#include <ControlBoardWrapper/ControlBoardWrapperImpedanceControl.h>

Inheritance diagram for ControlBoardWrapperImpedanceControl:

Public Member Functions
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 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::IImpedanceControl
virtual	~IImpedanceControl ()
	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 ControlBoardWrapperImpedanceControl.h.

Member Function Documentation

◆ getAxes()

bool ControlBoardWrapperImpedanceControl::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::IImpedanceControl.

Definition at line 21 of file ControlBoardWrapperImpedanceControl.h.

◆ getCurrentImpedanceLimit()

bool ControlBoardWrapperImpedanceControl::getCurrentImpedanceLimit	(	int	j,
		double *	min_stiff,
		double *	max_stiff,
		double *	min_damp,
		double *	max_damp
	)