#include <yarp/dev/ImplementVelocityControl.h>

Inheritance diagram for yarp::dev::ImplementVelocityControl:

Public Member Functions
	ImplementVelocityControl (yarp::dev::IVelocityControlRaw *y)
	Constructor.

virtual	~ImplementVelocityControl ()
	Destructor.

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

bool	velocityMove (int j, double sp) override
	Start motion at a given speed, single joint.

bool	velocityMove (const double *sp) override
	Start motion at a given speed, multiple joints.

bool	setRefAcceleration (int j, double acc) override
	Set reference acceleration for a joint.

bool	setRefAccelerations (const double *accs) override
	Set reference acceleration on all joints.

bool	getRefAcceleration (int j, double *acc) override
	Get reference acceleration for a joint.

bool	getRefAccelerations (double *accs) override
	Get reference acceleration of all joints.

bool	stop (int j) override
	Stop motion, single joint.

bool	stop () override
	Stop motion, multiple joints.

bool	velocityMove (const int n_joint, const int joints, const double spds) override
	Start motion at a given speed for a subset of joints.

bool	getRefVelocity (const int joint, double *vel) override
	Get the last reference speed set by velocityMove for single joint.

bool	getRefVelocities (double *vels) override
	Get the last reference speed set by velocityMove for all joints.

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Get the last reference speed set by velocityMove for a group of joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Set reference acceleration for a subset of joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Get reference acceleration for a subset of joints.

bool	stop (const int n_joint, const int *joints) override
	Stop motion for a subset of joints.

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

Protected Member Functions
bool	initialize (int size, const int amap, const double enc, const double *zos)
	Initialize the internal data and alloc memory.

bool	uninitialize ()
	Clean up internal data and memory.

Protected Attributes
IVelocityControlRaw *	iVelocity

void *	helper

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

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

Detailed Description

Definition at line 25 of file ImplementVelocityControl.h.

Constructor & Destructor Documentation

◆ ImplementVelocityControl()

ImplementVelocityControl::ImplementVelocityControl ( yarp::dev::IVelocityControlRaw * y )

Constructor.

Parameters

y	is the pointer to the class instance inheriting from this implementation.

Definition at line 17 of file ImplementVelocityControl.cpp.

◆ ~ImplementVelocityControl()

ImplementVelocityControl::~ImplementVelocityControl ( )

virtual

Destructor.

Definition at line 24 of file ImplementVelocityControl.cpp.

Member Function Documentation

◆ getAxes()

bool ImplementVelocityControl::getAxes ( int * axes )

overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface. parame axes pointer to storage

Returns: true/false.

Implements yarp::dev::IVelocityControl.

Definition at line 70 of file ImplementVelocityControl.cpp.

◆ getRefAcceleration()

bool ImplementVelocityControl::getRefAcceleration	(	int	j,
		double *	acc
	)

overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters

j	joint number
acc	pointer to storage for the return value

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 200 of file ImplementVelocityControl.cpp.

◆ getRefAccelerations() [1/2]

bool ImplementVelocityControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs
	)

overridevirtual

Get reference acceleration for a subset of joints.

These are the values used during the interpolation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array 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 accs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 211 of file ImplementVelocityControl.cpp.

◆ getRefAccelerations() [2/2]

bool ImplementVelocityControl::getRefAccelerations ( double * accs )

overridevirtual

Get reference acceleration of all joints.

These are the values used during the interpolation of the trajectory.

Parameters

accs	pointer to the array that will store the acceleration values.

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 238 of file ImplementVelocityControl.cpp.

◆ getRefVelocities() [1/2]

bool ImplementVelocityControl::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels
	)

overridevirtual

Get the last reference speed set by velocityMove for a group of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
vels	pointer to the array containing the requested values, one value for each joint. The size of the array is n_joints.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 135 of file ImplementVelocityControl.cpp.

◆ getRefVelocities() [2/2]

bool ImplementVelocityControl::getRefVelocities ( double * vels )

overridevirtual

Get the last reference speed set by velocityMove for all joints.

Parameters

vels	pointer to the array containing the new speed values, one value for each joint

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 126 of file ImplementVelocityControl.cpp.

◆ getRefVelocity()

bool ImplementVelocityControl::getRefVelocity	(	const int	joint,
		double *	vel
	)

overridevirtual

Get the last reference speed set by velocityMove for single joint.

Parameters

j	joint number
vel	returns the requested reference.

Returns: true/false on success/failure

Reimplemented from yarp::dev::IVelocityControl.

Definition at line 115 of file ImplementVelocityControl.cpp.

◆ initialize()

bool ImplementVelocityControl::initialize	(	int	size,
		const int *	amap,
		const double *	enc,
		const double *	zos
	)

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. respect to the control/output values of the driver.

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

Definition at line 29 of file ImplementVelocityControl.cpp.

◆ setRefAcceleration()

bool ImplementVelocityControl::setRefAcceleration	(	int	j,
		double	acc
	)

overridevirtual

Set reference acceleration for a joint.

This value is used during the trajectory generation.

Parameters

j	joint number
acc	acceleration value

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 161 of file ImplementVelocityControl.cpp.

◆ setRefAccelerations() [1/2]

bool ImplementVelocityControl::setRefAccelerations ( const double * accs )

overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters

accs	pointer to the array of acceleration values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 191 of file ImplementVelocityControl.cpp.

◆ setRefAccelerations() [2/2]

bool ImplementVelocityControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs
	)

overridevirtual

Set reference acceleration for a subset of joints.

This is the valure that is used during the generation of the trajectory.

Parameters

n_joint	how many joints this command is referring to
joints	list of joints controlled. The size of this array is n_joints
accs	pointer to the array containing acceleration values, one value for each joint, the size of the array 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 accs 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 170 of file ImplementVelocityControl.cpp.

◆ stop() [1/3]

bool ImplementVelocityControl::stop ( )

overridevirtual

Stop motion, multiple joints.

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 274 of file ImplementVelocityControl.cpp.

◆ stop() [2/3]

bool ImplementVelocityControl::stop	(	const int	n_joint,
		const int *	joints
	)

overridevirtual

Stop motion for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	joints pointer to the array of joint numbers

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 257 of file ImplementVelocityControl.cpp.

◆ stop() [3/3]

bool ImplementVelocityControl::stop ( int j )

overridevirtual

Stop motion, single joint.

Parameters

j	joint number

Returns: true/false on success or failure

Implements yarp::dev::IVelocityControl.

Definition at line 248 of file ImplementVelocityControl.cpp.

◆ uninitialize()

bool ImplementVelocityControl::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 47 of file ImplementVelocityControl.cpp.

◆ velocityMove() [1/3]

bool ImplementVelocityControl::velocityMove ( const double * sp )

overridevirtual

Start motion at a given speed, multiple joints.

Parameters

sp	pointer to the array containing the new speed values

Returns: true/false upon success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 106 of file ImplementVelocityControl.cpp.

◆ velocityMove() [2/3]

bool ImplementVelocityControl::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds
	)

overridevirtual

Start motion at a given speed for a subset of joints.

Parameters

n_joint	how many joints this command is referring to
joints	of joints controlled. The size of this array is n_joints
spds	pointer to the array containing the new speed values, one value for each joint, the size of the array 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 spds 10 30 40

Returns: true/false on success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 85 of file ImplementVelocityControl.cpp.

◆ velocityMove() [3/3]

bool ImplementVelocityControl::velocityMove	(	int	j,
		double	sp
	)

overridevirtual

Start motion at a given speed, single joint.

Parameters

j	joint number
sp	speed value

Returns: bool/false upone success/failure

Implements yarp::dev::IVelocityControl.

Definition at line 76 of file ImplementVelocityControl.cpp.

Member Data Documentation

◆ doubleBuffManager

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

protected

Definition at line 31 of file ImplementVelocityControl.h.

◆ helper

void* yarp::dev::ImplementVelocityControl::helper

protected

Definition at line 29 of file ImplementVelocityControl.h.

◆ intBuffManager

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

protected

Definition at line 30 of file ImplementVelocityControl.h.

◆ iVelocity

IVelocityControlRaw* yarp::dev::ImplementVelocityControl::iVelocity

protected

Definition at line 28 of file ImplementVelocityControl.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementVelocityControl()

◆ ~ImplementVelocityControl()

Member Function Documentation

◆ getAxes()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefVelocities() [1/2]

◆ getRefVelocities() [2/2]

◆ getRefVelocity()

◆ initialize()

◆ setRefAcceleration()

◆ setRefAccelerations() [1/2]

◆ setRefAccelerations() [2/2]

◆ stop() [1/3]

◆ stop() [2/3]

◆ stop() [3/3]

◆ uninitialize()

◆ velocityMove() [1/3]

◆ velocityMove() [2/3]

◆ velocityMove() [3/3]

Member Data Documentation

◆ doubleBuffManager

◆ helper

◆ intBuffManager

◆ iVelocity