YARP
Yet Another Robot Platform
Public Member Functions | List of all members
ControlBoardWrapperInteractionMode Class Reference

#include <ControlBoardWrapper/ControlBoardWrapperInteractionMode.h>

+ Inheritance diagram for ControlBoardWrapperInteractionMode:

Public Member Functions

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 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::IInteractionMode
virtual ~IInteractionMode ()
 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 17 of file ControlBoardWrapperInteractionMode.h.

Member Function Documentation

◆ getInteractionMode()

bool ControlBoardWrapperInteractionMode::getInteractionMode ( int  axis,
yarp::dev::InteractionModeEnum *  mode 
)
overridevirtual

Get the current interaction mode of the robot, values can be stiff or compliant.

Parameters
axisjoint number
modecontains the requested information about interaction mode of the joint
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 15 of file ControlBoardWrapperInteractionMode.cpp.

◆ getInteractionModes() [1/2]

bool ControlBoardWrapperInteractionMode::getInteractionModes ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Get the current interaction mode of the robot for a set of joints, values can be stiff or compliant.

Parameters
n_jointshow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
modesarray containing the requested information about interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 37 of file ControlBoardWrapperInteractionMode.cpp.

◆ getInteractionModes() [2/2]

bool ControlBoardWrapperInteractionMode::getInteractionModes ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Get the current interaction mode of the robot for a all the joints, values can be stiff or compliant.

Parameters
modearray containing the requested information about interaction mode, one value for each joint.
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 86 of file ControlBoardWrapperInteractionMode.cpp.

◆ setInteractionMode()

bool ControlBoardWrapperInteractionMode::setInteractionMode ( int  axis,
yarp::dev::InteractionModeEnum  mode 
)
overridevirtual

Set the interaction mode of the robot, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters
axisjoint number
modethe desired interaction mode
Returns
true or false on success or failure.

Implements yarp::dev::IInteractionMode.

Definition at line 113 of file ControlBoardWrapperInteractionMode.cpp.

◆ setInteractionModes() [1/2]

bool ControlBoardWrapperInteractionMode::setInteractionModes ( int  n_joints,
int *  joints,
yarp::dev::InteractionModeEnum *  modes 
)
overridevirtual

Set the interaction mode of the robot for a set of joints, values can be stiff or compliant.

Please note that some robot may not implement certain types of interaction, so always check the return value.

Parameters
n_jointshow many joints this command is referring to
jointslist of joints controlled. The size of this array is n_joints
modesarray containing the desired interaction mode, one value for each joint, the size is n_joints. for example: n_joint 3 joints 0 2 4 refs VOCAB_IM_STIFF VOCAB_IM_STIFF VOCAB_IM_COMPLIANT
Returns
true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 135 of file ControlBoardWrapperInteractionMode.cpp.

◆ setInteractionModes() [2/2]

bool ControlBoardWrapperInteractionMode::setInteractionModes ( yarp::dev::InteractionModeEnum *  modes)
overridevirtual

Set the interaction mode of the robot for a all the joints, values can be stiff or compliant.

Some robot may not implement some types of interaction, so always check the return value

Parameters
modearray with the desired interaction mode for all joints, length is the total number of joints for the part
Returns
true or false on success or failure. If one or more joint fails, the return value will be false.

Implements yarp::dev::IInteractionMode.

Definition at line 167 of file ControlBoardWrapperInteractionMode.cpp.

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