YARP
Yet Another Robot Platform
 
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FakeMotionControl.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_DEVICE_FAKE_MOTIONCONTROL
7#define YARP_DEVICE_FAKE_MOTIONCONTROL
8
9#include <yarp/os/Time.h>
10#include <yarp/os/Bottle.h>
11#include <yarp/sig/Vector.h>
12#include <yarp/os/PeriodicThread.h>
13#include <yarp/dev/DeviceDriver.h>
14#include <yarp/dev/ControlBoardInterfaces.h>
15#include <yarp/dev/ControlBoardInterfacesImpl.h>
16#include <yarp/dev/IVirtualAnalogSensor.h>
17#include <yarp/dev/ImplementVirtualAnalogSensor.h>
18#include <yarp/dev/ImplementPositionControl.h>
19#include <yarp/dev/ImplementVelocityControl.h>
20#include <yarp/dev/ImplementJointFault.h>
21
22#include <mutex>
23#include "FakeMotionControl_ParamsParser.h"
24
25struct ImpedanceLimits
26{
27 double min_stiff;
28 double max_stiff;
29 double min_damp;
30 double max_damp;
31 double param_a;
32 double param_b;
33 double param_c;
34
35public:
36 ImpedanceLimits()
37 {
38 min_stiff=0;
39 max_stiff=0;
40 min_damp=0;
41 max_damp=0;
42 param_a=0;
43 param_b=0;
44 param_c=0;
45 }
46
47 double get_min_stiff()
48 {
49 return min_stiff;
50 }
51 double get_max_stiff()
52 {
53 return max_stiff;
54 }
55 double get_min_damp()
56 {
57 return min_damp;
58 }
59 double get_max_damp()
60 {
61 return max_damp;
62 }
63};
64
72
86class FakeMotionControl :
87 public FakeMotionControl_ParamsParser,
88 public yarp::dev::DeviceDriver,
89 public yarp::os::PeriodicThread,
90 public yarp::dev::IPidControlRaw,
91 public yarp::dev::IControlCalibrationRaw,
92 public yarp::dev::IAmplifierControlRaw,
93 public yarp::dev::IEncodersTimedRaw,
94 public yarp::dev::IMotorEncodersRaw,
95 public yarp::dev::IMotorRaw,
96 public yarp::dev::IPositionControlRaw,
97 public yarp::dev::IVelocityControlRaw,
98 public yarp::dev::IControlModeRaw,
99 public yarp::dev::IControlLimitsRaw,
100 public yarp::dev::IPositionDirectRaw,
101 public yarp::dev::ITorqueControlRaw,
102 public yarp::dev::ICurrentControlRaw,
103 public yarp::dev::IPWMControlRaw,
104 public yarp::dev::IImpedanceControlRaw,
105 public yarp::dev::IInteractionModeRaw,
106 public yarp::dev::IAxisInfoRaw,
107 public yarp::dev::IVirtualAnalogSensorRaw, //*
108 public yarp::dev::IJointFaultRaw,
109 public yarp::dev::ImplementControlCalibration,
110 public yarp::dev::ImplementAmplifierControl,
111 public yarp::dev::ImplementPidControl,
112 public yarp::dev::ImplementEncodersTimed,
113 public yarp::dev::ImplementPositionControl,
114 public yarp::dev::ImplementVelocityControl,
115 public yarp::dev::ImplementControlMode,
116 public yarp::dev::ImplementImpedanceControl,
117 public yarp::dev::ImplementJointFault,
118 public yarp::dev::ImplementMotorEncoders,
119 public yarp::dev::ImplementTorqueControl,
120 public yarp::dev::ImplementControlLimits,
121 public yarp::dev::ImplementPositionDirect,
122 public yarp::dev::ImplementInteractionMode,
123 public yarp::dev::ImplementCurrentControl,
124 public yarp::dev::ImplementPWMControl,
125 public yarp::dev::ImplementMotor,
126 public yarp::dev::ImplementAxisInfo,
127 public yarp::dev::ImplementVirtualAnalogSensor //*
128{
129private:
130 enum VerboseLevel
131 {
132 MUTE = 0, // only errors that prevent device from working
133 QUIET = 1, // adds errors that can cause malfunctioning
134 DEFAULT = 2, // adds warnings // DEFAULT // show noisy messages about back-compatible changes
135 CHATTY = 3, // adds info messages
136 VERBOSE = 4, // adds debug messages
137 VERY_VERBOSE = 5, // adds trace of events (shows thread running and catch if they get stuck)
138 VERY_VERY_VERBOSE = 6 // adds messages printed every cycle, so too much verbose for usage, only for deep debugging
139 };
140
141 std::recursive_mutex _mutex;
142 double _cycleTimestamp;
143 int _njoints;
144 int *_axisMap;
145 double *_angleToEncoder;
146 double *_encodersStamp;
147 double *_ampsToSensor;
148 double *_dutycycleToPWM;
149 float *_DEPRECATED_encoderconversionfactor;
150 float *_DEPRECATED_encoderconversionoffset;
151// uint8_t *_jointEncoderType; /** joint encoder type*/
152 int *_jointEncoderRes;
153 int *_rotorEncoderRes;
154// uint8_t *_rotorEncoderType; /** rotor encoder type*/
155 double *_gearbox;
156 bool *_hasHallSensor;
157 bool *_hasTempSensor;
158 bool *_hasRotorEncoder;
159 bool *_hasRotorEncoderIndex;
160 int *_rotorIndexOffset;
161 int *_motorPoles;
162 double *_rotorlimits_max;
163 double *_rotorlimits_min;
164 yarp::dev::Pid *_ppids;
165 yarp::dev::Pid *_tpids;
166 yarp::dev::Pid *_cpids;
167 yarp::dev::Pid *_vpids;
168 bool *_ppids_ena;
169 bool *_tpids_ena;
170 bool *_cpids_ena;
171 bool *_vpids_ena;
172 double *_ppids_lim;
173 double *_tpids_lim;
174 double *_cpids_lim;
175 double *_vpids_lim;
176 double *_ppids_ref;
177 double *_tpids_ref;
178 double *_cpids_ref;
179 double *_vpids_ref;
180
181 std::string *_axisName;
182 yarp::dev::JointTypeEnum *_jointType;
183// ImpedanceLimits *_impedance_limits; /** impedance limits */
184 double *_limitsMin;
185 double *_limitsMax;
186 double *_kinematic_mj;
187 //double *_currentLimits; /** current limits */
188// MotorCurrentLimits *_currentLimits;
189 double *_maxJntCmdVelocity;
190 double *_maxMotorVelocity;
191 int *_velocityShifts;
192 int *_velocityTimeout;
193 double *_kbemf;
194 double *_ktau;
195 int *_kbemf_scale;
196 int *_ktau_scale;
197 double *_viscousPos;
198 double *_viscousNeg;
199 double *_coulombPos;
200 double *_coulombNeg;
201 double *_velocityThres;
202 int * _filterType;
203 int *_torqueSensorId;
204 int *_torqueSensorChan;
205 double *_maxTorque;
206 double *_newtonsToSensor;
207 bool *checking_motiondone; /* flag telling if I'm already waiting for motion done */
208 double *_last_position_move_time;
209 double *_motorPwmLimits;
210 double *_torques;
212// ImpedanceParameters *_impedance_params; /** impedance parameters */
213
214 bool verbosewhenok;
215 bool useRawEncoderData;
216 bool _pwmIsLimited;
217 bool _torqueControlEnabled;
219 enum torqueControlUnitsType {T_MACHINE_UNITS=0, T_METRIC_UNITS=1};
220 torqueControlUnitsType _torqueControlUnits;
221
222 enum positionControlUnitsType {P_MACHINE_UNITS=0, P_METRIC_UNITS=1};
223 positionControlUnitsType _positionControlUnits;
224
225 // internal stuff
226 bool velocity_watchdog_enabled = false; //false for testing purposes. On the real robot is true.
227 bool openloop_watchdog_enabled = false; //false for testing purposes. On the real robot is true.
228 int *_controlModes = nullptr;
229 int *_hwfault_code = nullptr;
230 std::string *_hwfault_message = nullptr;
231 int *_interactMode = nullptr;
232 bool *_enabledAmp = nullptr; // Middle step toward a full enabled motor controller. Amp (pwm) plus Pid enable command must be sent in order to get the joint into an active state.
233 bool *_enabledPid = nullptr; // Depends on enabledAmp. When both are set, the joint exits the idle mode and goes into position mode. If one of them is disabled, it falls to idle.
234 bool *_calibrated = nullptr; // Flag to know if the calibrate function has been called for the joint
235 double *_posCtrl_references = nullptr; // used for position control.
236 double *_posDir_references = nullptr; // used for position Direct control.
237 double *_ref_speeds = nullptr; // used for position control.
238 double *_command_speeds = nullptr; // used for velocity control.
239 double *_ref_accs = nullptr; // for velocity control, in position min jerk eq is used.
240 double *_ref_torques = nullptr; // for torque control.
241 double *_ref_currents = nullptr;
242 yarp::sig::Vector current, nominalCurrent, maxCurrent, peakCurrent;
243 yarp::sig::Vector pwm, pwmLimit, refpwm, supplyVoltage,last_velocity_command, last_pwm_command;
244 yarp::sig::Vector pos, dpos, vel, speed, acc, loc, amp;
245 double prev_time;
246 bool opened;
247
248 // debugging
249 VerboseLevel verbose;
250public:
251
252 FakeMotionControl();
253 ~FakeMotionControl();
254
255 // Device Driver
256 bool open(yarp::os::Searchable &par) override;
257 bool close() override;
258 bool fromConfig(yarp::os::Searchable &config);
259
260 virtual bool initialised();
261
265 bool alloc(int njoints);
266
270 void resizeBuffers();
271
272 bool threadInit() override;
273 void threadRelease() override;
274
276 bool setPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, const yarp::dev::Pid &pid) override;
277 bool setPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const yarp::dev::Pid *pids) override;
278 bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double ref) override;
279 bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *refs) override;
280 bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double limit) override;
281 bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *limits) override;
282 bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *err) override;
283 bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum& pidtype, double *errs) override;
284 bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *out) override;
285 bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *outs) override;
286 bool getPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, yarp::dev::Pid *pid) override;
287 bool getPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype, yarp::dev::Pid *pids) override;
288 bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *ref) override;
289 bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *refs) override;
290 bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *limit) override;
291 bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *limits) override;
292 bool resetPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
293 bool disablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
294 bool enablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
295 bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double v) override;
296 bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum& pidtype, int j, bool* enabled) override;
297
298 // POSITION CONTROL INTERFACE RAW
299 bool getAxes(int *ax) override;
300 bool positionMoveRaw(int j, double ref) override;
301 bool positionMoveRaw(const double *refs) override;
302 bool relativeMoveRaw(int j, double delta) override;
303 bool relativeMoveRaw(const double *deltas) override;
304 bool checkMotionDoneRaw(bool *flag) override;
305 bool checkMotionDoneRaw(int j, bool *flag) override;
306 bool setRefSpeedRaw(int j, double sp) override;
307 bool setRefSpeedsRaw(const double *spds) override;
308 bool setRefAccelerationRaw(int j, double acc) override;
309 bool setRefAccelerationsRaw(const double *accs) override;
310 bool getRefSpeedRaw(int j, double *ref) override;
311 bool getRefSpeedsRaw(double *spds) override;
312 bool getRefAccelerationRaw(int j, double *acc) override;
313 bool getRefAccelerationsRaw(double *accs) override;
314 bool stopRaw(int j) override;
315 bool stopRaw() override;
316
317 // Position Control2 Interface
318 bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override;
319 bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas) override;
320 bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override;
321 bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override;
322 bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override;
323 bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override;
324 bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override;
325 bool stopRaw(const int n_joint, const int *joints) override;
326 bool getTargetPositionRaw(const int joint, double *ref) override;
327 bool getTargetPositionsRaw(double *refs) override;
328 bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override;
329
330 // Velocity control interface raw
331 bool velocityMoveRaw(int j, double sp) override;
332 bool velocityMoveRaw(const double *sp) override;
333
334 // IJointFault
335 bool getLastJointFaultRaw(int j, int& fault, std::string& message) override;
336
337 // calibration2raw
338 bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters& params) override;
339 bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override;
340 bool calibrationDoneRaw(int j) override;
341
342
344
345 // ControlMode
346 bool getControlModeRaw(int j, int *v) override;
347 bool getControlModesRaw(int *v) override;
348
349 // ControlMode 2
350 bool getControlModesRaw(const int n_joint, const int *joints, int *modes) override;
351 bool setControlModeRaw(const int j, const int mode) override;
352 bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override;
353 bool setControlModesRaw(int *modes) override;
354
356 bool resetEncoderRaw(int j) override;
357 bool resetEncodersRaw() override;
358 bool setEncoderRaw(int j, double val) override;
359 bool setEncodersRaw(const double *vals) override;
360 bool getEncoderRaw(int j, double *v) override;
361 bool getEncodersRaw(double *encs) override;
362 bool getEncoderSpeedRaw(int j, double *sp) override;
363 bool getEncoderSpeedsRaw(double *spds) override;
364 bool getEncoderAccelerationRaw(int j, double *spds) override;
365 bool getEncoderAccelerationsRaw(double *accs) override;
367
368 bool getEncodersTimedRaw(double *encs, double *stamps) override;
369 bool getEncoderTimedRaw(int j, double *encs, double *stamp) override;
370
372 bool getNumberOfMotorEncodersRaw(int * num) override;
373 bool resetMotorEncoderRaw(int m) override;
374 bool resetMotorEncodersRaw() override;
375 bool setMotorEncoderRaw(int m, const double val) override;
376 bool setMotorEncodersRaw(const double *vals) override;
377 bool getMotorEncoderRaw(int m, double *v) override;
378 bool getMotorEncodersRaw(double *encs) override;
379 bool getMotorEncoderSpeedRaw(int m, double *sp) override;
380 bool getMotorEncoderSpeedsRaw(double *spds) override;
381 bool getMotorEncoderAccelerationRaw(int m, double *spds) override;
382 bool getMotorEncoderAccelerationsRaw(double *accs) override;
383 bool getMotorEncodersTimedRaw(double *encs, double *stamps) override;
384 bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override;
385 bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override;
386 bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override;
388
390 bool getAxisNameRaw(int axis, std::string& name) override;
391 bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type) override;
393
394 //Internal use, not exposed by YARP (yet)
395 virtual bool getRotorEncoderResolutionRaw(int m, double &rotres);
396 virtual bool getJointEncoderResolutionRaw(int m, double &jntres);
397 virtual bool getJointEncoderTypeRaw(int j, int &type);
398 virtual bool getRotorEncoderTypeRaw(int j, int &type);
399 virtual bool getKinematicMJRaw(int j, double &rotres);
400 virtual bool getHasTempSensorsRaw(int j, int& ret);
401 virtual bool getHasHallSensorRaw(int j, int& ret);
402 virtual bool getHasRotorEncoderRaw(int j, int& ret);
403 virtual bool getHasRotorEncoderIndexRaw(int j, int& ret);
404 virtual bool getMotorPolesRaw(int j, int& poles);
405 virtual bool getRotorIndexOffsetRaw(int j, double& rotorOffset);
406 virtual bool getTorqueControlFilterType(int j, int& type);
407
409 bool enableAmpRaw(int j) override;
410 bool disableAmpRaw(int j) override;
411 bool getCurrentsRaw(double *vals) override;
412 bool getCurrentRaw(int j, double *val) override;
413 bool getNominalCurrentRaw(int m, double *val) override;
414 bool setNominalCurrentRaw(int m, const double val) override;
415 bool setMaxCurrentRaw(int j, double val) override;
416 bool getMaxCurrentRaw(int j, double *val) override;
417 bool getPeakCurrentRaw(int m, double *val) override;
418 bool setPeakCurrentRaw(int m, const double val) override;
419 bool getAmpStatusRaw(int *st) override;
420 bool getAmpStatusRaw(int j, int *st) override;
421 bool getPWMRaw(int j, double* val) override;
422 bool getPWMLimitRaw(int j, double* val) override;
423 bool setPWMLimitRaw(int j, const double val) override;
424 bool getPowerSupplyVoltageRaw(int j, double* val) override;
426
427 // Limits
428 bool setLimitsRaw(int axis, double min, double max) override;
429 bool getLimitsRaw(int axis, double *min, double *max) override;
430 // Limits 2
431 bool setVelLimitsRaw(int axis, double min, double max) override;
432 bool getVelLimitsRaw(int axis, double *min, double *max) override;
433
434 // Torque control
435 bool getTorqueRaw(int j, double *t) override;
436 bool getTorquesRaw(double *t) override;
437 bool getTorqueRangeRaw(int j, double *min, double *max) override;
438 bool getTorqueRangesRaw(double *min, double *max) override;
439 bool setRefTorquesRaw(const double *t) override;
440 bool setRefTorqueRaw(int j, double t) override;
441 bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) override;
442 bool getRefTorquesRaw(double *t) override;
443 bool getRefTorqueRaw(int j, double *t) override;
444 bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override;
445 bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override;
446// int32_t getRefSpeedInTbl(uint8_t boardNum, int j, eOmeas_position_t pos) override;
447
448 // IVelocityControl interface
449 bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
450 bool getRefVelocityRaw(const int joint, double *ref) override;
451 bool getRefVelocitiesRaw(double *refs) override;
452 bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *refs) override;
453
454 // Impedance interface
455 bool getImpedanceRaw(int j, double *stiffness, double *damping) override;
456 bool setImpedanceRaw(int j, double stiffness, double damping) override;
457 bool setImpedanceOffsetRaw(int j, double offset) override;
458 bool getImpedanceOffsetRaw(int j, double *offset) override;
459 bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
460
461 // PositionDirect Interface
462 bool setPositionRaw(int j, double ref) override;
463 bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
464 bool setPositionsRaw(const double *refs) override;
465 bool getRefPositionRaw(const int joint, double *ref) override;
466 bool getRefPositionsRaw(double *refs) override;
467 bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) override;
468
469 // InteractionMode interface
470 bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum* _mode) override;
471 bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
472 bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
473 bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override;
474 bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
475 bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
476
477 // IMotor interface
478 bool getNumberOfMotorsRaw(int * num) override;
479 bool getTemperatureRaw(int m, double* val) override;
480 bool getTemperaturesRaw(double *vals) override;
481 bool getTemperatureLimitRaw(int m, double *temp) override;
482 bool setTemperatureLimitRaw(int m, const double temp) override;
483 bool getGearboxRatioRaw(int m, double* gearbox) override;
484 bool setGearboxRatioRaw(int m, const double val) override;
485
486 // PWM interface
487 bool setRefDutyCycleRaw(int j, double v) override;
488 bool setRefDutyCyclesRaw(const double *v) override;
489 bool getRefDutyCycleRaw(int j, double *v) override;
490 bool getRefDutyCyclesRaw(double *v) override;
491 bool getDutyCycleRaw(int j, double *v) override;
492 bool getDutyCyclesRaw(double *v) override;
493
494 // Current interface
495 //bool getAxes(int *ax) override;
496 //bool getCurrentRaw(int j, double *t) override;
497 //bool getCurrentsRaw(double *t) override;
498 bool getCurrentRangeRaw(int j, double *min, double *max) override;
499 bool getCurrentRangesRaw(double *min, double *max) override;
500 bool setRefCurrentsRaw(const double *t) override;
501 bool setRefCurrentRaw(int j, double t) override;
502 bool setRefCurrentsRaw(const int n_joint, const int *joints, const double *t) override;
503 bool getRefCurrentsRaw(double *t) override;
504 bool getRefCurrentRaw(int j, double *t) override;
505
506 yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override;
507 int getVirtualAnalogSensorChannelsRaw() override;
508 bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override;
509 bool updateVirtualAnalogSensorMeasureRaw(int ch, double &measure) override;
510
511 void run() override;
512private:
513 void cleanup();
514 bool dealloc();
515
516 //bool parsePositionPidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[]);
517 //bool parseTorquePidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[], double kbemf[], double ktau[], int filterType[], double viscousPos[], double viscousNeg[], double coulombPos[], double coulombNeg[], double velocityThres[]);
518 //bool parseImpedanceGroup_NewFormat(yarp::os::Bottle& pidsGroup, ImpedanceParameters vals[]);
519 //bool extractGroup(yarp::os::Bottle &input, yarp::os::Bottle &out, const std::string &key1, const std::string &txt, int size);
520};
521
522#endif // YARP_DEVICE_FAKE_MOTIONCONTROL
ControlBoardInterfaces.h
define control board standard interfaces
FakeMotionControl_ParamsParser.h
IVirtualAnalogSensor.h
virtual analog sensor interface
ret
bool ret
Definition ImplementAxisInfo.cpp:77
Vector.h
contains the definition of a Vector type
FakeMotionControl_ParamsParser
This class is the parameters parser for class FakeMotionControl.
Definition FakeMotionControl_ParamsParser.h:50
FakeMotionControl
fakeMotionControl: The aim of this device is to mimic the expected behavior of a real motion control ...
Definition FakeMotionControl.h:128
FakeMotionControl::getPowerSupplyVoltageRaw
bool getPowerSupplyVoltageRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1925
FakeMotionControl::getRefSpeedRaw
bool getRefSpeedRaw(int j, double *ref) override
Get reference speed for a joint.
Definition FakeMotionControl.cpp:1361
FakeMotionControl::getHasTempSensorsRaw
virtual bool getHasTempSensorsRaw(int j, int &ret)
Definition FakeMotionControl.cpp:1986
FakeMotionControl::setRefCurrentsRaw
bool setRefCurrentsRaw(const double *t) override
Set the reference value of the currents for all motors.
Definition FakeMotionControl.cpp:2518
FakeMotionControl::setRefTorqueRaw
bool setRefTorqueRaw(int j, double t) override
Set the reference value of the torque for a given joint.
Definition FakeMotionControl.cpp:2092
FakeMotionControl::getCurrentsRaw
bool getCurrentsRaw(double *vals) override
Definition FakeMotionControl.cpp:1844
FakeMotionControl::getImpedanceOffsetRaw
bool getImpedanceOffsetRaw(int j, double *offset) override
Get current force Offset for a specific joint.
Definition FakeMotionControl.cpp:2145
FakeMotionControl::getTargetPositionRaw
bool getTargetPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition FakeMotionControl.cpp:2238
FakeMotionControl::getTorqueRangeRaw
bool getTorqueRangeRaw(int j, double *min, double *max) override
Get the full scale of the torque sensor of a given joint.
Definition FakeMotionControl.cpp:2073
FakeMotionControl::getCurrentImpedanceLimitRaw
bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override
Get the current impedandance limits for a specific joint.
Definition FakeMotionControl.cpp:2150
FakeMotionControl::setTemperatureLimitRaw
bool setTemperatureLimitRaw(int m, const double temp) override
Set the temperature limit for a specific motor.
Definition FakeMotionControl.cpp:2434
FakeMotionControl::getPidErrorRaw
bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition FakeMotionControl.cpp:867
FakeMotionControl::setPeakCurrentRaw
bool setPeakCurrentRaw(int m, const double val) override
Definition FakeMotionControl.cpp:1889
FakeMotionControl::velocityMoveRaw
bool velocityMoveRaw(int j, double sp) override
Start motion at a given speed, single joint.
Definition FakeMotionControl.cpp:1133
FakeMotionControl::checkMotionDoneRaw
bool checkMotionDoneRaw(bool *flag) override
Check if the current trajectory is terminated.
Definition FakeMotionControl.cpp:1280
FakeMotionControl::getMotorEncoderSpeedRaw
bool getMotorEncoderSpeedRaw(int m, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition FakeMotionControl.cpp:1770
FakeMotionControl::getJointEncoderTypeRaw
virtual bool getJointEncoderTypeRaw(int j, int &type)
Definition FakeMotionControl.cpp:1971
FakeMotionControl::setRefDutyCycleRaw
bool setRefDutyCycleRaw(int j, double v) override
Sets the reference dutycycle of a single motor.
Definition FakeMotionControl.cpp:2440
FakeMotionControl::getTemperatureRaw
bool getTemperatureRaw(int m, double *val) override
Get temperature of a motor.
Definition FakeMotionControl.cpp:2413
FakeMotionControl::getEncoderAccelerationRaw
bool getEncoderAccelerationRaw(int j, double *spds) override
Read the instantaneous acceleration of an axis.
Definition FakeMotionControl.cpp:1674
FakeMotionControl::getRefAccelerationRaw
bool getRefAccelerationRaw(int j, double *acc) override
Get reference acceleration for a joint.
Definition FakeMotionControl.cpp:1373
FakeMotionControl::getMotorEncoderSpeedsRaw
bool getMotorEncoderSpeedsRaw(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition FakeMotionControl.cpp:1776
FakeMotionControl::setPidsRaw
bool setPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *pids) override
Set new pid value on multiple axes.
Definition FakeMotionControl.cpp:793
FakeMotionControl::setVelLimitsRaw
bool setVelLimitsRaw(int axis, double min, double max) override
Set the software speed limits for a particular axis, the behavior of the control card when these limi...
Definition FakeMotionControl.cpp:2044
FakeMotionControl::getJointTypeRaw
bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
Definition FakeMotionControl.cpp:2030
FakeMotionControl::setMotorEncoderRaw
bool setMotorEncoderRaw(int m, const double val) override
Set the value of the motor encoder for a given motor.
Definition FakeMotionControl.cpp:1723
FakeMotionControl::getPidErrorLimitRaw
bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
Get the error limit for the controller on a specific joint.
Definition FakeMotionControl.cpp:970
FakeMotionControl::getPidOutputRaw
bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
Get the output of the controller (e.g.
Definition FakeMotionControl.cpp:1096
FakeMotionControl::setControlModeRaw
bool setControlModeRaw(const int j, const int mode) override
Definition FakeMotionControl.cpp:1564
FakeMotionControl::getMotorEncoderAccelerationRaw
bool getMotorEncoderAccelerationRaw(int m, double *spds) override
Read the instantaneous acceleration of a motor encoder.
Definition FakeMotionControl.cpp:1786
FakeMotionControl::open
bool open(yarp::os::Searchable &par) override
Open the DeviceDriver.
Definition FakeMotionControl.cpp:514
FakeMotionControl::getHasHallSensorRaw
virtual bool getHasHallSensorRaw(int j, int &ret)
Definition FakeMotionControl.cpp:1991
FakeMotionControl::getTemperatureLimitRaw
bool getTemperatureLimitRaw(int m, double *temp) override
Retreives the current temperature limit for a specific motor.
Definition FakeMotionControl.cpp:2429
FakeMotionControl::getNumberOfMotorsRaw
bool getNumberOfMotorsRaw(int *num) override
Get the number of available motors.
Definition FakeMotionControl.cpp:2407
FakeMotionControl::disableAmpRaw
bool disableAmpRaw(int j) override
Disable the amplifier on a specific joint.
Definition FakeMotionControl.cpp:1832
FakeMotionControl::setMotorTorqueParamsRaw
bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override
Set the motor parameters.
Definition FakeMotionControl.cpp:2178
FakeMotionControl::calibrateAxisWithParamsRaw
bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override
Start calibration, this method is very often platform specific.
Definition FakeMotionControl.cpp:1170
FakeMotionControl::setRefAccelerationRaw
bool setRefAccelerationRaw(int j, double acc) override
Set reference acceleration for a joint.
Definition FakeMotionControl.cpp:1318
FakeMotionControl::initialised
virtual bool initialised()
Definition FakeMotionControl.cpp:484
FakeMotionControl::setGearboxRatioRaw
bool setGearboxRatioRaw(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition FakeMotionControl.cpp:1951
FakeMotionControl::setEncodersRaw
bool setEncodersRaw(const double *vals) override
Set the value of all encoders.
Definition FakeMotionControl.cpp:1619
FakeMotionControl::getPidOutputsRaw
bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition FakeMotionControl.cpp:1119
FakeMotionControl::isPidEnabledRaw
bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
Get the current status (enabled/disabled) of the pid controller.
Definition FakeMotionControl.cpp:1074
FakeMotionControl::setRefSpeedsRaw
bool setRefSpeedsRaw(const double *spds) override
Set reference speed on all joints.
Definition FakeMotionControl.cpp:1307
FakeMotionControl::getTargetPositionsRaw
bool getTargetPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition FakeMotionControl.cpp:2257
FakeMotionControl::getRefDutyCycleRaw
bool getRefDutyCycleRaw(int j, double *v) override
Gets the last reference sent using the setRefDutyCycleRaw function.
Definition FakeMotionControl.cpp:2457
FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw
bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition FakeMotionControl.cpp:1733
FakeMotionControl::setPidErrorLimitsRaw
bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
Get the error limit for the controller on all joints.
Definition FakeMotionControl.cpp:857
FakeMotionControl::getPidReferenceRaw
bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
Get the current reference of the pid controller for a specific joint.
Definition FakeMotionControl.cpp:935
FakeMotionControl::getNominalCurrentRaw
bool getNominalCurrentRaw(int m, double *val) override
Definition FakeMotionControl.cpp:1895
FakeMotionControl::getControlModeRaw
bool getControlModeRaw(int j, int *v) override
Definition FakeMotionControl.cpp:1533
FakeMotionControl::calibrationDoneRaw
bool calibrationDoneRaw(int j) override
Check if the calibration is terminated, on a particular joint.
Definition FakeMotionControl.cpp:1176
FakeMotionControl::threadInit
bool threadInit() override
Initialization method.
Definition FakeMotionControl.cpp:489
FakeMotionControl::getRefDutyCyclesRaw
bool getRefDutyCyclesRaw(double *v) override
Gets the last reference sent using the setRefDutyCyclesRaw function.
Definition FakeMotionControl.cpp:2463
FakeMotionControl::getRefVelocityRaw
bool getRefVelocityRaw(const int joint, double *ref) override
Get the last reference speed set by velocityMove for single joint.
Definition FakeMotionControl.cpp:2276
FakeMotionControl::getEncoderTimedRaw
bool getEncoderTimedRaw(int j, double *encs, double *stamp) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1705
FakeMotionControl::disablePidRaw
bool disablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition FakeMotionControl.cpp:1007
FakeMotionControl::getVirtualAnalogSensorStatusRaw
yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override
Check the status of a given channel.
Definition FakeMotionControl.cpp:2560
FakeMotionControl::getMotorEncodersRaw
bool getMotorEncodersRaw(double *encs) override
Read the position of all motor encoders.
Definition FakeMotionControl.cpp:1759
FakeMotionControl::getTorqueRangesRaw
bool getTorqueRangesRaw(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition FakeMotionControl.cpp:2078
FakeMotionControl::getRefCurrentsRaw
bool getRefCurrentsRaw(double *t) override
Get the reference value of the currents for all motors.
Definition FakeMotionControl.cpp:2545
FakeMotionControl::setRefDutyCyclesRaw
bool setRefDutyCyclesRaw(const double *v) override
Sets the reference dutycycle for all motors.
Definition FakeMotionControl.cpp:2448
FakeMotionControl::getEncoderSpeedRaw
bool getEncoderSpeedRaw(int j, double *sp) override
Read the instantaneous speed of an axis.
Definition FakeMotionControl.cpp:1657
FakeMotionControl::getVirtualAnalogSensorChannelsRaw
int getVirtualAnalogSensorChannelsRaw() override
Get the number of channels of the virtual sensor.
Definition FakeMotionControl.cpp:2565
FakeMotionControl::resetPidRaw
bool resetPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Reset the controller of a given joint, usually sets the current status of the joint as the reference ...
Definition FakeMotionControl.cpp:1002
FakeMotionControl::getCurrentRangesRaw
bool getCurrentRangesRaw(double *min, double *max) override
Get the full scale of the current measurements for all motors motor (e.g.
Definition FakeMotionControl.cpp:2507
FakeMotionControl::getEncoderRaw
bool getEncoderRaw(int j, double *v) override
Read the value of an encoder.
Definition FakeMotionControl.cpp:1634
FakeMotionControl::getPidErrorLimitsRaw
bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition FakeMotionControl.cpp:992
FakeMotionControl::enableAmpRaw
bool enableAmpRaw(int j) override
Enable the amplifier on a specific joint.
Definition FakeMotionControl.cpp:1827
FakeMotionControl::fromConfig
bool fromConfig(yarp::os::Searchable &config)
Definition FakeMotionControl.cpp:592
FakeMotionControl::getPidsRaw
bool getPidsRaw(const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
Get current pid value for a specific joint.
Definition FakeMotionControl.cpp:922
FakeMotionControl::getRefPositionsRaw
bool getRefPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition FakeMotionControl.cpp:2320
FakeMotionControl::getMotorTorqueParamsRaw
bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override
Get the motor parameters.
Definition FakeMotionControl.cpp:2155
FakeMotionControl::setControlModesRaw
bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
Definition FakeMotionControl.cpp:1583
FakeMotionControl::setRefSpeedRaw
bool setRefSpeedRaw(int j, double sp) override
Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.
Definition FakeMotionControl.cpp:1298
FakeMotionControl::getHasRotorEncoderIndexRaw
virtual bool getHasRotorEncoderIndexRaw(int j, int &ret)
Definition FakeMotionControl.cpp:2001
FakeMotionControl::updateVirtualAnalogSensorMeasureRaw
bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override
Set a vector of torque values for virtual sensor.
Definition FakeMotionControl.cpp:2570
FakeMotionControl::resizeBuffers
void resizeBuffers()
Resize previously allocated buffers.
Definition FakeMotionControl.cpp:159
FakeMotionControl::threadRelease
void threadRelease() override
Release method.
Definition FakeMotionControl.cpp:510
FakeMotionControl::getAmpStatusRaw
bool getAmpStatusRaw(int *st) override
Definition FakeMotionControl.cpp:1873
FakeMotionControl::getLastJointFaultRaw
bool getLastJointFaultRaw(int j, int &fault, std::string &message) override
Definition FakeMotionControl.cpp:2585
FakeMotionControl::setImpedanceRaw
bool setImpedanceRaw(int j, double stiffness, double damping) override
Set current impedance parameters (stiffness,damping) for a specific joint.
Definition FakeMotionControl.cpp:2135
FakeMotionControl::setPWMLimitRaw
bool setPWMLimitRaw(int j, const double val) override
Definition FakeMotionControl.cpp:1919
FakeMotionControl::relativeMoveRaw
bool relativeMoveRaw(int j, double delta) override
Set relative position.
Definition FakeMotionControl.cpp:1231
FakeMotionControl::getMotorPolesRaw
virtual bool getMotorPolesRaw(int j, int &poles)
Definition FakeMotionControl.cpp:2006
FakeMotionControl::getPidRaw
bool getPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *pid) override
Get current pid value for a specific joint.
Definition FakeMotionControl.cpp:899
FakeMotionControl::getCurrentRaw
bool getCurrentRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1837
FakeMotionControl::getPeakCurrentRaw
bool getPeakCurrentRaw(int m, double *val) override
Definition FakeMotionControl.cpp:1883
FakeMotionControl::getDutyCyclesRaw
bool getDutyCyclesRaw(double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition FakeMotionControl.cpp:2478
FakeMotionControl::setEncoderRaw
bool setEncoderRaw(int j, double val) override
Set the value of the encoder for a given joint.
Definition FakeMotionControl.cpp:1614
FakeMotionControl::getRefPositionRaw
bool getRefPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition FakeMotionControl.cpp:2302
FakeMotionControl::getLimitsRaw
bool getLimitsRaw(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition FakeMotionControl.cpp:1939
FakeMotionControl::getRotorIndexOffsetRaw
virtual bool getRotorIndexOffsetRaw(int j, double &rotorOffset)
Definition FakeMotionControl.cpp:2011
FakeMotionControl::getVelLimitsRaw
bool getVelLimitsRaw(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition FakeMotionControl.cpp:2049
FakeMotionControl::setPositionsRaw
bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override
Set new reference point for all axes.
Definition FakeMotionControl.cpp:2219
FakeMotionControl::setPidReferenceRaw
bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
Set the controller reference for a given axis.
Definition FakeMotionControl.cpp:803
FakeMotionControl::resetEncodersRaw
bool resetEncodersRaw() override
Reset encoders.
Definition FakeMotionControl.cpp:1629
FakeMotionControl::getPWMRaw
bool getPWMRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1907
FakeMotionControl::getAxisNameRaw
bool getAxisNameRaw(int axis, std::string &name) override
Definition FakeMotionControl.cpp:2016
FakeMotionControl::setCalibrationParametersRaw
bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition FakeMotionControl.cpp:1164
FakeMotionControl::setPidOffsetRaw
bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
Set an offset value on the ourput of pid controller.
Definition FakeMotionControl.cpp:1051
FakeMotionControl::getInteractionModeRaw
bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum *_mode) override
Get the current interaction mode of the robot, values can be stiff or compliant.
Definition FakeMotionControl.cpp:2342
FakeMotionControl::getCurrentRangeRaw
bool getCurrentRangeRaw(int j, double *min, double *max) override
Get the full scale of the current measurement for a given motor (e.g.
Definition FakeMotionControl.cpp:2499
FakeMotionControl::stopRaw
bool stopRaw() override
Stop motion, multiple joints.
Definition FakeMotionControl.cpp:1391
FakeMotionControl::getKinematicMJRaw
virtual bool getKinematicMJRaw(int j, double &rotres)
Definition FakeMotionControl.cpp:1981
FakeMotionControl::getRefSpeedsRaw
bool getRefSpeedsRaw(double *spds) override
Get reference speed of all joints.
Definition FakeMotionControl.cpp:1367
FakeMotionControl::getRefAccelerationsRaw
bool getRefAccelerationsRaw(double *accs) override
Get reference acceleration of all joints.
Definition FakeMotionControl.cpp:1379
FakeMotionControl::getJointEncoderResolutionRaw
virtual bool getJointEncoderResolutionRaw(int m, double &jntres)
Definition FakeMotionControl.cpp:1966
FakeMotionControl::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition FakeMotionControl.cpp:1185
FakeMotionControl::setMaxCurrentRaw
bool setMaxCurrentRaw(int j, double val) override
Definition FakeMotionControl.cpp:1855
FakeMotionControl::alloc
bool alloc(int njoints)
Allocated buffers.
Definition FakeMotionControl.cpp:199
FakeMotionControl::resetMotorEncodersRaw
bool resetMotorEncodersRaw() override
Reset motor encoders.
Definition FakeMotionControl.cpp:1748
FakeMotionControl::setRefTorquesRaw
bool setRefTorquesRaw(const double *t) override
Set the reference value of the torque for all joints.
Definition FakeMotionControl.cpp:2083
FakeMotionControl::getEncodersRaw
bool getEncodersRaw(double *encs) override
Read the position of all axes.
Definition FakeMotionControl.cpp:1645
FakeMotionControl::setRefAccelerationsRaw
bool setRefAccelerationsRaw(const double *accs) override
Set reference acceleration on all joints.
Definition FakeMotionControl.cpp:1339
FakeMotionControl::getControlModesRaw
bool getControlModesRaw(int *v) override
Definition FakeMotionControl.cpp:1544
FakeMotionControl::setPidRaw
bool setPidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &pid) override
Set new pid value for a joint axis.
Definition FakeMotionControl.cpp:770
FakeMotionControl::getPWMLimitRaw
bool getPWMLimitRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1913
FakeMotionControl::getRotorEncoderTypeRaw
virtual bool getRotorEncoderTypeRaw(int j, int &type)
Definition FakeMotionControl.cpp:1976
FakeMotionControl::getRefCurrentRaw
bool getRefCurrentRaw(int j, double *t) override
Get the reference value of the current for a single motor.
Definition FakeMotionControl.cpp:2554
FakeMotionControl::getDutyCycleRaw
bool getDutyCycleRaw(int j, double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition FakeMotionControl.cpp:2472
FakeMotionControl::setPidErrorLimitRaw
bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
Set the error limit for the controller on a specific joint.
Definition FakeMotionControl.cpp:835
FakeMotionControl::getInteractionModesRaw
bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition FakeMotionControl.cpp:2351
FakeMotionControl::positionMoveRaw
bool positionMoveRaw(int j, double ref) override
Set new reference point for a single axis.
Definition FakeMotionControl.cpp:1192
FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw
bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override
Gets number of counts per revolution for motor encoder m.
Definition FakeMotionControl.cpp:1738
FakeMotionControl::setImpedanceOffsetRaw
bool setImpedanceOffsetRaw(int j, double offset) override
Set current force Offset for a specific joint.
Definition FakeMotionControl.cpp:2140
FakeMotionControl::setMotorEncodersRaw
bool setMotorEncodersRaw(const double *vals) override
Set the value of all motor encoders.
Definition FakeMotionControl.cpp:1728
FakeMotionControl::getPidErrorsRaw
bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition FakeMotionControl.cpp:889
FakeMotionControl::getGearboxRatioRaw
bool getGearboxRatioRaw(int m, double *gearbox) override
Get the gearbox ratio for a specific motor.
Definition FakeMotionControl.cpp:1946
FakeMotionControl::getMaxCurrentRaw
bool getMaxCurrentRaw(int j, double *val) override
Returns the maximum electric current allowed for a given motor.
Definition FakeMotionControl.cpp:1861
FakeMotionControl::close
bool close() override
Close the DeviceDriver.
Definition FakeMotionControl.cpp:732
FakeMotionControl::getRefTorquesRaw
bool getRefTorquesRaw(double *t) override
Get the reference value of the torque for all joints.
Definition FakeMotionControl.cpp:2113
FakeMotionControl::setRefCurrentRaw
bool setRefCurrentRaw(int j, double t) override
Set the reference value of the current for a single motor.
Definition FakeMotionControl.cpp:2528
FakeMotionControl::getNumberOfMotorEncodersRaw
bool getNumberOfMotorEncodersRaw(int *num) override
Get the number of available motor encoders.
Definition FakeMotionControl.cpp:1717
FakeMotionControl::getPidReferencesRaw
bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition FakeMotionControl.cpp:957
FakeMotionControl::getTorqueRaw
bool getTorqueRaw(int j, double *t) override
Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).
Definition FakeMotionControl.cpp:2058
FakeMotionControl::getImpedanceRaw
bool getImpedanceRaw(int j, double *stiffness, double *damping) override
Get current impedance parameters (stiffness,damping,offset) for a specific joint.
Definition FakeMotionControl.cpp:2130
FakeMotionControl::enablePidRaw
bool enablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition FakeMotionControl.cpp:1029
FakeMotionControl::getRefVelocitiesRaw
bool getRefVelocitiesRaw(double *refs) override
Get the last reference speed set by velocityMove for all joints.
Definition FakeMotionControl.cpp:2282
FakeMotionControl::setPositionRaw
bool setPositionRaw(int j, double ref) override
Set new position for a single axis.
Definition FakeMotionControl.cpp:2213
FakeMotionControl::getEncoderAccelerationsRaw
bool getEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1682
FakeMotionControl::setPidReferencesRaw
bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition FakeMotionControl.cpp:825
FakeMotionControl::getMotorEncoderRaw
bool getMotorEncoderRaw(int m, double *v) override
Read the value of a motor encoder.
Definition FakeMotionControl.cpp:1753
FakeMotionControl::getRefTorqueRaw
bool getRefTorqueRaw(int j, double *t) override
Set the reference value of the torque for a given joint.
Definition FakeMotionControl.cpp:2122
FakeMotionControl::getMotorEncoderAccelerationsRaw
bool getMotorEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition FakeMotionControl.cpp:1792
FakeMotionControl::setInteractionModesRaw
bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum *modes) override
Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.
Definition FakeMotionControl.cpp:2386
FakeMotionControl::getTemperaturesRaw
bool getTemperaturesRaw(double *vals) override
Get temperature of all the motors.
Definition FakeMotionControl.cpp:2419
FakeMotionControl::resetMotorEncoderRaw
bool resetMotorEncoderRaw(int m) override
Reset motor encoder, single motor.
Definition FakeMotionControl.cpp:1743
FakeMotionControl::setNominalCurrentRaw
bool setNominalCurrentRaw(int m, const double val) override
Definition FakeMotionControl.cpp:1901
FakeMotionControl::getRotorEncoderResolutionRaw
virtual bool getRotorEncoderResolutionRaw(int m, double &rotres)
Definition FakeMotionControl.cpp:1961
FakeMotionControl::getHasRotorEncoderRaw
virtual bool getHasRotorEncoderRaw(int j, int &ret)
Definition FakeMotionControl.cpp:1996
FakeMotionControl::getMotorEncodersTimedRaw
bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous position of all motor encoders.
Definition FakeMotionControl.cpp:1802
FakeMotionControl::resetEncoderRaw
bool resetEncoderRaw(int j) override
Reset encoder, single joint.
Definition FakeMotionControl.cpp:1624
FakeMotionControl::getTorquesRaw
bool getTorquesRaw(double *t) override
Get the value of the torque for all joints (this is the feedback if you have torque sensors).
Definition FakeMotionControl.cpp:2064
FakeMotionControl::setLimitsRaw
bool setLimitsRaw(int axis, double min, double max) override
Set the software limits for a particular axis, the behavior of the control card when these limits are...
Definition FakeMotionControl.cpp:1933
FakeMotionControl::setInteractionModeRaw
bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override
Set the interaction mode of the robot, values can be stiff or compliant.
Definition FakeMotionControl.cpp:2374
FakeMotionControl::run
void run() override
Loop function.
Definition FakeMotionControl.cpp:34
FakeMotionControl::getMotorEncoderTimedRaw
bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override
Read the instantaneous position of a motor encoder.
Definition FakeMotionControl.cpp:1814
FakeMotionControl::getEncodersTimedRaw
bool getEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1694
FakeMotionControl::getEncoderSpeedsRaw
bool getEncoderSpeedsRaw(double *spds) override
Read the instantaneous acceleration of an axis.
Definition FakeMotionControl.cpp:1664
FakeMotionControl::getTorqueControlFilterType
virtual bool getTorqueControlFilterType(int j, int &type)
Definition FakeMotionControl.cpp:1956
yarp::dev::DeviceDriver
Interface implemented by all device drivers.
Definition DeviceDriver.h:29
yarp::dev::IAmplifierControlRaw
Interface for control devices, amplifier commands.
Definition IAmplifierControl.h:173
yarp::dev::IAxisInfoRaw
Interface for getting information about specific axes, if available.
Definition IAxisInfo.h:72
yarp::dev::IControlCalibrationRaw
Interface for control devices, calibration commands.
Definition IControlCalibration.h:44
yarp::dev::IControlLimitsRaw
Interface for control devices.
Definition IControlLimits.h:78
yarp::dev::IControlModeRaw
Interface for setting control mode in control board.
Definition IControlMode.h:99
yarp::dev::ICurrentControlRaw
Interface for control boards implementing current control.
Definition ICurrentControl.h:110
yarp::dev::IEncodersTimedRaw
Control board, extend encoder raw interface adding timestamps.
Definition IEncodersTimed.h:23
yarp::dev::IImpedanceControlRaw
Interface for control boards implementing impedance control.
Definition IImpedanceControl.h:23
yarp::dev::IInteractionModeRaw
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition IInteractionMode.h:117
yarp::dev::IJointFaultRaw
Interface for getting info about the fault which may occur on a robot.
Definition IJointFault.h:35
yarp::dev::IMotorEncodersRaw
Control board, encoder interface.
Definition IMotorEncoders.h:23
yarp::dev::IMotorRaw
Control board, encoder interface.
Definition IMotor.h:24
yarp::dev::IPWMControlRaw
Interface for controlling an axis, by sending directly a PWM reference signal to a motor.
Definition IPWMControl.h:84
yarp::dev::IPidControlRaw
Interface for a generic control board device implementing a PID controller.
Definition IPidControl.h:27
yarp::dev::IPositionControlRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition IPositionControl.h:25
yarp::dev::IPositionDirectRaw
Interface for a generic control board device implementing position control in encoder coordinates.
Definition IPositionDirect.h:113
yarp::dev::ITorqueControlRaw
Interface for control boards implementing torque control.
Definition ITorqueControl.h:139
yarp::dev::IVelocityControlRaw
Interface for control boards implementig velocity control in encoder coordinates.
Definition IVelocityControl.h:24
yarp::dev::IVirtualAnalogSensorRaw
A generic interface to a virtual sensors.
Definition IVirtualAnalogSensor.h:77
yarp::dev::ImplementControlLimits
class ImplementControlLimits; class StubImplControlLimitsRaw;
Definition ImplementControlLimits.h:25
yarp::dev::ImplementInteractionMode
Interface settings the way the robot interacts with the environment: basic interaction types are Stif...
Definition ImplementInteractionMode.h:32
yarp::dev::ImplementPositionControl
Default implementation of the IPositionControl interface.
Definition ImplementPositionControl.h:30
yarp::dev::ImplementPositionDirect
Default implementation of the IPositionDirect interface.
Definition ImplementPositionDirect.h:30
yarp::dev::Pid
Contains the parameters for a PID.
Definition ControlBoardPid.h:24
yarp::os::PeriodicThread
An abstraction for a periodic thread.
Definition PeriodicThread.h:27
yarp::os::Searchable
A base class for nested structures that can be searched.
Definition Searchable.h:31
yarp::dev::PidControlTypeEnum
PidControlTypeEnum
Definition PidEnums.h:15
ImpedanceParameters::limits
ImpedanceLimits limits
Definition FakeMotionControl.h:69