yarp::dev::ImplementControlMode Class Reference

#include <yarp/dev/ImplementControlMode.h>

Inheritance diagram for yarp::dev::ImplementControlMode:

Public Member Functions
bool	initialize (int k, const int *amap)
bool	uninitialize ()
	ImplementControlMode (IControlModeRaw *v)
	~ImplementControlMode ()
bool	getControlMode (int j, int *f) override
	Get the current control mode.
bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints).
bool	getControlModes (const int n_joint, const int *joints, int *modes) override
	Get the current control mode for a subset of axes.
bool	setControlMode (const int j, const int mode) override
	Set the current control mode.
bool	setControlModes (const int n_joint, const int *joints, int *modes) override
	Set the current control mode for a subset of axes.
bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints).
Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

Detailed Description

Definition at line 23 of file ImplementControlMode.h.

Constructor & Destructor Documentation

ImplementControlMode()

ImplementControlMode::ImplementControlMode

(

IControlModeRaw *

v

)

Definition at line 16 of file ImplementControlMode.cpp.

~ImplementControlMode()

ImplementControlMode::~ImplementControlMode

(

)

Definition at line 36 of file ImplementControlMode.cpp.

Member Function Documentation

getControlMode()

bool ImplementControlMode::getControlMode ( int  j, int *  mode  )

overridevirtual

Get the current control mode.

Parameters

j	joint number
mode	a vocab of the current control mode for joint j.

Returns

: true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 57 of file ImplementControlMode.cpp.

getControlModes() [1/2]

bool ImplementControlMode::getControlModes ( const int  n_joint, const int *  joints, int *  modes  )

overridevirtual

Get the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns

true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 75 of file ImplementControlMode.cpp.

getControlModes() [2/2]

bool ImplementControlMode::getControlModes ( int *  modes )

overridevirtual

Get the current control mode (multiple joints).

Parameters

modes

a vector containing vocabs for the current control modes of the joints.

Returns

: true/false success failure.

Implements yarp::dev::IControlMode.

Definition at line 64 of file ImplementControlMode.cpp.

initialize()

bool ImplementControlMode::initialize	(	int	k,
		const int *	amap
	)

Definition at line 22 of file ImplementControlMode.cpp.

setControlMode()

bool ImplementControlMode::setControlMode ( const int  j, const int  mode  )

overridevirtual

Set the current control mode.

Parameters

j	joint number
mode	a vocab of the desired control mode for joint j.

Returns

true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 93 of file ImplementControlMode.cpp.

setControlModes() [1/2]

bool ImplementControlMode::setControlModes ( const int  n_joint, const int *  joints, int *  modes  )

overridevirtual

Set the current control mode for a subset of axes.

Parameters

n_joints	how many joints this command is referring to
joints	list of joint numbers, the size of this array is n_joints
modes	array containing the new controlmodes, one value for each joint, the size is n_joints. The first value will be the new reference for the joint joints[0]. for example: n_joint 3 joints 0 2 4 modes VOCAB_CM_POSITION VOCAB_CM_VELOCITY VOCAB_CM_POSITION

Returns

true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 100 of file ImplementControlMode.cpp.

setControlModes() [2/2]

bool ImplementControlMode::setControlModes ( int *  modes )

overridevirtual

Set the current control mode (multiple joints).

Parameters

modes

a vector containing vocabs for the desired control modes of the joints.

Returns

true if the new controlMode was successfully set, false if the message was not received or the joint was unable to switch to the desired controlMode (e.g. the joint is on a fault condition or the desired mode is not implemented).

Implements yarp::dev::IControlMode.

Definition at line 118 of file ImplementControlMode.cpp.

uninitialize()

bool ImplementControlMode::uninitialize

(

)

Definition at line 41 of file ImplementControlMode.cpp.

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

• src/libYARP_dev/src/yarp/dev/ImplementControlMode.h
• src/libYARP_dev/src/yarp/dev/ImplementControlMode.cpp