#include <yarp/dev/ImplementMotorEncoders.h>

Inheritance diagram for yarp::dev::ImplementMotorEncoders:

Public Member Functions
	ImplementMotorEncoders (yarp::dev::IMotorEncodersRaw *y)

virtual	~ImplementMotorEncoders ()

bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders.

bool	resetMotorEncoder (int m) override
	Reset motor encoder, single motor.

bool	resetMotorEncoders () override
	Reset motor encoders.

bool	setMotorEncoder (int m, const double val) override
	Set the value of the motor encoder for a given motor.

bool	setMotorEncoders (const double *vals) override
	Set the value of all motor encoders.

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets number of counts per revolution for motor encoder m.

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	Gets number of counts per revolution for motor encoder m.

bool	getMotorEncoder (int m, double *v) override
	Read the value of a motor encoder.

bool	getMotorEncodersTimed (double encs, double time) override
	Read the instantaneous position of all motor encoders.

bool	getMotorEncoderTimed (int m, double v, double t) override
	Read the instantaneous position of a motor encoder.

bool	getMotorEncoders (double *encs) override
	Read the position of all motor encoders.

bool	getMotorEncoderSpeed (int m, double *spds) override
	Read the istantaneous speed of a motor encoder.

bool	getMotorEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all motor encoders.

bool	getMotorEncoderAcceleration (int m, double *spds) override
	Read the instantaneous acceleration of a motor encoder.

bool	getMotorEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all motor encoders.

Public Member Functions inherited from yarp::dev::IMotorEncoders
virtual	~IMotorEncoders ()
	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
IMotorEncodersRaw *	iMotorEncoders

void *	helper

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

Detailed Description

Definition at line 22 of file ImplementMotorEncoders.h.

Constructor & Destructor Documentation

◆ ImplementMotorEncoders()

ImplementMotorEncoders::ImplementMotorEncoders ( yarp::dev::IMotorEncodersRaw * y )

Definition at line 18 of file ImplementMotorEncoders.cpp.

◆ ~ImplementMotorEncoders()

ImplementMotorEncoders::~ImplementMotorEncoders ( )

virtual

Definition at line 24 of file ImplementMotorEncoders.cpp.

Member Function Documentation

◆ getMotorEncoder()

bool ImplementMotorEncoders::getMotorEncoder	(	int	m,
		double *	v
	)

overridevirtual

Read the value of a motor encoder.

Parameters

m	motor encoder number
v	pointer to storage for the return value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 126 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderAcceleration()

bool ImplementMotorEncoders::getMotorEncoderAcceleration	(	int	m,
		double *	acc
	)

overridevirtual

Read the instantaneous acceleration of a motor encoder.

Parameters

m	motor number
acc	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 176 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderAccelerations()

bool ImplementMotorEncoders::getMotorEncoderAccelerations ( double * accs )

overridevirtual

Read the instantaneous acceleration of all motor encoders.

Parameters

accs	pointer to the array that will contain the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 192 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool ImplementMotorEncoders::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr
	)

overridevirtual

Gets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	vals pointer to the new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 95 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoders()

bool ImplementMotorEncoders::getMotorEncoders ( double * encs )

overridevirtual

Read the position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 142 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderSpeed()

bool ImplementMotorEncoders::getMotorEncoderSpeed	(	int	m,
		double *	sp
	)

overridevirtual

Read the istantaneous speed of a motor encoder.

Parameters

m	motor number
sp	pointer to storage for the output

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 151 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderSpeeds()

bool ImplementMotorEncoders::getMotorEncoderSpeeds ( double * spds )

overridevirtual

Read the instantaneous speed of all motor encoders.

Parameters

spds	pointer to storage for the output values

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 167 of file ImplementMotorEncoders.cpp.

◆ getMotorEncodersTimed()

bool ImplementMotorEncoders::getMotorEncodersTimed	(	double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of all motor encoders.

Parameters

encs	pointer to the array that will contain the output
time	pointer to the array that will contain individual timestamps

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 218 of file ImplementMotorEncoders.cpp.

◆ getMotorEncoderTimed()

bool ImplementMotorEncoders::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time
	)

overridevirtual

Read the instantaneous position of a motor encoder.

Parameters

m	motor index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns: true if successful, false otherwise.

Implements yarp::dev::IMotorEncoders.

Definition at line 201 of file ImplementMotorEncoders.cpp.

◆ getNumberOfMotorEncoders()

bool ImplementMotorEncoders::getNumberOfMotorEncoders ( int * num )

overridevirtual

Get the number of available motor encoders.

Parameters

m	pointer to a value representing the number of available motor encoders.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 64 of file ImplementMotorEncoders.cpp.

◆ initialize()

bool ImplementMotorEncoders::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.

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

Definition at line 29 of file ImplementMotorEncoders.cpp.

◆ resetMotorEncoder()

bool ImplementMotorEncoders::resetMotorEncoder ( int m )

overridevirtual

Reset motor encoder, single motor.

Set the encoder value to zero.

Parameters

m	motor number

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 70 of file ImplementMotorEncoders.cpp.

◆ resetMotorEncoders()

bool ImplementMotorEncoders::resetMotorEncoders ( )

overridevirtual

Reset motor encoders.

Set the motor encoders value to zero.

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 79 of file ImplementMotorEncoders.cpp.

◆ setMotorEncoder()

bool ImplementMotorEncoders::setMotorEncoder	(	int	m,
		const double	val
	)

overridevirtual

Set the value of the motor encoder for a given motor.

Parameters

m	motor number
val	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 84 of file ImplementMotorEncoders.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool ImplementMotorEncoders::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr
	)

overridevirtual

Sets number of counts per revolution for motor encoder m.

Parameters

m	motor number
cpr	new value

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 106 of file ImplementMotorEncoders.cpp.

◆ setMotorEncoders()

bool ImplementMotorEncoders::setMotorEncoders ( const double * vals )

overridevirtual

Set the value of all motor encoders.

Parameters

vals	pointer to the new values

Returns: true/false

Implements yarp::dev::IMotorEncoders.

Definition at line 116 of file ImplementMotorEncoders.cpp.

◆ uninitialize()

bool ImplementMotorEncoders::uninitialize ( )

protected

Clean up internal data and memory.

Returns: true if uninitialization is executed, false otherwise.

Definition at line 47 of file ImplementMotorEncoders.cpp.

Member Data Documentation

◆ buffManager

yarp::dev::impl::FixedSizeBuffersManager<double>* yarp::dev::ImplementMotorEncoders::buffManager

protected

Definition at line 27 of file ImplementMotorEncoders.h.

◆ helper

void* yarp::dev::ImplementMotorEncoders::helper

protected

Definition at line 26 of file ImplementMotorEncoders.h.

◆ iMotorEncoders

IMotorEncodersRaw* yarp::dev::ImplementMotorEncoders::iMotorEncoders

protected

Definition at line 25 of file ImplementMotorEncoders.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ImplementMotorEncoders()

◆ ~ImplementMotorEncoders()

Member Function Documentation

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getNumberOfMotorEncoders()

◆ initialize()

◆ resetMotorEncoder()

◆ resetMotorEncoders()

◆ setMotorEncoder()

◆ setMotorEncoderCountsPerRevolution()

◆ setMotorEncoders()

◆ uninitialize()

Member Data Documentation

◆ buffManager

◆ helper

◆ iMotorEncoders