ControlBoardWrapperControlLimits Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperControlLimits.h>

Inheritance diagram for ControlBoardWrapperControlLimits:

Public Member Functions
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 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 yarp::dev::IControlLimits
virtual	~IControlLimits ()
	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

Detailed Description

Definition at line 16 of file ControlBoardWrapperControlLimits.h.

Member Function Documentation

getLimits()

bool ControlBoardWrapperControlLimits::getLimits ( int  axis, double *  min, double *  max  )

overridevirtual

Get the software limits for a particular axis.

Parameters

axis	joint number
pointer	to store the value of the lower limit
pointer	to store the value of the upper limit

Returns

true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 36 of file ControlBoardWrapperControlLimits.cpp.

getVelLimits()

bool ControlBoardWrapperControlLimits::getVelLimits ( int  axis, double *  min, double *  max  )

overridevirtual

Get the software speed limits for a particular axis.

Parameters

axis	joint number
min	pointer to store the value of the lower limit
max	pointer to store the value of the upper limit

Returns

true if everything goes fine, false otherwise.

Implements yarp::dev::IControlLimits.

Definition at line 84 of file ControlBoardWrapperControlLimits.cpp.

setLimits()

bool ControlBoardWrapperControlLimits::setLimits ( int  axis, double  min, double  max  )

overridevirtual

Set the software limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number (why am I telling you this)
min	the value of the lower limit
max	the value of the upper limit

Returns

true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 14 of file ControlBoardWrapperControlLimits.cpp.

setVelLimits()

bool ControlBoardWrapperControlLimits::setVelLimits ( int  axis, double  min, double  max  )

overridevirtual

Set the software speed limits for a particular axis, the behavior of the control card when these limits are exceeded, depends on the implementation.

Parameters

axis	joint number
min	the value of the lower limit
max	the value of the upper limit

Returns

true or false on success or failure

Implements yarp::dev::IControlLimits.

Definition at line 62 of file ControlBoardWrapperControlLimits.cpp.

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

• src/devices/ControlBoardWrapper/ControlBoardWrapperControlLimits.h
• src/devices/ControlBoardWrapper/ControlBoardWrapperControlLimits.cpp