp::~IMotor ( )
inlinevirtual

Destructor.

Definition at line 103 of file IMotor.h.

◆ ~IMotorEncoders()

virtual yarp::~IMotorEncoders ( )
inlinevirtual

Destructor.

Definition at line 159 of file IMotorEncoders.h.

◆ ~ImplementMotor()

virtual yarp::~ImplementMotor ( )
virtual

◆ ~ImplementMotorEncoders()

virtual yarp::~ImplementMotorEncoders ( )
virtual

◆ ~ImplementRemoteVariables()

virtual yarp::~ImplementRemoteVariables ( )
virtual

◆ ~IRemoteVariables()

virtual yarp::~IRemoteVariables ( )
inlinevirtual

Destructor.

Definition at line 52 of file IRemoteVariables.h.

◆ ~IRgbVisualParams()

virtual yarp::~IRgbVisualParams ( )
inlinevirtual

Definition at line 81 of file IVisualParams.h.

◆ ~IDepthVisualParams()

virtual yarp::~IDepthVisualParams ( )
inlinevirtual

Definition at line 191 of file IVisualParams.h.

Member Function Documentation

◆ getDepthAccuracy()

virtual double yarp::getDepthAccuracy ( )
pure virtual

Get the accuracy of the depth measure in [meter].

Returns
the accuracy of the sensor in meters.

◆ getDepthClipPlanes()

virtual bool yarp::getDepthClipPlanes ( double &  nearPlane,
double &  farPlane 
)
pure virtual

Get the clipping planes of the sensor.

Parameters
nearPlaneminimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlanemaximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.
Returns
true if success

◆ getDepthFOV()

virtual bool yarp::getDepthFOV ( double &  horizontalFov,
double &  verticalFov 
)
pure virtual

Get the field of view (FOV) of the depth camera.

Parameters
horizontalFovwill return the value of the horizontal fov in degrees
verticalFovwill return the value of the vertical fov in degrees
Returns
true if success

◆ getDepthHeight()

virtual int yarp::getDepthHeight ( )
pure virtual

Return the height of each frame.

Returns
depth image height

◆ getDepthIntrinsicParam()

virtual bool yarp::getDepthIntrinsicParam ( yarp::os::Property intrinsic)
pure virtual

Get the intrinsic parameters of the depth camera.

Parameters
intrinsicreturn a Property containing intrinsic parameters of the optical model of the camera.
Returns
true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

Parameter name SubParameter Type Units Default Value Required Description Notes
focalLengthX - double mm - Yes
focalLengthY - double mm - Yes
principalPointX - double pixel - Yes
principalPointY - double pixel - Yes
retificationMatrix - 4x4 double matrix - - Yes
distortionModel - string - - Yes Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup' This is another group's name to be searched for in the config file
cameraDistortionModelGroup
name string - - Yes Name of the distortion model, see notes right now only 'plumb_bob' is supported
k1 double - - Yes Radial distortion coefficient of the lens
k2 double - - Yes Radial distortion coefficient of the lens
k3 double - - Yes Radial distortion coefficient of the lens
t1 double - - Yes Tangential distortion of the lens
t2 double - - Yes Tangential distortion of the lens

◆ getDepthMirroring()

virtual bool yarp::getDepthMirroring ( bool &  mirror)
pure virtual

Get the mirroring setting of the sensor.

Parameters
mirrortrue if image is mirrored, false otherwise
Returns
true if success

◆ getDepthWidth()

virtual int yarp::getDepthWidth ( )
pure virtual

Return the height of each frame.

Returns
depth image height

◆ getGearboxRatio() [1/2]

virtual bool yarp::getGearboxRatio ( int  m,
double *  val 
)
overridevirtual

◆ getGearboxRatio() [2/2]

virtual bool yarp::getGearboxRatio ( int  m,
double *  val 
)
inlinevirtual

Get the gearbox ratio for a specific motor.

Parameters
mmotor number
valretrieved gearbox ratio
Returns
true/false

Definition at line 151 of file IMotor.h.

◆ getMotorEncoder() [1/2]

virtual bool yarp::getMotorEncoder ( int  m,
double *  v 
)
overridevirtual

◆ getMotorEncoder() [2/2]

virtual bool yarp::getMotorEncoder ( int  m,
double *  v 
)
pure virtual

Read the value of a motor encoder.

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

◆ getMotorEncoderAcceleration() [1/2]

virtual bool yarp::getMotorEncoderAcceleration ( int  m,
double *  spds 
)
overridevirtual

◆ getMotorEncoderAcceleration() [2/2]

virtual bool yarp::getMotorEncoderAcceleration ( int  m,
double *  acc 
)
pure virtual

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.

◆ getMotorEncoderAccelerations() [1/2]

virtual bool yarp::getMotorEncoderAccelerations ( double *  accs)
overridevirtual

◆ getMotorEncoderAccelerations() [2/2]

virtual bool yarp::getMotorEncoderAccelerations ( double *  accs)
pure virtual

Read the instantaneous acceleration of all motor encoders.

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

◆ getMotorEncoderCountsPerRevolution() [1/2]

virtual bool yarp::getMotorEncoderCountsPerRevolution ( int  m,
double *  cpr 
)
overridevirtual

◆ getMotorEncoderCountsPerRevolution() [2/2]

virtual bool yarp::getMotorEncoderCountsPerRevolution ( int  m,
double *  cpr 
)
pure virtual

Gets number of counts per revolution for motor encoder m.

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

◆ getMotorEncoders() [1/2]

virtual bool yarp::getMotorEncoders ( double *  encs)
overridevirtual

◆ getMotorEncoders() [2/2]

virtual bool yarp::getMotorEncoders ( double *  encs)
pure virtual

Read the position of all motor encoders.

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

◆ getMotorEncoderSpeed() [1/2]

virtual bool yarp::getMotorEncoderSpeed ( int  m,
double *  spds 
)
overridevirtual

◆ getMotorEncoderSpeed() [2/2]

virtual bool yarp::getMotorEncoderSpeed ( int  m,
double *  sp 
)
pure virtual

Read the istantaneous speed of a motor encoder.

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

◆ getMotorEncoderSpeeds() [1/2]

virtual bool yarp::getMotorEncoderSpeeds ( double *  spds)
overridevirtual

◆ getMotorEncoderSpeeds() [2/2]

virtual bool yarp::getMotorEncoderSpeeds ( double *  spds)
pure virtual

Read the instantaneous speed of all motor encoders.

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

◆ getMotorEncodersTimed() [1/2]

virtual bool yarp::getMotorEncodersTimed ( double *  encs,
double *  time 
)
overridevirtual

◆ getMotorEncodersTimed() [2/2]

virtual bool yarp::getMotorEncodersTimed ( double *  encs,
double *  time 
)
pure virtual

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.

◆ getMotorEncoderTimed() [1/2]

virtual bool yarp::getMotorEncoderTimed ( int  m,
double *  v,
double *  t 
)
overridevirtual

◆ getMotorEncoderTimed() [2/2]

virtual bool yarp::getMotorEncoderTimed ( int  m,
double *  encs,
double *  time 
)
pure virtual

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.

◆ getNumberOfMotorEncoders() [1/2]

virtual bool yarp::getNumberOfMotorEncoders ( int *  num)
overridevirtual

◆ getNumberOfMotorEncoders() [2/2]

virtual bool yarp::getNumberOfMotorEncoders ( int *  num)
pure virtual

Get the number of available motor encoders.

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

◆ getNumberOfMotors() [1/2]

virtual bool yarp::getNumberOfMotors ( int *  num)
overridevirtual

◆ getNumberOfMotors() [2/2]

virtual bool yarp::getNumberOfMotors ( int *  num)
pure virtual

Get the number of available motors.

Parameters
numretrieved number of available motors
Returns
true/false

◆ getRemoteVariable() [1/2]

virtual bool yarp::getRemoteVariable ( std::string  key,
yarp::os::Bottle val 
)
overridevirtual

◆ getRemoteVariable() [2/2]

virtual bool yarp::getRemoteVariable ( std::string  key,
yarp::os::Bottle val 
)
pure virtual

◆ getRemoteVariablesList() [1/2]

virtual bool yarp::getRemoteVariablesList ( yarp::os::Bottle listOfKeys)
overridevirtual

◆ getRemoteVariablesList() [2/2]

virtual bool yarp::getRemoteVariablesList ( yarp::os::Bottle listOfKeys)
pure virtual

◆ getRgbFOV()

virtual bool yarp::getRgbFOV ( double &  horizontalFov,
double &  verticalFov 
)
pure virtual

Get the field of view (FOV) of the rgb camera.

Parameters
horizontalFovwill return the value of the horizontal fov in degrees
verticalFovwill return the value of the vertical fov in degrees
Returns
true on success

◆ getRgbHeight()

virtual int yarp::getRgbHeight ( )
pure virtual

Return the height of each frame.

Returns
rgb image height

◆ getRgbIntrinsicParam()

virtual bool yarp::getRgbIntrinsicParam ( yarp::os::Property intrinsic)
pure virtual

Get the intrinsic parameters of the rgb camera.

Parameters
intrinsicreturn a Property containing intrinsic parameters of the optical model of the camera.
Returns
true if success

The yarp::os::Property describing the intrinsic parameters is expected to be in the form:

Parameter name SubParameter Type Units Default Value Required Description Notes
focalLengthX - double mm - Yes Horizontal component of the focal length
focalLengthY - double mm - Yes Vertical component of the focal length
principalPointX - double pixel - Yes X coordinate of the principal point
principalPointY - double pixel - Yes Y coordinate of the principal point
retificationMatrix - 4x4 double matrix - - Yes Matrix that describes the lens' distortion
distortionModel - string - - Yes Reference to group of parameters describing the distortion model of the camera, example 'cameraDistortionModelGroup' This is another group's name to be searched for in the config file
cameraDistortionModelGroup
name string - - Yes Name of the distortion model, see notes right now only 'plumb_bob' is supported
k1 double - - Yes Radial distortion coefficient of the lens
k2 double - - Yes Radial distortion coefficient of the lens
k3 double - - Yes Radial distortion coefficient of the lens
t1 double - - Yes Tangential distortion of the lens
t2 double - - Yes Tangential distortion of the lens

◆ getRgbMirroring()

virtual bool yarp::getRgbMirroring ( bool &  mirror)
pure virtual

Get the mirroring setting of the sensor.

Parameters
mirrortrue if image is mirrored, false otherwise
Returns
true if success

◆ getRgbResolution()

virtual bool yarp::getRgbResolution ( int &  width,
int &  height 
)
inlinevirtual

Get the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

Definition at line 109 of file IVisualParams.h.

◆ getRgbSupportedConfigurations()

virtual bool yarp::getRgbSupportedConfigurations ( yarp::sig::VectorOf< yarp::dev::CameraConfig > &  configurations)
inlinevirtual

Get the possible configurations of the camera.

Parameters
configurationslist of camera supported configurations as CameraConfig type
Returns
true on success

Definition at line 101 of file IVisualParams.h.

◆ getRgbWidth()

virtual int yarp::getRgbWidth ( )
pure virtual

Return the width of each frame.

Returns
rgb image width

◆ getTemperature() [1/2]

virtual bool yarp::getTemperature ( int  m,
double *  val 
)
overridevirtual

◆ getTemperature() [2/2]

virtual bool yarp::getTemperature ( int  m,
double *  val 
)
pure virtual

Get temperature of a motor.

Parameters
mmotor number
valretrieved motor temperature
Returns
true/false

◆ getTemperatureLimit() [1/2]

virtual bool yarp::getTemperatureLimit ( int  m,
double *  val 
)
overridevirtual

◆ getTemperatureLimit() [2/2]

virtual bool yarp::getTemperatureLimit ( int  m,
double *  temp 
)
pure virtual

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

◆ getTemperatures() [1/2]

virtual bool yarp::getTemperatures ( double *  vals)
overridevirtual

◆ getTemperatures() [2/2]

virtual bool yarp::getTemperatures ( double *  vals)
pure virtual

Get temperature of all the motors.

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

◆ ImplementMotor()

yarp::ImplementMotor ( yarp::dev::IMotorRaw y)

◆ ImplementMotorEncoders()

yarp::ImplementMotorEncoders ( yarp::dev::IMotorEncodersRaw y)

◆ ImplementRemoteVariables()

yarp::ImplementRemoteVariables ( yarp::dev::IRemoteVariablesRaw y)

◆ initialize() [1/3]

bool yarp::initialize ( int  size,
const int *  amap 
)
protected

Initialize the internal data and alloc memory.

Parameters
sizeis the number of controlled axes the driver deals with.
amapis a lookup table mapping axes onto physical drivers.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

◆ initialize() [2/3]

bool yarp::initialize ( int  size,
const int *  amap 
)
protected

Initialize the internal data and alloc memory.

Parameters
sizeis the number of controlled axes the driver deals with.
amapis a lookup table mapping axes onto physical drivers.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

◆ initialize() [3/3]

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

Initialize the internal data and alloc memory.

Parameters
sizeis the number of controlled axes the driver deals with.
amapis a lookup table mapping axes onto physical drivers.
encis an array containing the encoder to angles conversion factors.
zosis an array containing the zeros of the encoders.
Returns
true if initialized succeeded, false if it wasn't executed, or assert.

◆ resetMotorEncoder() [1/2]

virtual bool yarp::resetMotorEncoder ( int  m)
overridevirtual

◆ resetMotorEncoder() [2/2]

virtual bool yarp::resetMotorEncoder ( int  m)
pure virtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters
mmotor number
Returns
true/false

◆ resetMotorEncoders() [1/2]

virtual bool yarp::resetMotorEncoders ( )
overridevirtual

◆ resetMotorEncoders() [2/2]

virtual bool yarp::resetMotorEncoders ( )
pure virtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns
true/false

◆ setDepthAccuracy()

virtual bool yarp::setDepthAccuracy ( double  accuracy)
pure virtual

Set the accuracy of the depth measure in [meter] when possible.

Parameters
theaccuracy of the sensor in meters.
Returns
true on success

◆ setDepthClipPlanes()

virtual bool yarp::setDepthClipPlanes ( double  nearPlane,
double  farPlane 
)
pure virtual

Set the clipping planes of the sensor.

Parameters
nearPlaneminimum distance at which the sensor start measuring. Object closer than this distance will not be detected.
farPlanemaximum distance beyond which the sensor stop measuring. Object farther than this distance will not be detected.
Returns
true if success

◆ setDepthFOV()

virtual bool yarp::setDepthFOV ( double  horizontalFov,
double  verticalFov 
)
pure virtual

Set the field of view (FOV) of the depth camera.

Parameters
horizontalFovwill set the value of the horizontal fov in degrees
verticalFovwill set the value of the vertical fov in degrees
Returns
true on success

◆ setDepthMirroring()

virtual bool yarp::setDepthMirroring ( bool  mirror)
pure virtual

Set the mirroring setting of the sensor.

Parameters
mirrortrue if image should be mirrored, false otherwise
Returns
true if success

◆ setDepthResolution()

virtual bool yarp::setDepthResolution ( int  width,
int  height 
)
pure virtual

Set the resolution of the depth image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

◆ setGearboxRatio() [1/2]

virtual bool yarp::setGearboxRatio ( int  m,
const double  val 
)
overridevirtual

◆ setGearboxRatio() [2/2]

virtual bool yarp::setGearboxRatio ( int  m,
const double  val 
)
inlinevirtual

Set the gearbox ratio for a specific motor.

Parameters
mmotor number
gearboxratio to be set
Returns
true/false

Definition at line 159 of file IMotor.h.

◆ setMotorEncoder() [1/2]

virtual bool yarp::setMotorEncoder ( int  m,
const double  val 
)
overridevirtual

◆ setMotorEncoder() [2/2]

virtual bool yarp::setMotorEncoder ( int  m,
const double  val 
)
pure virtual

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

Parameters
mmotor number
valnew value
Returns
true/false

◆ setMotorEncoderCountsPerRevolution() [1/2]

virtual bool yarp::setMotorEncoderCountsPerRevolution ( int  m,
const double  cpr 
)
overridevirtual

◆ setMotorEncoderCountsPerRevolution() [2/2]

virtual bool yarp::setMotorEncoderCountsPerRevolution ( int  m,
const double  cpr 
)
pure virtual

Sets number of counts per revolution for motor encoder m.

Parameters
mmotor number
cprnew value
Returns
true/false

◆ setMotorEncoders() [1/2]

virtual bool yarp::setMotorEncoders ( const double *  vals)
overridevirtual

◆ setMotorEncoders() [2/2]

virtual bool yarp::setMotorEncoders ( const double *  vals)
pure virtual

Set the value of all motor encoders.

Parameters
valspointer to the new values
Returns
true/false

◆ setRemoteVariable() [1/2]

virtual bool yarp::setRemoteVariable ( std::string  key,
const yarp::os::Bottle val 
)
overridevirtual

◆ setRemoteVariable() [2/2]

virtual bool yarp::setRemoteVariable ( std::string  key,
const yarp::os::Bottle val 
)
pure virtual

◆ setRgbFOV()

virtual bool yarp::setRgbFOV ( double  horizontalFov,
double  verticalFov 
)
pure virtual

Set the field of view (FOV) of the rgb camera.

Parameters
horizontalFovwill set the value of the horizontal fov in degrees
verticalFovwill set the value of the vertical fov in degrees
Returns
true on success

◆ setRgbMirroring()

virtual bool yarp::setRgbMirroring ( bool  mirror)
pure virtual

Set the mirroring setting of the sensor.

Parameters
mirrortrue if image should be mirrored, false otherwise
Returns
true if success

◆ setRgbResolution()

virtual bool yarp::setRgbResolution ( int  width,
int  height 
)
pure virtual

Set the resolution of the rgb image from the camera.

Parameters
widthimage width
heightimage height
Returns
true on success

◆ setTemperatureLimit() [1/2]

virtual bool yarp::setTemperatureLimit ( int  m,
const double  val 
)
overridevirtual

◆ setTemperatureLimit() [2/2]

virtual bool yarp::setTemperatureLimit ( int  m,
const double  temp 
)
pure virtual

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

◆ uninitialize() [1/3]

bool yarp::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

◆ uninitialize() [2/3]

bool yarp::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

◆ uninitialize() [3/3]

bool yarp::uninitialize ( )
protected

Clean up internal data and memory.

Returns
true if uninitialization is executed, false otherwise.

Member Data Documentation

◆ helper

void * yarp::helper
protected

Definition at line 24 of file ImplementMotor.h.

◆ imotor

IMotorRaw* yarp::imotor
protected

Definition at line 23 of file ImplementMotor.h.

◆ iMotorEncoders

IMotorEncodersRaw* yarp::iMotorEncoders
protected

Definition at line 23 of file ImplementMotorEncoders.h.

◆ ivar

IRemoteVariablesRaw* yarp::ivar
protected

Definition at line 23 of file ImplementRemoteVariables.h.

◆ nj

int yarp::nj
protected

Definition at line 25 of file ImplementMotor.h.

◆ temp1

double* yarp::temp1
protected

Definition at line 25 of file ImplementRemoteVariables.h.

◆ temp2

double* yarp::temp2
protected

Definition at line 26 of file ImplementRemoteVariables.h.


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