yarp::dev::IJointBrake Class Reference

Interface for controlling a joint equipped with brakes (hardware or simulated). More...

#include <yarp/dev/IJointBrake.h>

Inheritance diagram for yarp::dev::IJointBrake:

Public Member Functions
virtual	~IJointBrake ()
virtual yarp::dev::ReturnValue	isJointBraked (int j, bool &braked) const =0
	Check is the joint brake is currently active.
virtual yarp::dev::ReturnValue	setManualBrakeActive (int j, bool active)=0
	Enables/Disables manually the joint brake.
virtual yarp::dev::ReturnValue	setAutoBrakeEnabled (int j, bool enabled)=0
	Enables/Disables the automatic joint brake.
virtual yarp::dev::ReturnValue	getAutoBrakeEnabled (int j, bool &enabled) const =0
	checks if the automatic joint brake mode is enabled or disabled.

Detailed Description

Interface for controlling a joint equipped with brakes (hardware or simulated).

Definition at line 22 of file IJointBrake.h.

Constructor & Destructor Documentation

~IJointBrake()

virtual yarp::dev::IJointBrake::~IJointBrake ( )

inlinevirtual

Definition at line 25 of file IJointBrake.h.

Member Function Documentation

getAutoBrakeEnabled()

virtual yarp::dev::ReturnValue yarp::dev::IJointBrake::getAutoBrakeEnabled ( int  j, bool &  enabled  ) const

pure virtual

checks if the automatic joint brake mode is enabled or disabled.

Parameters

j	joint number
enabled	is true the automatic joint brake mode is enabled

Returns

: true/false success failure.

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementJointBrake.

isJointBraked()

virtual yarp::dev::ReturnValue yarp::dev::IJointBrake::isJointBraked ( int  j, bool &  braked  ) const

pure virtual

Check is the joint brake is currently active.

Parameters

j	joint number
braked	is true if the joint is currently braked

Returns

: true/false success failure.

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementJointBrake.

setAutoBrakeEnabled()

virtual yarp::dev::ReturnValue yarp::dev::IJointBrake::setAutoBrakeEnabled ( int  j, bool  enabled  )

pure virtual

Enables/Disables the automatic joint brake.

If enabled, the firmware can automatically choose when to enable the joint brake (for example when the joint is in hardware_fault mode).

Parameters

j	joint number
enabled	true to enable the automatic joint brake

Returns

: true/false success failure.

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementJointBrake.

setManualBrakeActive()

virtual yarp::dev::ReturnValue yarp::dev::IJointBrake::setManualBrakeActive ( int  j, bool  active  )

pure virtual

Enables/Disables manually the joint brake.

Parameters

j	joint number
active	true to enable the joint brake

Returns

: true/false success failure.

Implemented in ControlBoardRemapper, RemoteControlBoard, and yarp::dev::ImplementJointBrake.

---

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

• src/libYARP_dev/src/yarp/dev/IJointBrake.h