controlboardwrapper2: An updated version of the controlBoard network wrapper. More...

#include <ControlBoardWrapper/ControlBoardWrapper.h>

Inheritance diagram for ControlBoardWrapper:

Public Member Functions
	ControlBoardWrapper ()

	ControlBoardWrapper (const ControlBoardWrapper &)=delete

	ControlBoardWrapper (ControlBoardWrapper &&)=delete

ControlBoardWrapper &	operator= (const ControlBoardWrapper &)=delete

ControlBoardWrapper &	operator= (ControlBoardWrapper &&)=delete

	~ControlBoardWrapper () override

std::string	getId ()

bool	close () override
	Close the device driver by deallocating all resources and closing ports. More...

bool	open (yarp::os::Searchable &prop) override
	Open the device driver. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

bool	attachAll (const yarp::dev::PolyDriverList &l) override
	Attach to a list of objects. More...

void	run () override
	The thread main loop deals with writing on ports here. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

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

Public Member Functions inherited from ControlBoardWrapperCommon
bool	getAxes (int *ax)

bool	setRefAcceleration (int j, double acc)

bool	setRefAccelerations (const double *accs)

bool	setRefAccelerations (const int n_joints, const int joints, const double accs)

bool	getRefAcceleration (int j, double *acc)

bool	getRefAccelerations (double *accs)

bool	getRefAccelerations (const int n_joints, const int joints, double accs)

bool	stop (int j)

bool	stop ()

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

bool	getNumberOfMotors (int *num)

bool	getCurrent (int m, double *curr)

bool	getCurrents (double *currs)

void	printError (const std::string &func_name, const std::string &info, bool result)

Public Member Functions inherited from ControlBoardWrapperPidControl
bool	setPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, const yarp::dev::Pid &p) override
	Set new pid value for a joint axis. More...

bool	setPids (const yarp::dev::PidControlTypeEnum &pidtype, const yarp::dev::Pid *ps) override
	Set new pid value on multiple axes. More...

bool	setPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double ref) override
	Set the controller reference for a given axis. More...

bool	setPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, const double *refs) override
	Set the controller reference, multiple axes. More...

bool	setPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double limit) override
	Set the error limit for the controller on a specifi joint. More...

bool	setPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, const double *limits) override
	Get the error limit for the controller on all joints. More...

bool	getPidError (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *err) override
	Get the current error for a joint. More...

bool	getPidErrors (const yarp::dev::PidControlTypeEnum &pidtype, double *errs) override
	Get the error of all joints. More...

bool	getPidOutput (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *out) override
	Get the output of the controller (e.g. More...

bool	getPidOutputs (const yarp::dev::PidControlTypeEnum &pidtype, double *outs) override
	Get the output of the controllers (e.g. More...

bool	setPidOffset (const yarp::dev::PidControlTypeEnum &pidtype, int j, double v) override
	Set offset value for a given controller. More...

bool	getPid (const yarp::dev::PidControlTypeEnum &pidtype, int j, yarp::dev::Pid *p) override
	Get current pid value for a specific joint. More...

bool	getPids (const yarp::dev::PidControlTypeEnum &pidtype, yarp::dev::Pid *pids) override
	Get current pid value for a specific joint. More...

bool	getPidReference (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *ref) override
	Get the current reference of the pid controller for a specific joint. More...

bool	getPidReferences (const yarp::dev::PidControlTypeEnum &pidtype, double *refs) override
	Get the current reference of all pid controllers. More...

bool	getPidErrorLimit (const yarp::dev::PidControlTypeEnum &pidtype, int j, double *limit) override
	Get the error limit for the controller on a specific joint. More...

bool	getPidErrorLimits (const yarp::dev::PidControlTypeEnum &pidtype, double *limits) override
	Get the error limit for all controllers. More...

bool	resetPid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Reset the controller of a given joint, usually sets the current status of the joint as the reference value for the PID, and resets the integrator. More...

bool	disablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Disable the pid computation for a joint. More...

bool	enablePid (const yarp::dev::PidControlTypeEnum &pidtype, int j) override
	Enable the pid computation for a joint. More...

bool	isPidEnabled (const yarp::dev::PidControlTypeEnum &pidtype, int j, bool *enabled) override
	Get the current status (enabled/disabled) of the pid. More...

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

Public Member Functions inherited from ControlBoardWrapperPositionControl
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	positionMove (int j, double ref) override
	Set new reference point for a single axis. More...

bool	positionMove (const double *refs) override
	Set new reference point for all axes. More...

bool	positionMove (const int n_joints, const int joints, const double refs) override
	Set new reference point for a subset of joints. More...

bool	getTargetPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getTargetPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

bool	relativeMove (int j, double delta) override
	Set relative position. More...

bool	relativeMove (const double *deltas) override
	Set relative position, all joints. More...

bool	relativeMove (const int n_joints, const int joints, const double deltas) override
	Set relative position for a subset of joints. More...

bool	checkMotionDone (int j, bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (bool *flag) override
	Check if the current trajectory is terminated. More...

bool	checkMotionDone (const int n_joints, const int joints, bool flags) override
	Check if the current trajectory is terminated. More...

bool	setRefSpeed (int j, double sp) override
	Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...

bool	setRefSpeeds (const double *spds) override
	Set reference speed on all joints. More...

bool	setRefSpeeds (const int n_joints, const int joints, const double spds) override
	Set reference speed on all joints. More...

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

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

bool	setRefAccelerations (const int n_joints, const int joints, const double accs) override
	Set reference acceleration on all joints. More...

bool	getRefSpeed (int j, double *ref) override
	Get reference speed for a joint. More...

bool	getRefSpeeds (double *spds) override
	Get reference speed of all joints. More...

bool	getRefSpeeds (const int n_joints, const int joints, double spds) override
	Get reference speed of all joints. More...

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

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

bool	getRefAccelerations (const int n_joints, const int joints, double accs) override
	Get reference acceleration for a joint. More...

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

bool	stop () override
	Stop motion, multiple joints. More...

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

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

Public Member Functions inherited from ControlBoardWrapperPositionDirect
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	setPosition (int j, double ref) override
	Set new position for a single axis. More...

bool	setPositions (const int n_joints, const int joints, const double dpos) override
	Set new reference point for all axes. More...

bool	setPositions (const double *refs) override
	Set new position for a set of axis. More...

bool	getRefPosition (const int joint, double *ref) override
	Get the last position reference for the specified axis. More...

bool	getRefPositions (double *refs) override
	Get the last position reference for all axes. More...

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Get the last position reference for the specified group of axes. More...

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

Public Member Functions inherited from ControlBoardWrapperVelocityControl
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

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

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

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

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

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

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. More...

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

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

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

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

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

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

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

bool	stop () override
	Stop motion, multiple joints. More...

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

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

Public Member Functions inherited from ControlBoardWrapperEncodersTimed
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	resetEncoder (int j) override
	Reset encoder, single joint. More...

bool	resetEncoders () override
	Reset encoders. More...

bool	setEncoder (int j, double val) override
	Set the value of the encoder for a given joint. More...

bool	setEncoders (const double *vals) override
	Set the value of all encoders. More...

bool	getEncoder (int j, double *v) override
	Read the value of an encoder. More...

bool	getEncoders (double *encs) override
	Read the position of all axes. More...

bool	getEncoderSpeed (int j, double *sp) override
	Read the istantaneous speed of an axis. More...

bool	getEncoderSpeeds (double *spds) override
	Read the instantaneous speed of all axes. More...

bool	getEncoderAcceleration (int j, double *acc) override
	Read the instantaneous acceleration of an axis. More...

bool	getEncoderAccelerations (double *accs) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncodersTimed (double encs, double t) override
	Read the instantaneous acceleration of all axes. More...

bool	getEncoderTimed (int j, double v, double t) override
	Read the instantaneous acceleration of all axes. More...

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

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

Public Member Functions inherited from ControlBoardWrapperMotor
bool	getNumberOfMotors (int *num) override
	Get the number of available motors. More...

bool	getTemperature (int m, double *val) override
	Get temperature of a motor. More...

bool	getTemperatures (double *vals) override
	Get temperature of all the motors. More...

bool	getTemperatureLimit (int m, double *val) override
	Retreives the current temperature limit for a specific motor. More...

bool	setTemperatureLimit (int m, const double val) override
	Set the temperature limit for a specific motor. More...

bool	getGearboxRatio (int m, double *val) override
	Get the gearbox ratio for a specific motor. More...

bool	setGearboxRatio (int m, const double val) override
	Set the gearbox ratio for a specific motor. More...

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

Public Member Functions inherited from ControlBoardWrapperMotorEncoders
bool	getNumberOfMotorEncoders (int *num) override
	Get the number of available motor encoders. More...

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

bool	resetMotorEncoders () override
	Reset motor encoders. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from ControlBoardWrapperAmplifierControl
bool	enableAmp (int j) override
	Enable the amplifier on a specific joint. More...

bool	disableAmp (int j) override
	Disable the amplifier on a specific joint. More...

bool	getAmpStatus (int *st) override

bool	getAmpStatus (int j, int *v) override

bool	getCurrent (int m, double *curr) override

bool	getCurrents (double *currs) override

bool	setMaxCurrent (int j, double v) override

bool	getMaxCurrent (int j, double *v) override
	Returns the maximum electric current allowed for a given motor. More...

bool	getNominalCurrent (int m, double *val) override

bool	setNominalCurrent (int m, const double val) override

bool	getPeakCurrent (int m, double *val) override

bool	setPeakCurrent (int m, const double val) override

bool	getPWM (int m, double *val) override

bool	getPWMLimit (int m, double *val) override

bool	setPWMLimit (int m, const double val) override

bool	getPowerSupplyVoltage (int m, double *val) override

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

Public Member Functions inherited from ControlBoardWrapperControlLimits
bool	setLimits (int j, double min, double max) override
	Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getLimits (int j, double min, double max) override
	Get the software limits for a particular axis. More...

bool	setVelLimits (int j, double min, double max) override
	Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation. More...

bool	getVelLimits (int j, double min, double max) override
	Get the software speed limits for a particular axis. More...

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

Public Member Functions inherited from ControlBoardWrapperRemoteCalibrator
bool	isCalibratorDevicePresent (bool *isCalib) override
	isCalibratorDevicePresent: check if a calibrator device has been set More...

yarp::dev::IRemoteCalibrator *	getCalibratorDevice () override
	getCalibratorDevice: return the pointer stored with the setCalibratorDevice More...

bool	calibrateSingleJoint (int j) override
	calibrateSingleJoint: call the calibration procedure for the single joint More...

bool	calibrateWholePart () override
	calibrateWholePart: call the procedure for calibrating the whole device More...

bool	homingSingleJoint (int j) override
	homingSingleJoint: call the homing procedure for a single joint More...

bool	homingWholePart () override
	homingWholePart: call the homing procedure for a the whole part/device More...

bool	parkSingleJoint (int j, bool _wait=true) override
	parkSingleJoint(): start the parking procedure for the single joint More...

bool	parkWholePart () override
	parkWholePart: start the parking procedure for the whole part More...

bool	quitCalibrate () override
	quitCalibrate: interrupt the calibration procedure More...

bool	quitPark () override
	quitPark: interrupt the park procedure More...

Public Member Functions inherited from yarp::dev::IRemoteCalibrator
	IRemoteCalibrator ()
	This interface is meant to remotize the access of the calibration device in order to allow users to remotely call the calibration procedure for a single joint or the whole device and let the calibrator do the job. More...

virtual	~IRemoteCalibrator ()=default

virtual bool	setCalibratorDevice (yarp::dev::IRemoteCalibrator *dev)
	setCalibratorDevice: store the pointer to the calibrator device. More...

virtual void	releaseCalibratorDevice ()
	releaseCalibratorDevice: reset the internal pointer to NULL when stop using the calibrator More...

Public Member Functions inherited from ControlBoardWrapperControlCalibration
bool	calibrateAxisWithParams (int j, unsigned int ui, double v1, double v2, double v3) override
	Start calibration, this method is very often platform specific. More...

bool	setCalibrationParameters (int j, const yarp::dev::CalibrationParameters &params) override
	Start calibration, this method is very often platform specific. More...

bool	calibrationDone (int j) override
	Check if the calibration is terminated, on a particular joint. More...

bool	abortPark () override

bool	abortCalibration () override

Public Member Functions inherited from yarp::dev::IControlCalibration
	IControlCalibration ()

virtual	~IControlCalibration ()
	Destructor. More...

virtual bool	setCalibrator (ICalibrator *c)
	Set the calibrator object to be used to calibrate the robot. More...

virtual bool	calibrateRobot ()
	Calibrate robot by using an external calibrator. More...

virtual bool	park (bool wait=true)

Public Member Functions inherited from ControlBoardWrapperTorqueControl
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

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

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

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

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

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

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

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

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). More...

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

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

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

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

Public Member Functions inherited from ControlBoardWrapperImpedanceControl
bool	getAxes (int *ax) override
	Get the number of controlled axes. More...

bool	setImpedance (int j, double stiff, double damp) override
	Set current impedance gains (stiffness,damping) for a specific joint. More...

bool	setImpedanceOffset (int j, double offset) override
	Set current force Offset for a specific joint. More...

bool	getImpedance (int j, double stiff, double damp) override
	Get current impedance gains (stiffness,damping,offset) for a specific joint. More...

bool	getImpedanceOffset (int j, double *offset) override
	Get current force Offset for a specific joint. More...

bool	getCurrentImpedanceLimit (int j, double min_stiff, double max_stiff, double min_damp, double max_damp) override
	Get the current impedandance limits for a specific joint. More...

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

Public Member Functions inherited from ControlBoardWrapperControlMode
bool	getControlMode (int j, int *mode) override
	Get the current control mode. More...

bool	getControlModes (int *modes) override
	Get the current control mode (multiple joints). More...

bool	getControlModes (const int n_joint, const int joints, int modes) override
	Get the current control mode for a subset of axes. More...

bool	setControlMode (const int j, const int mode) override
	Set the current control mode. More...

bool	setControlModes (const int n_joints, const int joints, int modes) override
	Set the current control mode for a subset of axes. More...

bool	setControlModes (int *modes) override
	Set the current control mode (multiple joints). More...

Public Member Functions inherited from yarp::dev::IControlMode
virtual	~IControlMode ()

Public Member Functions inherited from ControlBoardWrapperAxisInfo
bool	getAxisName (int j, std::string &name) override

bool	getJointType (int j, yarp::dev::JointTypeEnum &type) override

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

Public Member Functions inherited from ControlBoardWrapperPreciselyTimed
yarp::os::Stamp	getLastInputStamp () override
	Return the time stamp relative to the last acquisition. More...

Public Member Functions inherited from yarp::dev::IPreciselyTimed
virtual	~IPreciselyTimed ()

Public Member Functions inherited from ControlBoardWrapperInteractionMode
bool	getInteractionMode (int j, yarp::dev::InteractionModeEnum *mode) override
	Get the current interaction mode of the robot, values can be stiff or compliant. More...

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

bool	setInteractionMode (int j, yarp::dev::InteractionModeEnum mode) override
	Set the interaction mode of the robot, values can be stiff or compliant. More...

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Set the interaction mode of the robot for a set of joints, values can be stiff or compliant. More...

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Set the interaction mode of the robot for a all the joints, values can be stiff or compliant. More...

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

Public Member Functions inherited from ControlBoardWrapperRemoteVariables
bool	getRemoteVariable (std::string key, yarp::os::Bottle &val) override

bool	setRemoteVariable (std::string key, const yarp::os::Bottle &val) override

bool	getRemoteVariablesList (yarp::os::Bottle *listOfKeys) override

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

Public Member Functions inherited from ControlBoardWrapperPWMControl
bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled motors from the current physical interface. More...

bool	setRefDutyCycle (int j, double v) override
	Sets the reference dutycycle to a single motor. More...

bool	setRefDutyCycles (const double *v) override
	Sets the reference dutycycle for all the motors. More...

bool	getRefDutyCycle (int j, double *v) override
	Gets the last reference sent using the setRefDutyCycle function. More...

bool	getRefDutyCycles (double *v) override
	Gets the last reference sent using the setRefDutyCycles function. More...

bool	getDutyCycle (int j, double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

bool	getDutyCycles (double *v) override
	Gets the current dutycycle of the output of the amplifier (i.e. More...

Public Member Functions inherited from yarp::dev::IPWMControl
virtual	~IPWMControl ()

Public Member Functions inherited from ControlBoardWrapperCurrentControl
bool	getNumberOfMotors (int *num) override
	Retrieves the number of controlled axes from the current physical interface. More...

bool	getCurrent (int m, double *curr) override
	Get the instantaneous current measurement for a single motor. More...

bool	getCurrents (double *currs) override
	Get the instantaneous current measurement for all motors. More...

bool	getCurrentRange (int j, double min, double max) override
	Get the full scale of the current measurement for a given motor (e.g. More...

bool	getCurrentRanges (double min, double max) override
	Get the full scale of the current measurements for all motors motor (e.g. More...

bool	setRefCurrents (const double *t) override
	Set the reference value of the currents for all motors. More...

bool	setRefCurrent (int j, double t) override
	Set the reference value of the current for a single motor. More...

bool	setRefCurrents (const int n_joint, const int joints, const double t) override
	Set the reference value of the current for a group of motors. More...

bool	getRefCurrents (double *t) override
	Get the reference value of the currents for all motors. More...

bool	getRefCurrent (int j, double *t) override
	Get the reference value of the current for a single motor. More...

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

Additional Inherited Members
Public Attributes inherited from ControlBoardWrapperCommon
WrappedDevice	device

size_t	controlledJoints {0}

std::string	partName

std::mutex	rpcDataMutex

MultiJointData	rpcData

std::mutex	timeMutex

yarp::os::Stamp	time

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

controlboardwrapper2: An updated version of the controlBoard network wrapper.

It can merge together more than one control board device, or use only a portion of it by remapping functionality. Allows also deferred attach/detach of a subdevice.

Description of input parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	-	Yes	full name of the port opened by the device, like /robotName/part/	MUST start with a '/' character
period	-	int	ms	20	No	refresh period of the broadcasted values in ms	optional, default 20ms
subdevice	-	string	-	-	alternative to netwok group	name of the subdevice to instantiate	when used, parameters for the subdevice must be provided as well
networks	-	group	-	-	alternative to subdevice	this is expected to be a group parameter in xml format, a list in .ini file format. SubParameter are mandatory if this is used	-
-	networkName_1	4 * int	joint number	-	if networks is used	describe how to match subdevice_1 joints with the wrapper joints. First 2 numbers indicate first/last wrapper joint, last 2 numbers are subdevice first/last joint	The joints are intended to be consequent
-	...	4 * int	joint number	-	if networks is used	same as above	The joints are intended to be consequent
-	networkName_n	4 * int	joint number	-	if networks is used	same as above	The joints are intended to be consequent
-	joints	int	-	-	if networks is used	total number of joints handled by the wrapper	MUST match the sum of joints from all the networks
ROS	-	group	-	-	No	Group containing parameter for ROS topic initialization	if missing, it is assumed to not use ROS topics
-	useROS	string	true/false/only	-	if ROS group is present	set 'true' to have both yarp ports and ROS topic, set 'only' to have only ROS topic and no yarp port	-
-	ROS_topicName	string	-	-	if ROS group is present	set the name for ROS topic	must start with a leading '/'
-	ROS_nodeName	string	-	-	if ROS group is present	set the name for ROS node	must start with a leading '/'
-	jointNames	string	-	-	deprecated	joints names are now got from attached motionControl device	names order must match with the joint order, from 0 to N

ROS message type used is sensor_msgs/JointState.msg (http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html) Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

 device controlboardwrapper2
 subdevice fakebot
 name /icub/head
 
** parameter for 'fakebot' subdevice follows here **
...

XML format, using 'networks' keyword. This file is meant to be used in junction with yarprobotinterface executable, therefore has an addictional section at the end.

<paramlist name="networks">
  <!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
  <elem name="FirstSetOfJoints">  0  3  0  3  </elem>
  <elem name="SecondSetOfJoints"> 4  6  0  2  </elem>
</paramlist>
 
<param name="period"> 20                 </param>
<param name="name">   /icub/left_arm     </param>
<param name="joints"> 7                  </param>
 
 
 <!-- Following parameters are meaningful ONLY for yarprobotinterface -->
 <action phase="startup" level="5" type="attach">
     <paramlist name="networks">
         <!-- The param value must match the device name in the corresponding emsX file -->
         <elem name="FirstSetOfJoints">  left_upper_arm_mc </elem>
         <elem name="SecondSetOfJoints"> left_lower_arm_mc </elem>
      </paramlist>
 </action>
 <action phase="shutdown" level="5" type="detach" />

Configuration file using .ini format, using network keyword

device controlboardwrapper2
name  /robotName/partName
period 10
networks (net_larm net_lhand)
joints 16
net_larm    0 3  0 3
net_lhand   4 6  0 2

Configuration for ROS topic using .ini format

[ROS]
useROS         true
ROS_topicName  /JointState
ROS_nodeName   /robotPublisher
jointNames     r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw

Configuration for ROS topic using .xml format

<group name="ROS">
    <param name="useROS">         true             </param>    // use 'only' if you want only ROS topic and NOT yarp port
    <param name="ROS_topicName">  /JointState      </param>
    <param name="ROS_nodeName">   /robotPublisher  </param>
    <param name="jointNames">     r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw </param>
</group>

Definition at line 179 of file ControlBoardWrapper.h.

Constructor & Destructor Documentation

◆ ControlBoardWrapper() [1/3]

ControlBoardWrapper::ControlBoardWrapper ( )

Definition at line 33 of file ControlBoardWrapper.cpp.

◆ ControlBoardWrapper() [2/3]

ControlBoardWrapper::ControlBoardWrapper ( const ControlBoardWrapper & )

delete

◆ ControlBoardWrapper() [3/3]

ControlBoardWrapper::ControlBoardWrapper ( ControlBoardWrapper && )

delete

◆ ~ControlBoardWrapper()

ControlBoardWrapper::~ControlBoardWrapper ( )

overridedefault

Member Function Documentation

◆ attachAll()

bool ControlBoardWrapper::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 694 of file ControlBoardWrapper.cpp.

◆ close()

bool ControlBoardWrapper::close ( )

overridevirtual

Close the device driver by deallocating all resources and closing ports.

Returns: true if successful or false otherwise.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 62 of file ControlBoardWrapper.cpp.

◆ detachAll()

bool ControlBoardWrapper::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 753 of file ControlBoardWrapper.cpp.

◆ getId()

std::string ControlBoardWrapper::getId ( )

inline

Definition at line 269 of file ControlBoardWrapper.h.

◆ open()

bool ControlBoardWrapper::open ( yarp::os::Searchable & prop )

overridevirtual

Open the device driver.

Parameters

prop	is a Searchable object which contains the parameters. Allowed parameters are: name to specify the prefix of the port names. subdevice [optional] if specified, the openAndAttachSubDevice will be called, otherwise openDeferredAttach is called. and all parameters required by the wrapper.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 338 of file ControlBoardWrapper.cpp.

◆ operator=() [1/2]

ControlBoardWrapper& ControlBoardWrapper::operator= ( const ControlBoardWrapper & )

delete

◆ operator=() [2/2]

ControlBoardWrapper& ControlBoardWrapper::operator= ( ControlBoardWrapper && )

delete

◆ run()

void ControlBoardWrapper::run ( )

overridevirtual

The thread main loop deals with writing on ports here.

Implements yarp::os::PeriodicThread.

Definition at line 777 of file ControlBoardWrapper.cpp.

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

src/devices/ControlBoardWrapper/ControlBoardWrapper.h
src/devices/ControlBoardWrapper/ControlBoardWrapper.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ ControlBoardWrapper() [1/3]

◆ ControlBoardWrapper() [2/3]

◆ ControlBoardWrapper() [3/3]

◆ ~ControlBoardWrapper()

Member Function Documentation

◆ attachAll()

◆ close()

◆ detachAll()

◆ getId()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ run()