#include <yarp/dev/ImplementTorqueControl.h>

Inheritance diagram for yarp::dev::ImplementTorqueControl:

Public Member Functions
	ImplementTorqueControl (yarp::dev::ITorqueControlRaw *y)

virtual	~ImplementTorqueControl ()
	Destructor.

bool	getAxes (int *ax) override
	Get the number of controlled axes.

bool	getRefTorque (int j, double *) override
	Get the reference value of the torque for a given joint.

bool	getRefTorques (double *t) override
	Get the reference value of the torque for all joints.

bool	setRefTorques (const double *t) override
	Set the reference value of the torque for all joints.

bool	setRefTorque (int j, double t) override
	Set the reference value of the torque for a given joint.

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Set new torque reference for a subset of joints.

bool	getTorques (double *t) override
	Get the value of the torque for all joints (this is the feedback if you have torque sensors).

bool	getTorque (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).

bool	setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params) override
	Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

bool	getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params) override
	Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

bool	getTorqueRange (int j, double min, double max) override
	Get the full scale of the torque sensor of a given joint.

bool	getTorqueRanges (double min, double max) override
	Get the full scale of the torque sensors of all joints.

Public Member Functions inherited from yarp::dev::ITorqueControl
virtual	~ITorqueControl ()
	Destructor.

Protected Member Functions
bool	initialize (int size, const int amap, const double enc, const double zos, const double nw, const double amps, const double dutys, const double bemfs, const double ktaus)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
yarp::dev::ITorqueControlRaw *	iTorqueRaw

void *	helper

yarp::dev::impl::FixedSizeBuffersManager< int > *	intBuffManager

yarp::dev::impl::FixedSizeBuffersManager< double > *	doubleBuffManager

Detailed Description

Definition at line 23 of file ImplementTorqueControl.h.

Constructor & Destructor Documentation

◆ ImplementTorqueControl()

ImplementTorqueControl::ImplementTorqueControl ( yarp::dev::ITorqueControlRaw * y )

Definition at line 16 of file ImplementTorqueControl.cpp.

◆ ~ImplementTorqueControl()

ImplementTorqueControl::~ImplementTorqueControl ( )

virtual

Destructor.

Perform uninitialize if needed.

Definition at line 23 of file ImplementTorqueControl.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementTorqueControl::getAxes ( int * ax )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns: the number of controlled axes.

Implements yarp::dev::ITorqueControl.

Definition at line 69 of file ImplementTorqueControl.cpp.

◆ getMotorTorqueParams()

bool ImplementTorqueControl::getMotorTorqueParams	(	int	j,
		yarp::dev::MotorTorqueParameters *	params
	)

overridevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be retrieved

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 106 of file ImplementTorqueControl.cpp.

◆ getRefTorque()

bool ImplementTorqueControl::getRefTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters

j	joint number
t	the returned reference torque of joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 74 of file ImplementTorqueControl.cpp.

◆ getRefTorques()

bool ImplementTorqueControl::getRefTorques ( double * t )

overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 131 of file ImplementTorqueControl.cpp.

◆ getTorque()

bool ImplementTorqueControl::getTorque	(	int	j,
		double *	t
	)

overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters

j	joint number
t	pointer to the result value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 188 of file ImplementTorqueControl.cpp.

◆ getTorqueRange()

bool ImplementTorqueControl::getTorqueRange	(	int	j,
		double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters

j	joint number
min	minimum torque of the joint j
max	maximum torque of the joint j

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 209 of file ImplementTorqueControl.cpp.

◆ getTorqueRanges()

bool ImplementTorqueControl::getTorqueRanges	(	double *	min,
		double *	max
	)

overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters

min	pointer to the array that will store minimum torques of the joints
max	pointer to the array that will store maximum torques of the joints

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 196 of file ImplementTorqueControl.cpp.

◆ getTorques()

bool ImplementTorqueControl::getTorques ( double * t )

overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters

t	pointer to the array that will store the output

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 158 of file ImplementTorqueControl.cpp.

◆ initialize()

bool ImplementTorqueControl::initialize	(	int	size,
		const int *	amap,
		const double *	enc,
		const double *	zos,
		const double *	nw,
		const double *	amps,
		const double *	dutys,
		const double *	bemfs,
		const double *	ktaus
	)

protected

Initialize the internal data and alloc memory.

Parameters

size	is the number of controlled axes the driver deals with.
amap	is a lookup table mapping axes onto physical drivers.
enc	is an array containing the encoder to angles conversion factors.
zos	is an array containing the zeros of the encoders.

Returns: true if initialized succeeded, false if it wasn't executed, or assert.

Definition at line 28 of file ImplementTorqueControl.cpp.

◆ setMotorTorqueParams()

bool ImplementTorqueControl::setMotorTorqueParams	(	int	j,
		const yarp::dev::MotorTorqueParameters	params
	)

overridevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters

j	joint number
params	a struct containing the motor parameters to be set

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 86 of file ImplementTorqueControl.cpp.

◆ setRefTorque()

bool ImplementTorqueControl::setRefTorque	(	int	j,
		double	t
	)

overridevirtual

Set the reference value of the torque for a given joint.

Parameters

j	joint number
t	new value

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 149 of file ImplementTorqueControl.cpp.

◆ setRefTorques() [1/2]

bool ImplementTorqueControl::setRefTorques ( const double * t )

overridevirtual

Set the reference value of the torque for all joints.

Parameters

t	pointer to the array of torque values

Returns: true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 140 of file ImplementTorqueControl.cpp.

◆ setRefTorques() [2/2]

bool ImplementTorqueControl::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t
	)

overridevirtual

Set new torque reference for a subset of joints.

Parameters

joints	pointer to the array of joint numbers
refs	pointer to the array specifying the new torque reference

Returns: true/false on success/failure

Reimplemented from yarp::dev::ITorqueControl.

Definition at line 167 of file ImplementTorqueControl.cpp.

◆ uninitialize()

bool ImplementTorqueControl::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 46 of file ImplementTorqueControl.cpp.

Member Data Documentation

◆ doubleBuffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementTorqueControl::doubleBuffManager

protected

Definition at line 29 of file ImplementTorqueControl.h.

◆ helper

void* yarp::dev::ImplementTorqueControl::helper

protected

Definition at line 27 of file ImplementTorqueControl.h.

◆ intBuffManager

yarp::dev::impl::FixedSizeBuffersManager<int>* yarp::dev::ImplementTorqueControl::intBuffManager

protected

Definition at line 28 of file ImplementTorqueControl.h.

◆ iTorqueRaw

yarp::dev::ITorqueControlRaw* yarp::dev::ImplementTorqueControl::iTorqueRaw

protected

Definition at line 26 of file ImplementTorqueControl.h.

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

src/libYARP_dev/src/yarp/dev/ImplementTorqueControl.h
src/libYARP_dev/src/yarp/dev/ImplementTorqueControl.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementTorqueControl()

◆ ~ImplementTorqueControl()

Member Function Documentation

◆ getAxes()

◆ getMotorTorqueParams()

◆ getRefTorque()

◆ getRefTorques()

◆ getTorque()

◆ getTorqueRange()

◆ getTorqueRanges()

◆ getTorques()

◆ initialize()

◆ setMotorTorqueParams()

◆ setRefTorque()

◆ setRefTorques() [1/2]

◆ setRefTorques() [2/2]

◆ uninitialize()

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ intBuffManager

◆ iTorqueRaw