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#include <yarp/dev/ImplementJointBrake.h>
22
23#include <mutex>
24#include "FakeMotionControl_ParamsParser.h"
25
26struct ImpedanceLimits
27{
28 double min_stiff;
29 double max_stiff;
30 double min_damp;
31 double max_damp;
32 double param_a;
33 double param_b;
34 double param_c;
35
36public:
37 ImpedanceLimits()
38 {
39 min_stiff=0;
40 max_stiff=0;
41 min_damp=0;
42 max_damp=0;
43 param_a=0;
44 param_b=0;
45 param_c=0;
46 }
47
48 double get_min_stiff()
49 {
50 return min_stiff;
51 }
52 double get_max_stiff()
53 {
54 return max_stiff;
55 }
56 double get_min_damp()
57 {
58 return min_damp;
59 }
60 double get_max_damp()
61 {
62 return max_damp;
63 }
64};
65
73
87class FakeMotionControl :
88 public FakeMotionControl_ParamsParser,
89 public yarp::dev::DeviceDriver,
90 public yarp::os::PeriodicThread,
91 public yarp::dev::IPidControlRaw,
92 public yarp::dev::IControlCalibrationRaw,
93 public yarp::dev::IAmplifierControlRaw,
94 public yarp::dev::IEncodersTimedRaw,
95 public yarp::dev::IMotorEncodersRaw,
96 public yarp::dev::IMotorRaw,
97 public yarp::dev::IPositionControlRaw,
98 public yarp::dev::IVelocityControlRaw,
99 public yarp::dev::IVelocityDirectRaw,
100 public yarp::dev::IControlModeRaw,
101 public yarp::dev::IControlLimitsRaw,
102 public yarp::dev::IPositionDirectRaw,
103 public yarp::dev::ITorqueControlRaw,
104 public yarp::dev::ICurrentControlRaw,
105 public yarp::dev::IPWMControlRaw,
106 public yarp::dev::IImpedanceControlRaw,
107 public yarp::dev::IInteractionModeRaw,
108 public yarp::dev::IAxisInfoRaw,
109 public yarp::dev::IVirtualAnalogSensorRaw, //*
110 public yarp::dev::IJointBrakeRaw,
111 public yarp::dev::IJointFaultRaw,
112 public yarp::dev::ImplementControlCalibration,
113 public yarp::dev::ImplementAmplifierControl,
114 public yarp::dev::ImplementPidControl,
115 public yarp::dev::ImplementEncodersTimed,
116 public yarp::dev::ImplementPositionControl,
117 public yarp::dev::ImplementVelocityControl,
118 public yarp::dev::ImplementVelocityDirect,
119 public yarp::dev::ImplementControlMode,
120 public yarp::dev::ImplementImpedanceControl,
121 public yarp::dev::ImplementJointBrake,
122 public yarp::dev::ImplementJointFault,
123 public yarp::dev::ImplementMotorEncoders,
124 public yarp::dev::ImplementTorqueControl,
125 public yarp::dev::ImplementControlLimits,
126 public yarp::dev::ImplementPositionDirect,
127 public yarp::dev::ImplementInteractionMode,
128 public yarp::dev::ImplementCurrentControl,
129 public yarp::dev::ImplementPWMControl,
130 public yarp::dev::ImplementMotor,
131 public yarp::dev::ImplementAxisInfo,
132 public yarp::dev::ImplementVirtualAnalogSensor //*
133{
134private:
135 enum VerboseLevel
136 {
137 MUTE = 0, // only errors that prevent device from working
138 QUIET = 1, // adds errors that can cause malfunctioning
139 DEFAULT = 2, // adds warnings // DEFAULT // show noisy messages about back-compatible changes
140 CHATTY = 3, // adds info messages
141 VERBOSE = 4, // adds debug messages
142 VERY_VERBOSE = 5, // adds trace of events (shows thread running and catch if they get stuck)
143 VERY_VERY_VERBOSE = 6 // adds messages printed every cycle, so too much verbose for usage, only for deep debugging
144 };
145
146 std::recursive_mutex _mutex;
147 double _cycleTimestamp;
148 int _njoints;
149 int *_axisMap= nullptr;
150 double* _angleToEncoder = nullptr;
151 double* _encodersStamp = nullptr;
152 double* _ampsToSensor = nullptr;
153 double* _dutycycleToPWM = nullptr;
154 float* _DEPRECATED_encoderconversionfactor = nullptr;
155 float* _DEPRECATED_encoderconversionoffset = nullptr;
156// uint8_t *_jointEncoderType; /** joint encoder type*/
157 int* _jointEncoderRes = nullptr;
158 int* _rotorEncoderRes = nullptr;
159 // uint8_t *_rotorEncoderType= nullptr; /** rotor encoder type*/
160 double* _gearbox = nullptr;
161 bool* _hasHallSensor = nullptr;
162 bool* _hasTempSensor = nullptr;
163 bool* _hasRotorEncoder = nullptr;
164 bool* _hasRotorEncoderIndex = nullptr;
165 int* _rotorIndexOffset = nullptr;
166 int* _motorPoles = nullptr;
167 double* _rotorlimits_max = nullptr;
168 double* _rotorlimits_min = nullptr;
169 yarp::dev::Pid *_ppids= nullptr;
170 yarp::dev::Pid *_tpids= nullptr;
171 yarp::dev::Pid *_cpids= nullptr;
172 yarp::dev::Pid *_vpids= nullptr;
173 bool *_ppids_ena= nullptr;
174 bool *_tpids_ena= nullptr;
175 bool *_cpids_ena= nullptr;
176 bool *_vpids_ena= nullptr;
177 double *_ppids_lim= nullptr;
178 double *_tpids_lim= nullptr;
179 double *_cpids_lim= nullptr;
180 double *_vpids_lim= nullptr;
181 double *_ppids_ref= nullptr;
182 double *_tpids_ref= nullptr;
183 double *_cpids_ref= nullptr;
184 double *_vpids_ref= nullptr;
185
186 std::string* _axisName = nullptr;
187 yarp::dev::JointTypeEnum* _jointType = nullptr;
188// ImpedanceLimits *_impedance_limits= nullptr; /** impedance limits */
189 double* _limitsMin = nullptr;
190 double* _limitsMax = nullptr;
191 double* _kinematic_mj = nullptr;
192 //double *_currentLimits= nullptr; /** current limits */
193// MotorCurrentLimits *_currentLimits= nullptr;
194 double* _maxJntCmdVelocity = nullptr;
195 double* _maxMotorVelocity = nullptr;
196 int* _velocityShifts = nullptr;
197 int* _velocityTimeout = nullptr;
198 double* _kbemf = nullptr;
199 double* _ktau = nullptr;
200 int* _kbemf_scale = nullptr;
201 int* _ktau_scale = nullptr;
202 double* _viscousPos = nullptr;
203 double* _viscousNeg = nullptr;
204 double* _coulombPos = nullptr;
205 double* _coulombNeg = nullptr;
206 double* _velocityThres = nullptr;
207 int* _filterType = nullptr;
208 int* _torqueSensorId = nullptr;
209 int* _torqueSensorChan = nullptr;
210 double* _maxTorque = nullptr;
211 double* _newtonsToSensor = nullptr;
212 bool* checking_motiondone = nullptr; /* flag telling if I'm already waiting for motion done */
213 double* _last_position_move_time = nullptr;
214 double* _motorPwmLimits = nullptr;
215 double* _torques = nullptr;
216 bool* _braked= nullptr;
217 bool* _autobraked= nullptr;
218
219// ImpedanceParameters *_impedance_params; /** impedance parameters */
220
221 bool verbosewhenok;
222 bool useRawEncoderData;
223 bool _pwmIsLimited;
224 bool _torqueControlEnabled;
226 enum torqueControlUnitsType {T_MACHINE_UNITS=0, T_METRIC_UNITS=1};
227 torqueControlUnitsType _torqueControlUnits;
228
229 enum positionControlUnitsType {P_MACHINE_UNITS=0, P_METRIC_UNITS=1};
230 positionControlUnitsType _positionControlUnits;
231
232 // internal stuff
233 bool velocity_watchdog_enabled = false; //false for testing purposes. On the real robot is true.
234 bool openloop_watchdog_enabled = false; //false for testing purposes. On the real robot is true.
235 int *_controlModes = nullptr;
236 int *_hwfault_code = nullptr;
237 std::string *_hwfault_message = nullptr;
238 int *_interactMode = nullptr;
239 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.
240 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.
241 bool *_calibrated = nullptr; // Flag to know if the calibrate function has been called for the joint
242 double *_posCtrl_references = nullptr; // used for position control.
243 double *_posDir_references = nullptr; // used for position Direct control.
244 double *_ref_speeds = nullptr; // used for position control.
245 double *_command_speeds = nullptr; // used for velocity control.
246 double *_dir_vel_commands = nullptr; // used for direct velocity control.
247 double *_ref_accs = nullptr; // for velocity control, in position min jerk eq is used.
248 double *_ref_torques = nullptr; // for torque control.
249 double *_ref_currents = nullptr;
250
251 double *_stiffness = nullptr;
252 double *_damping = nullptr;
253 double *_force_offset = nullptr;
254
255 yarp::sig::Vector current, nominalCurrent, maxCurrent, peakCurrent;
256 yarp::sig::Vector pwm, pwmLimit, refpwm, supplyVoltage,last_velocity_command, last_pwm_command;
257 yarp::sig::Vector pos, dpos, vel, speed, acc, loc, amp;
258 double prev_time;
259 bool opened;
260
261 // debugging
262 VerboseLevel verbose;
263public:
264
265 FakeMotionControl();
266 ~FakeMotionControl();
267
268 // Device Driver
269 bool open(yarp::os::Searchable &par) override;
270 bool close() override;
271 bool fromConfig(yarp::os::Searchable &config);
272
273 virtual bool initialised();
274
278 bool alloc(int njoints);
279
283 void resizeBuffers();
284
285 bool threadInit() override;
286 void threadRelease() override;
287
289 bool setPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, const yarp::dev::Pid &pid) override;
290 bool setPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const yarp::dev::Pid *pids) override;
291 bool setPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double ref) override;
292 bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *refs) override;
293 bool setPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double limit) override;
294 bool setPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,const double *limits) override;
295 bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *err) override;
296 bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum& pidtype, double *errs) override;
297 bool getPidOutputRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *out) override;
298 bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *outs) override;
299 bool getPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, yarp::dev::Pid *pid) override;
300 bool getPidsRaw(const yarp::dev::PidControlTypeEnum& pidtype, yarp::dev::Pid *pids) override;
301 bool getPidReferenceRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *ref) override;
302 bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *refs) override;
303 bool getPidErrorLimitRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double *limit) override;
304 bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum& pidtype,double *limits) override;
305 bool resetPidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
306 bool disablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
307 bool enablePidRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j) override;
308 bool setPidOffsetRaw(const yarp::dev::PidControlTypeEnum& pidtype,int j, double v) override;
309 bool isPidEnabledRaw(const yarp::dev::PidControlTypeEnum& pidtype, int j, bool* enabled) override;
310
311 // POSITION CONTROL INTERFACE RAW
312 bool getAxes(int *ax) override;
313 bool positionMoveRaw(int j, double ref) override;
314 bool positionMoveRaw(const double *refs) override;
315 bool relativeMoveRaw(int j, double delta) override;
316 bool relativeMoveRaw(const double *deltas) override;
317 bool checkMotionDoneRaw(bool *flag) override;
318 bool checkMotionDoneRaw(int j, bool *flag) override;
319 bool setRefSpeedRaw(int j, double sp) override;
320 bool setRefSpeedsRaw(const double *spds) override;
321 bool setRefAccelerationRaw(int j, double acc) override;
322 bool setRefAccelerationsRaw(const double *accs) override;
323 bool getRefSpeedRaw(int j, double *ref) override;
324 bool getRefSpeedsRaw(double *spds) override;
325 bool getRefAccelerationRaw(int j, double *acc) override;
326 bool getRefAccelerationsRaw(double *accs) override;
327 bool stopRaw(int j) override;
328 bool stopRaw() override;
329
330 // Position Control2 Interface
331 bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override;
332 bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas) override;
333 bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override;
334 bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override;
335 bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override;
336 bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override;
337 bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override;
338 bool stopRaw(const int n_joint, const int *joints) override;
339 bool getTargetPositionRaw(const int joint, double *ref) override;
340 bool getTargetPositionsRaw(double *refs) override;
341 bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override;
342
343 // Velocity control interface raw
344 bool velocityMoveRaw(int j, double sp) override;
345 bool velocityMoveRaw(const double *sp) override;
346
347 // IJointFault
348 bool getLastJointFaultRaw(int j, int& fault, std::string& message) override;
349
350 // calibration2raw
351 bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters& params) override;
352 bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3) override;
353 bool calibrationDoneRaw(int j) override;
354
355
357
358 // ControlMode
359 bool getControlModeRaw(int j, int *v) override;
360 bool getControlModesRaw(int *v) override;
361
362 // ControlMode 2
363 bool getControlModesRaw(const int n_joint, const int *joints, int *modes) override;
364 bool setControlModeRaw(const int j, const int mode) override;
365 bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override;
366 bool setControlModesRaw(int *modes) override;
367
369 bool resetEncoderRaw(int j) override;
370 bool resetEncodersRaw() override;
371 bool setEncoderRaw(int j, double val) override;
372 bool setEncodersRaw(const double *vals) override;
373 bool getEncoderRaw(int j, double *v) override;
374 bool getEncodersRaw(double *encs) override;
375 bool getEncoderSpeedRaw(int j, double *sp) override;
376 bool getEncoderSpeedsRaw(double *spds) override;
377 bool getEncoderAccelerationRaw(int j, double *spds) override;
378 bool getEncoderAccelerationsRaw(double *accs) override;
380
381 bool getEncodersTimedRaw(double *encs, double *stamps) override;
382 bool getEncoderTimedRaw(int j, double *encs, double *stamp) override;
383
385 bool getNumberOfMotorEncodersRaw(int * num) override;
386 bool resetMotorEncoderRaw(int m) override;
387 bool resetMotorEncodersRaw() override;
388 bool setMotorEncoderRaw(int m, const double val) override;
389 bool setMotorEncodersRaw(const double *vals) override;
390 bool getMotorEncoderRaw(int m, double *v) override;
391 bool getMotorEncodersRaw(double *encs) override;
392 bool getMotorEncoderSpeedRaw(int m, double *sp) override;
393 bool getMotorEncoderSpeedsRaw(double *spds) override;
394 bool getMotorEncoderAccelerationRaw(int m, double *spds) override;
395 bool getMotorEncoderAccelerationsRaw(double *accs) override;
396 bool getMotorEncodersTimedRaw(double *encs, double *stamps) override;
397 bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp) override;
398 bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override;
399 bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override;
401
403 bool getAxisNameRaw(int axis, std::string& name) override;
404 bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum& type) override;
406
407 //Internal use, not exposed by YARP (yet)
408 virtual bool getRotorEncoderResolutionRaw(int m, double &rotres);
409 virtual bool getJointEncoderResolutionRaw(int m, double &jntres);
410 virtual bool getJointEncoderTypeRaw(int j, int &type);
411 virtual bool getRotorEncoderTypeRaw(int j, int &type);
412 virtual bool getKinematicMJRaw(int j, double &rotres);
413 virtual bool getHasTempSensorsRaw(int j, int& ret);
414 virtual bool getHasHallSensorRaw(int j, int& ret);
415 virtual bool getHasRotorEncoderRaw(int j, int& ret);
416 virtual bool getHasRotorEncoderIndexRaw(int j, int& ret);
417 virtual bool getMotorPolesRaw(int j, int& poles);
418 virtual bool getRotorIndexOffsetRaw(int j, double& rotorOffset);
419 virtual bool getTorqueControlFilterType(int j, int& type);
420
422 bool enableAmpRaw(int j) override;
423 bool disableAmpRaw(int j) override;
424 bool getCurrentsRaw(double *vals) override;
425 bool getCurrentRaw(int j, double *val) override;
426 bool getNominalCurrentRaw(int m, double *val) override;
427 bool setNominalCurrentRaw(int m, const double val) override;
428 bool setMaxCurrentRaw(int j, double val) override;
429 bool getMaxCurrentRaw(int j, double *val) override;
430 bool getPeakCurrentRaw(int m, double *val) override;
431 bool setPeakCurrentRaw(int m, const double val) override;
432 bool getAmpStatusRaw(int *st) override;
433 bool getAmpStatusRaw(int j, int *st) override;
434 bool getPWMRaw(int j, double* val) override;
435 bool getPWMLimitRaw(int j, double* val) override;
436 bool setPWMLimitRaw(int j, const double val) override;
437 bool getPowerSupplyVoltageRaw(int j, double* val) override;
439
440 // Limits
441 bool setLimitsRaw(int axis, double min, double max) override;
442 bool getLimitsRaw(int axis, double *min, double *max) override;
443 // Limits 2
444 bool setVelLimitsRaw(int axis, double min, double max) override;
445 bool getVelLimitsRaw(int axis, double *min, double *max) override;
446
447 // Torque control
448 bool getTorqueRaw(int j, double *t) override;
449 bool getTorquesRaw(double *t) override;
450 bool getTorqueRangeRaw(int j, double *min, double *max) override;
451 bool getTorqueRangesRaw(double *min, double *max) override;
452 bool setRefTorquesRaw(const double *t) override;
453 bool setRefTorqueRaw(int j, double t) override;
454 bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) override;
455 bool getRefTorquesRaw(double *t) override;
456 bool getRefTorqueRaw(int j, double *t) override;
457 bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override;
458 bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override;
459// int32_t getRefSpeedInTbl(uint8_t boardNum, int j, eOmeas_position_t pos) override;
460
461 // IVelocityControl interface
462 bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override;
463 bool getRefVelocityRaw(const int joint, double *ref) override;
464 bool getRefVelocitiesRaw(double *refs) override;
465 bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *refs) override;
466
467 // Impedance interface
468 bool getImpedanceRaw(int j, double *stiffness, double *damping) override;
469 bool setImpedanceRaw(int j, double stiffness, double damping) override;
470 bool setImpedanceOffsetRaw(int j, double offset) override;
471 bool getImpedanceOffsetRaw(int j, double *offset) override;
472 bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
473
474 // PositionDirect Interface
475 bool setPositionRaw(int j, double ref) override;
476 bool setPositionsRaw(const int n_joint, const int *joints, const double *refs) override;
477 bool setPositionsRaw(const double *refs) override;
478 bool getRefPositionRaw(const int joint, double *ref) override;
479 bool getRefPositionsRaw(double *refs) override;
480 bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) override;
481
482 // InteractionMode interface
483 bool getInteractionModeRaw(int j, yarp::dev::InteractionModeEnum* _mode) override;
484 bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
485 bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
486 bool setInteractionModeRaw(int j, yarp::dev::InteractionModeEnum _mode) override;
487 bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
488 bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override;
489
490 // IMotor interface
491 bool getNumberOfMotorsRaw(int * num) override;
492 bool getTemperatureRaw(int m, double* val) override;
493 bool getTemperaturesRaw(double *vals) override;
494 bool getTemperatureLimitRaw(int m, double *temp) override;
495 bool setTemperatureLimitRaw(int m, const double temp) override;
496 bool getGearboxRatioRaw(int m, double* gearbox) override;
497 bool setGearboxRatioRaw(int m, const double val) override;
498
499 // PWM interface
500 bool setRefDutyCycleRaw(int j, double v) override;
501 bool setRefDutyCyclesRaw(const double *v) override;
502 bool getRefDutyCycleRaw(int j, double *v) override;
503 bool getRefDutyCyclesRaw(double *v) override;
504 bool getDutyCycleRaw(int j, double *v) override;
505 bool getDutyCyclesRaw(double *v) override;
506
507 //IJointBrake
508 yarp::dev::ReturnValue isJointBrakedRaw(int j, bool& braked) const override;
509 yarp::dev::ReturnValue setManualBrakeActiveRaw(int j, bool active) override;
510 yarp::dev::ReturnValue setAutoBrakeEnabledRaw(int j, bool enabled) override;
511 yarp::dev::ReturnValue getAutoBrakeEnabledRaw(int j, bool& enabled) const override;
512
513 // IVelocityDirect
514 yarp::dev::ReturnValue getAxes(size_t& axes) override;
515 yarp::dev::ReturnValue setDesiredVelocityRaw(int jnt, double vel) override;
516 yarp::dev::ReturnValue setDesiredVelocityRaw(const std::vector<double>& vels) override;
517 yarp::dev::ReturnValue setDesiredVelocityRaw(const std::vector<int>& jnts, const std::vector<double>& vels) override;
518 yarp::dev::ReturnValue getDesiredVelocityRaw(const int jnt, double& vel) override;
519 yarp::dev::ReturnValue getDesiredVelocityRaw(std::vector<double>& vels) override;
520 yarp::dev::ReturnValue getDesiredVelocityRaw(const std::vector<int>& jnts, std::vector<double>& vels) override;
521
522 // Current interface
523 //bool getAxes(int *ax) override;
524 //bool getCurrentRaw(int j, double *t) override;
525 //bool getCurrentsRaw(double *t) override;
526 bool getCurrentRangeRaw(int j, double *min, double *max) override;
527 bool getCurrentRangesRaw(double *min, double *max) override;
528 bool setRefCurrentsRaw(const double *t) override;
529 bool setRefCurrentRaw(int j, double t) override;
530 bool setRefCurrentsRaw(const int n_joint, const int *joints, const double *t) override;
531 bool getRefCurrentsRaw(double *t) override;
532 bool getRefCurrentRaw(int j, double *t) override;
533
534 yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override;
535 int getVirtualAnalogSensorChannelsRaw() override;
536 bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override;
537 bool updateVirtualAnalogSensorMeasureRaw(int ch, double &measure) override;
538
539 void run() override;
540private:
541 void cleanup();
542 bool dealloc();
543
544 //bool parsePositionPidsGroup(yarp::os::Bottle& pidsGroup, yarp::dev::Pid myPid[]);
545 //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[]);
546 //bool parseImpedanceGroup_NewFormat(yarp::os::Bottle& pidsGroup, ImpedanceParameters vals[]);
547 //bool extractGroup(yarp::os::Bottle &input, yarp::os::Bottle &out, const std::string &key1, const std::string &txt, int size);
548};
549
550#endif // YARP_DEVICE_FAKE_MOTIONCONTROL
ControlBoardInterfaces.h
define control board standard interfaces
mode
FeatureMode mode
Definition FakeFrameGrabber_Controls.cpp:33
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:133
FakeMotionControl::getPowerSupplyVoltageRaw
bool getPowerSupplyVoltageRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1947
FakeMotionControl::getRefSpeedRaw
bool getRefSpeedRaw(int j, double *ref) override
Get reference speed for a joint.
Definition FakeMotionControl.cpp:1383
FakeMotionControl::getHasTempSensorsRaw
virtual bool getHasTempSensorsRaw(int j, int &ret)
Definition FakeMotionControl.cpp:2008
FakeMotionControl::setRefCurrentsRaw
bool setRefCurrentsRaw(const double *t) override
Set the reference value of the currents for all motors.
Definition FakeMotionControl.cpp:2564
FakeMotionControl::setRefTorqueRaw
bool setRefTorqueRaw(int j, double t) override
Set the reference value of the torque for a given joint.
Definition FakeMotionControl.cpp:2120
FakeMotionControl::getCurrentsRaw
bool getCurrentsRaw(double *vals) override
Definition FakeMotionControl.cpp:1866
FakeMotionControl::getImpedanceOffsetRaw
bool getImpedanceOffsetRaw(int j, double *offset) override
Get current force Offset for a specific joint.
Definition FakeMotionControl.cpp:2184
FakeMotionControl::getTargetPositionRaw
bool getTargetPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition FakeMotionControl.cpp:2284
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:2095
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:2192
FakeMotionControl::setTemperatureLimitRaw
bool setTemperatureLimitRaw(int m, const double temp) override
Set the temperature limit for a specific motor.
Definition FakeMotionControl.cpp:2480
FakeMotionControl::getPidErrorRaw
bool getPidErrorRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
Get the current error for a joint.
Definition FakeMotionControl.cpp:889
FakeMotionControl::setPeakCurrentRaw
bool setPeakCurrentRaw(int m, const double val) override
Definition FakeMotionControl.cpp:1911
FakeMotionControl::velocityMoveRaw
bool velocityMoveRaw(int j, double sp) override
Start motion at a given speed, single joint.
Definition FakeMotionControl.cpp:1155
FakeMotionControl::setAutoBrakeEnabledRaw
yarp::dev::ReturnValue setAutoBrakeEnabledRaw(int j, bool enabled) override
Definition FakeMotionControl.cpp:2652
FakeMotionControl::checkMotionDoneRaw
bool checkMotionDoneRaw(bool *flag) override
Check if the current trajectory is terminated.
Definition FakeMotionControl.cpp:1302
FakeMotionControl::getMotorEncoderSpeedRaw
bool getMotorEncoderSpeedRaw(int m, double *sp) override
Read the istantaneous speed of a motor encoder.
Definition FakeMotionControl.cpp:1792
FakeMotionControl::getJointEncoderTypeRaw
virtual bool getJointEncoderTypeRaw(int j, int &type)
Definition FakeMotionControl.cpp:1993
FakeMotionControl::setRefDutyCycleRaw
bool setRefDutyCycleRaw(int j, double v) override
Sets the reference dutycycle of a single motor.
Definition FakeMotionControl.cpp:2486
FakeMotionControl::getTemperatureRaw
bool getTemperatureRaw(int m, double *val) override
Get temperature of a motor.
Definition FakeMotionControl.cpp:2459
FakeMotionControl::getEncoderAccelerationRaw
bool getEncoderAccelerationRaw(int j, double *spds) override
Read the instantaneous acceleration of an axis.
Definition FakeMotionControl.cpp:1696
FakeMotionControl::getRefAccelerationRaw
bool getRefAccelerationRaw(int j, double *acc) override
Get reference acceleration for a joint.
Definition FakeMotionControl.cpp:1395
FakeMotionControl::getMotorEncoderSpeedsRaw
bool getMotorEncoderSpeedsRaw(double *spds) override
Read the instantaneous speed of all motor encoders.
Definition FakeMotionControl.cpp:1798
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:815
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:2066
FakeMotionControl::getJointTypeRaw
bool getJointTypeRaw(int axis, yarp::dev::JointTypeEnum &type) override
Definition FakeMotionControl.cpp:2052
FakeMotionControl::setMotorEncoderRaw
bool setMotorEncoderRaw(int m, const double val) override
Set the value of the motor encoder for a given motor.
Definition FakeMotionControl.cpp:1745
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:992
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:1118
FakeMotionControl::setControlModeRaw
bool setControlModeRaw(const int j, const int mode) override
Definition FakeMotionControl.cpp:1586
FakeMotionControl::getMotorEncoderAccelerationRaw
bool getMotorEncoderAccelerationRaw(int m, double *spds) override
Read the instantaneous acceleration of a motor encoder.
Definition FakeMotionControl.cpp:1808
FakeMotionControl::open
bool open(yarp::os::Searchable &par) override
Open the DeviceDriver.
Definition FakeMotionControl.cpp:531
FakeMotionControl::getHasHallSensorRaw
virtual bool getHasHallSensorRaw(int j, int &ret)
Definition FakeMotionControl.cpp:2013
FakeMotionControl::getTemperatureLimitRaw
bool getTemperatureLimitRaw(int m, double *temp) override
Retreives the current temperature limit for a specific motor.
Definition FakeMotionControl.cpp:2475
FakeMotionControl::getNumberOfMotorsRaw
bool getNumberOfMotorsRaw(int *num) override
Get the number of available motors.
Definition FakeMotionControl.cpp:2453
FakeMotionControl::disableAmpRaw
bool disableAmpRaw(int j) override
Disable the amplifier on a specific joint.
Definition FakeMotionControl.cpp:1854
FakeMotionControl::setMotorTorqueParamsRaw
bool setMotorTorqueParamsRaw(int j, const yarp::dev::MotorTorqueParameters params) override
Set the motor parameters.
Definition FakeMotionControl.cpp:2224
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:1192
FakeMotionControl::setRefAccelerationRaw
bool setRefAccelerationRaw(int j, double acc) override
Set reference acceleration for a joint.
Definition FakeMotionControl.cpp:1340
FakeMotionControl::initialised
virtual bool initialised()
Definition FakeMotionControl.cpp:501
FakeMotionControl::setGearboxRatioRaw
bool setGearboxRatioRaw(int m, const double val) override
Set the gearbox ratio for a specific motor.
Definition FakeMotionControl.cpp:1973
FakeMotionControl::setEncodersRaw
bool setEncodersRaw(const double *vals) override
Set the value of all encoders.
Definition FakeMotionControl.cpp:1641
FakeMotionControl::getPidOutputsRaw
bool getPidOutputsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
Get the output of the controllers (e.g.
Definition FakeMotionControl.cpp:1141
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:1096
FakeMotionControl::setRefSpeedsRaw
bool setRefSpeedsRaw(const double *spds) override
Set reference speed on all joints.
Definition FakeMotionControl.cpp:1329
FakeMotionControl::getTargetPositionsRaw
bool getTargetPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition FakeMotionControl.cpp:2303
FakeMotionControl::getRefDutyCycleRaw
bool getRefDutyCycleRaw(int j, double *v) override
Gets the last reference sent using the setRefDutyCycleRaw function.
Definition FakeMotionControl.cpp:2503
FakeMotionControl::setMotorEncoderCountsPerRevolutionRaw
bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr) override
Sets number of counts per revolution for motor encoder m.
Definition FakeMotionControl.cpp:1755
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:879
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:957
FakeMotionControl::getNominalCurrentRaw
bool getNominalCurrentRaw(int m, double *val) override
Definition FakeMotionControl.cpp:1917
FakeMotionControl::getControlModeRaw
bool getControlModeRaw(int j, int *v) override
Definition FakeMotionControl.cpp:1555
FakeMotionControl::calibrationDoneRaw
bool calibrationDoneRaw(int j) override
Check if the calibration is terminated, on a particular joint.
Definition FakeMotionControl.cpp:1198
FakeMotionControl::threadInit
bool threadInit() override
Initialization method.
Definition FakeMotionControl.cpp:506
FakeMotionControl::getRefDutyCyclesRaw
bool getRefDutyCyclesRaw(double *v) override
Gets the last reference sent using the setRefDutyCyclesRaw function.
Definition FakeMotionControl.cpp:2509
FakeMotionControl::getRefVelocityRaw
bool getRefVelocityRaw(const int joint, double *ref) override
Get the last reference speed set by velocityMove for single joint.
Definition FakeMotionControl.cpp:2322
FakeMotionControl::getEncoderTimedRaw
bool getEncoderTimedRaw(int j, double *encs, double *stamp) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1727
FakeMotionControl::disablePidRaw
bool disablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Disable the pid computation for a joint.
Definition FakeMotionControl.cpp:1029
FakeMotionControl::getVirtualAnalogSensorStatusRaw
yarp::dev::VAS_status getVirtualAnalogSensorStatusRaw(int ch) override
Check the status of a given channel.
Definition FakeMotionControl.cpp:2606
FakeMotionControl::getMotorEncodersRaw
bool getMotorEncodersRaw(double *encs) override
Read the position of all motor encoders.
Definition FakeMotionControl.cpp:1781
FakeMotionControl::getTorqueRangesRaw
bool getTorqueRangesRaw(double *min, double *max) override
Get the full scale of the torque sensors of all joints.
Definition FakeMotionControl.cpp:2102
FakeMotionControl::getRefCurrentsRaw
bool getRefCurrentsRaw(double *t) override
Get the reference value of the currents for all motors.
Definition FakeMotionControl.cpp:2591
FakeMotionControl::setRefDutyCyclesRaw
bool setRefDutyCyclesRaw(const double *v) override
Sets the reference dutycycle for all motors.
Definition FakeMotionControl.cpp:2494
FakeMotionControl::getEncoderSpeedRaw
bool getEncoderSpeedRaw(int j, double *sp) override
Read the instantaneous speed of an axis.
Definition FakeMotionControl.cpp:1679
FakeMotionControl::getVirtualAnalogSensorChannelsRaw
int getVirtualAnalogSensorChannelsRaw() override
Get the number of channels of the virtual sensor.
Definition FakeMotionControl.cpp:2611
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:1024
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:2553
FakeMotionControl::getDesiredVelocityRaw
yarp::dev::ReturnValue getDesiredVelocityRaw(const int jnt, double &vel) override
Get the last reference velocity set by setDesiredVelocity() for a single joint.
Definition FakeMotionControl.cpp:2711
FakeMotionControl::getEncoderRaw
bool getEncoderRaw(int j, double *v) override
Read the value of an encoder.
Definition FakeMotionControl.cpp:1656
FakeMotionControl::getPidErrorLimitsRaw
bool getPidErrorLimitsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
Get the error limit for all controllers.
Definition FakeMotionControl.cpp:1014
FakeMotionControl::enableAmpRaw
bool enableAmpRaw(int j) override
Enable the amplifier on a specific joint.
Definition FakeMotionControl.cpp:1849
FakeMotionControl::fromConfig
bool fromConfig(yarp::os::Searchable &config)
Definition FakeMotionControl.cpp:611
FakeMotionControl::setManualBrakeActiveRaw
yarp::dev::ReturnValue setManualBrakeActiveRaw(int j, bool active) override
Definition FakeMotionControl.cpp:2646
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:944
FakeMotionControl::getRefPositionsRaw
bool getRefPositionsRaw(double *refs) override
Get the last position reference for all axes.
Definition FakeMotionControl.cpp:2366
FakeMotionControl::getMotorTorqueParamsRaw
bool getMotorTorqueParamsRaw(int j, yarp::dev::MotorTorqueParameters *params) override
Get the motor parameters.
Definition FakeMotionControl.cpp:2201
FakeMotionControl::setControlModesRaw
bool setControlModesRaw(const int n_joint, const int *joints, int *modes) override
Definition FakeMotionControl.cpp:1605
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:1320
FakeMotionControl::getHasRotorEncoderIndexRaw
virtual bool getHasRotorEncoderIndexRaw(int j, int &ret)
Definition FakeMotionControl.cpp:2023
FakeMotionControl::updateVirtualAnalogSensorMeasureRaw
bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) override
Set a vector of torque values for virtual sensor.
Definition FakeMotionControl.cpp:2616
FakeMotionControl::resizeBuffers
void resizeBuffers()
Resize previously allocated buffers.
Definition FakeMotionControl.cpp:167
FakeMotionControl::isJointBrakedRaw
yarp::dev::ReturnValue isJointBrakedRaw(int j, bool &braked) const override
Definition FakeMotionControl.cpp:2640
FakeMotionControl::threadRelease
void threadRelease() override
Release method.
Definition FakeMotionControl.cpp:527
FakeMotionControl::getAmpStatusRaw
bool getAmpStatusRaw(int *st) override
Definition FakeMotionControl.cpp:1895
FakeMotionControl::getLastJointFaultRaw
bool getLastJointFaultRaw(int j, int &fault, std::string &message) override
Definition FakeMotionControl.cpp:2631
FakeMotionControl::setImpedanceRaw
bool setImpedanceRaw(int j, double stiffness, double damping) override
Set current impedance parameters (stiffness,damping) for a specific joint.
Definition FakeMotionControl.cpp:2167
FakeMotionControl::setPWMLimitRaw
bool setPWMLimitRaw(int j, const double val) override
Definition FakeMotionControl.cpp:1941
FakeMotionControl::relativeMoveRaw
bool relativeMoveRaw(int j, double delta) override
Set relative position.
Definition FakeMotionControl.cpp:1253
FakeMotionControl::getMotorPolesRaw
virtual bool getMotorPolesRaw(int j, int &poles)
Definition FakeMotionControl.cpp:2028
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:921
FakeMotionControl::getCurrentRaw
bool getCurrentRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1859
FakeMotionControl::getPeakCurrentRaw
bool getPeakCurrentRaw(int m, double *val) override
Definition FakeMotionControl.cpp:1905
FakeMotionControl::getDutyCyclesRaw
bool getDutyCyclesRaw(double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition FakeMotionControl.cpp:2524
FakeMotionControl::setEncoderRaw
bool setEncoderRaw(int j, double val) override
Set the value of the encoder for a given joint.
Definition FakeMotionControl.cpp:1636
FakeMotionControl::getRefPositionRaw
bool getRefPositionRaw(const int joint, double *ref) override
Get the last position reference for the specified axis.
Definition FakeMotionControl.cpp:2348
FakeMotionControl::getLimitsRaw
bool getLimitsRaw(int axis, double *min, double *max) override
Get the software limits for a particular axis.
Definition FakeMotionControl.cpp:1961
FakeMotionControl::getRotorIndexOffsetRaw
virtual bool getRotorIndexOffsetRaw(int j, double &rotorOffset)
Definition FakeMotionControl.cpp:2033
FakeMotionControl::getVelLimitsRaw
bool getVelLimitsRaw(int axis, double *min, double *max) override
Get the software speed limits for a particular axis.
Definition FakeMotionControl.cpp:2071
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:2265
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:825
FakeMotionControl::resetEncodersRaw
bool resetEncodersRaw() override
Reset encoders.
Definition FakeMotionControl.cpp:1651
FakeMotionControl::getPWMRaw
bool getPWMRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1929
FakeMotionControl::setDesiredVelocityRaw
yarp::dev::ReturnValue setDesiredVelocityRaw(int jnt, double vel) override
Set the velocity of single joint.
Definition FakeMotionControl.cpp:2670
FakeMotionControl::getAutoBrakeEnabledRaw
yarp::dev::ReturnValue getAutoBrakeEnabledRaw(int j, bool &enabled) const override
Definition FakeMotionControl.cpp:2658
FakeMotionControl::getAxisNameRaw
bool getAxisNameRaw(int axis, std::string &name) override
Definition FakeMotionControl.cpp:2038
FakeMotionControl::setCalibrationParametersRaw
bool setCalibrationParametersRaw(int axis, const yarp::dev::CalibrationParameters &params) override
Start calibration, this method is very often platform specific.
Definition FakeMotionControl.cpp:1186
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:1073
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:2388
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:2545
FakeMotionControl::stopRaw
bool stopRaw() override
Stop motion, multiple joints.
Definition FakeMotionControl.cpp:1413
FakeMotionControl::getKinematicMJRaw
virtual bool getKinematicMJRaw(int j, double &rotres)
Definition FakeMotionControl.cpp:2003
FakeMotionControl::getRefSpeedsRaw
bool getRefSpeedsRaw(double *spds) override
Get reference speed of all joints.
Definition FakeMotionControl.cpp:1389
FakeMotionControl::getRefAccelerationsRaw
bool getRefAccelerationsRaw(double *accs) override
Get reference acceleration of all joints.
Definition FakeMotionControl.cpp:1401
FakeMotionControl::getJointEncoderResolutionRaw
virtual bool getJointEncoderResolutionRaw(int m, double &jntres)
Definition FakeMotionControl.cpp:1988
FakeMotionControl::getAxes
bool getAxes(int *ax) override
Get the number of controlled axes.
Definition FakeMotionControl.cpp:1207
FakeMotionControl::setMaxCurrentRaw
bool setMaxCurrentRaw(int j, double val) override
Definition FakeMotionControl.cpp:1877
FakeMotionControl::alloc
bool alloc(int njoints)
Allocated buffers.
Definition FakeMotionControl.cpp:207
FakeMotionControl::resetMotorEncodersRaw
bool resetMotorEncodersRaw() override
Reset motor encoders.
Definition FakeMotionControl.cpp:1770
FakeMotionControl::setRefTorquesRaw
bool setRefTorquesRaw(const double *t) override
Set the reference value of the torque for all joints.
Definition FakeMotionControl.cpp:2111
FakeMotionControl::getEncodersRaw
bool getEncodersRaw(double *encs) override
Read the position of all axes.
Definition FakeMotionControl.cpp:1667
FakeMotionControl::setRefAccelerationsRaw
bool setRefAccelerationsRaw(const double *accs) override
Set reference acceleration on all joints.
Definition FakeMotionControl.cpp:1361
FakeMotionControl::getControlModesRaw
bool getControlModesRaw(int *v) override
Definition FakeMotionControl.cpp:1566
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:792
FakeMotionControl::getPWMLimitRaw
bool getPWMLimitRaw(int j, double *val) override
Definition FakeMotionControl.cpp:1935
FakeMotionControl::getRotorEncoderTypeRaw
virtual bool getRotorEncoderTypeRaw(int j, int &type)
Definition FakeMotionControl.cpp:1998
FakeMotionControl::getRefCurrentRaw
bool getRefCurrentRaw(int j, double *t) override
Get the reference value of the current for a single motor.
Definition FakeMotionControl.cpp:2600
FakeMotionControl::getDutyCycleRaw
bool getDutyCycleRaw(int j, double *v) override
Gets the current dutycycle of the output of the amplifier (i.e.
Definition FakeMotionControl.cpp:2518
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:857
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:2397
FakeMotionControl::positionMoveRaw
bool positionMoveRaw(int j, double ref) override
Set new reference point for a single axis.
Definition FakeMotionControl.cpp:1214
FakeMotionControl::getMotorEncoderCountsPerRevolutionRaw
bool getMotorEncoderCountsPerRevolutionRaw(int m, double *v) override
Gets number of counts per revolution for motor encoder m.
Definition FakeMotionControl.cpp:1760
FakeMotionControl::setImpedanceOffsetRaw
bool setImpedanceOffsetRaw(int j, double offset) override
Set current force Offset for a specific joint.
Definition FakeMotionControl.cpp:2176
FakeMotionControl::setMotorEncodersRaw
bool setMotorEncodersRaw(const double *vals) override
Set the value of all motor encoders.
Definition FakeMotionControl.cpp:1750
FakeMotionControl::getPidErrorsRaw
bool getPidErrorsRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
Get the error of all joints.
Definition FakeMotionControl.cpp:911
FakeMotionControl::getGearboxRatioRaw
bool getGearboxRatioRaw(int m, double *gearbox) override
Get the gearbox ratio for a specific motor.
Definition FakeMotionControl.cpp:1968
FakeMotionControl::getMaxCurrentRaw
bool getMaxCurrentRaw(int j, double *val) override
Returns the maximum electric current allowed for a given motor.
Definition FakeMotionControl.cpp:1883
FakeMotionControl::close
bool close() override
Close the DeviceDriver.
Definition FakeMotionControl.cpp:751
FakeMotionControl::getRefTorquesRaw
bool getRefTorquesRaw(double *t) override
Get the reference value of the torque for all joints.
Definition FakeMotionControl.cpp:2141
FakeMotionControl::setRefCurrentRaw
bool setRefCurrentRaw(int j, double t) override
Set the reference value of the current for a single motor.
Definition FakeMotionControl.cpp:2574
FakeMotionControl::getNumberOfMotorEncodersRaw
bool getNumberOfMotorEncodersRaw(int *num) override
Get the number of available motor encoders.
Definition FakeMotionControl.cpp:1739
FakeMotionControl::getPidReferencesRaw
bool getPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
Get the current reference of all pid controllers.
Definition FakeMotionControl.cpp:979
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:2080
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:2158
FakeMotionControl::enablePidRaw
bool enablePidRaw(const yarp::dev::PidControlTypeEnum &pidtype, int j) override
Enable the pid computation for a joint.
Definition FakeMotionControl.cpp:1051
FakeMotionControl::getRefVelocitiesRaw
bool getRefVelocitiesRaw(double *refs) override
Get the last reference speed set by velocityMove for all joints.
Definition FakeMotionControl.cpp:2328
FakeMotionControl::setPositionRaw
bool setPositionRaw(int j, double ref) override
Set new position for a single axis.
Definition FakeMotionControl.cpp:2259
FakeMotionControl::getEncoderAccelerationsRaw
bool getEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1704
FakeMotionControl::setPidReferencesRaw
bool setPidReferencesRaw(const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
Set the controller reference, multiple axes.
Definition FakeMotionControl.cpp:847
FakeMotionControl::getMotorEncoderRaw
bool getMotorEncoderRaw(int m, double *v) override
Read the value of a motor encoder.
Definition FakeMotionControl.cpp:1775
FakeMotionControl::getRefTorqueRaw
bool getRefTorqueRaw(int j, double *t) override
Set the reference value of the torque for a given joint.
Definition FakeMotionControl.cpp:2150
FakeMotionControl::getMotorEncoderAccelerationsRaw
bool getMotorEncoderAccelerationsRaw(double *accs) override
Read the instantaneous acceleration of all motor encoders.
Definition FakeMotionControl.cpp:1814
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:2432
FakeMotionControl::getTemperaturesRaw
bool getTemperaturesRaw(double *vals) override
Get temperature of all the motors.
Definition FakeMotionControl.cpp:2465
FakeMotionControl::resetMotorEncoderRaw
bool resetMotorEncoderRaw(int m) override
Reset motor encoder, single motor.
Definition FakeMotionControl.cpp:1765
FakeMotionControl::setNominalCurrentRaw
bool setNominalCurrentRaw(int m, const double val) override
Definition FakeMotionControl.cpp:1923
FakeMotionControl::getRotorEncoderResolutionRaw
virtual bool getRotorEncoderResolutionRaw(int m, double &rotres)
Definition FakeMotionControl.cpp:1983
FakeMotionControl::getHasRotorEncoderRaw
virtual bool getHasRotorEncoderRaw(int j, int &ret)
Definition FakeMotionControl.cpp:2018
FakeMotionControl::getMotorEncodersTimedRaw
bool getMotorEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous position of all motor encoders.
Definition FakeMotionControl.cpp:1824
FakeMotionControl::resetEncoderRaw
bool resetEncoderRaw(int j) override
Reset encoder, single joint.
Definition FakeMotionControl.cpp:1646
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:2086
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:1955
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:2420
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:1836
FakeMotionControl::getEncodersTimedRaw
bool getEncodersTimedRaw(double *encs, double *stamps) override
Read the instantaneous acceleration of all axes.
Definition FakeMotionControl.cpp:1716
FakeMotionControl::getEncoderSpeedsRaw
bool getEncoderSpeedsRaw(double *spds) override
Read the instantaneous acceleration of an axis.
Definition FakeMotionControl.cpp:1686
FakeMotionControl::getTorqueControlFilterType
virtual bool getTorqueControlFilterType(int j, int &type)
Definition FakeMotionControl.cpp:1978
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::IJointBrakeRaw
Interface for controlling a joint equipped with brakes (hardware or simulated).
Definition IJointBrake.h:70
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::IVelocityDirectRaw
Interface for control boards implementing direct velocity control.
Definition IVelocityDirect.h:25
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:70