ControlBoardWrapperEncodersTimed Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperEncodersTimed.h>

Inheritance diagram for ControlBoardWrapperEncodersTimed:

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

Member Function Documentation

getAxes()

bool ControlBoardWrapperEncodersTimed::getAxes ( int *  ax )

inlineoverridevirtual

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::IEncoders.

Definition at line 21 of file ControlBoardWrapperEncodersTimed.h.

getEncoder()

bool ControlBoardWrapperEncodersTimed::getEncoder ( int  j, double *  v  )

overridevirtual

Read the value of an encoder.

Parameters

j	encoder number
v	pointer to storage for the return value

Returns

true/false, upon success/failure (you knew it, uh?)

Implements yarp::dev::IEncoders.

Definition at line 105 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoderAcceleration()

bool ControlBoardWrapperEncodersTimed::getEncoderAcceleration ( int  j, double *  spds  )

overridevirtual

Read the instantaneous acceleration of an axis.

Parameters

j	axis number
spds	pointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 261 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoderAccelerations()

bool ControlBoardWrapperEncodersTimed::getEncoderAccelerations ( double *  accs )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

accs	pointer to the array that will contain the output

Returns

true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 285 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoders()

bool ControlBoardWrapperEncodersTimed::getEncoders ( double *  encs )

overridevirtual

Read the position of all axes.

Parameters

encs	pointer to the array that will contain the output

Returns

true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 129 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoderSpeed()

bool ControlBoardWrapperEncodersTimed::getEncoderSpeed ( int  j, double *  sp  )

overridevirtual

Read the istantaneous speed of an axis.

Parameters

j	axis number
sp	pointer to storage for the output

Returns

true if successful, false ... otherwise.

Implements yarp::dev::IEncoders.

Definition at line 210 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoderSpeeds()

bool ControlBoardWrapperEncodersTimed::getEncoderSpeeds ( double *  spds )

overridevirtual

Read the instantaneous speed of all axes.

Parameters

spds	pointer to storage for the output values

Returns

guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 234 of file ControlBoardWrapperEncodersTimed.cpp.

getEncodersTimed()

bool ControlBoardWrapperEncodersTimed::getEncodersTimed ( double *  encs, double *  time  )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

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

Returns

true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 156 of file ControlBoardWrapperEncodersTimed.cpp.

getEncoderTimed()

bool ControlBoardWrapperEncodersTimed::getEncoderTimed ( int  j, double *  encs, double *  time  )

overridevirtual

Read the instantaneous acceleration of all axes.

Parameters

j	axis index
encs	encoder value (pointer to)
time	corresponding timestamp (pointer to)

Returns

true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncodersTimed.

Definition at line 186 of file ControlBoardWrapperEncodersTimed.cpp.

resetEncoder()

bool ControlBoardWrapperEncodersTimed::resetEncoder ( int  j )

overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters

j	encoder number

Returns

true/false

Implements yarp::dev::IEncoders.

Definition at line 13 of file ControlBoardWrapperEncodersTimed.cpp.

resetEncoders()

bool ControlBoardWrapperEncodersTimed::resetEncoders ( )

overridevirtual

Reset encoders.

Set the encoders value to zero

Returns

true/false

Implements yarp::dev::IEncoders.

Definition at line 36 of file ControlBoardWrapperEncodersTimed.cpp.

setEncoder()

bool ControlBoardWrapperEncodersTimed::setEncoder ( int  j, double  val  )

overridevirtual

Set the value of the encoder for a given joint.

Parameters

j	encoder number
val	new value

Returns

true/false

Implements yarp::dev::IEncoders.

Definition at line 59 of file ControlBoardWrapperEncodersTimed.cpp.

setEncoders()

bool ControlBoardWrapperEncodersTimed::setEncoders ( const double *  vals )

overridevirtual

Set the value of all encoders.

Parameters

vals	pointer to the new values

Returns

true/false

Implements yarp::dev::IEncoders.

Definition at line 82 of file ControlBoardWrapperEncodersTimed.cpp.

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

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