#include <ControlBoardWrapper/ControlBoardWrapperPidControl.h>

Inheritance diagram for ControlBoardWrapperPidControl:

Public Member Functions
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 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::IPidControl
virtual	~IPidControl ()
	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 ControlBoardWrapperPidControl.h.

Member Function Documentation

◆ disablePid()

bool ControlBoardWrapperPidControl::disablePid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Disable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 461 of file ControlBoardWrapperPidControl.cpp.

◆ enablePid()

bool ControlBoardWrapperPidControl::enablePid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

Enable the pid computation for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 484 of file ControlBoardWrapperPidControl.cpp.

◆ getPid()

bool ControlBoardWrapperPidControl::getPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		yarp::dev::Pid *	pid
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	pointer to storage for the return value.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 288 of file ControlBoardWrapperPidControl.cpp.

◆ getPidError()

bool ControlBoardWrapperPidControl::getPidError	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	err
	)

overridevirtual

Get the current error for a joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
err	pointer to the storage for the return value

Returns: true/false on success failure

Implements yarp::dev::IPidControl.

Definition at line 163 of file ControlBoardWrapperPidControl.cpp.

◆ getPidErrorLimit()

bool ControlBoardWrapperPidControl::getPidErrorLimit	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	limit
	)

overridevirtual

Get the error limit for the controller on a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	pointer to storage

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 388 of file ControlBoardWrapperPidControl.cpp.

◆ getPidErrorLimits()

bool ControlBoardWrapperPidControl::getPidErrorLimits	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	limits
	)

overridevirtual

Get the error limit for all controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the array that will store the output

Returns: success or failure

Implements yarp::dev::IPidControl.

Definition at line 411 of file ControlBoardWrapperPidControl.cpp.

◆ getPidErrors()

bool ControlBoardWrapperPidControl::getPidErrors	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	errs
	)

overridevirtual

Get the error of all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
errs	pointer to the vector that will store the errors

Implements yarp::dev::IPidControl.

Definition at line 187 of file ControlBoardWrapperPidControl.cpp.

◆ getPidOutput()

bool ControlBoardWrapperPidControl::getPidOutput	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	out
	)

overridevirtual

Get the output of the controller (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
out	pointer to storage for return value

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 214 of file ControlBoardWrapperPidControl.cpp.

◆ getPidOutputs()

bool ControlBoardWrapperPidControl::getPidOutputs	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	outs
	)

overridevirtual

Get the output of the controllers (e.g.

pwm value)

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
outs	pinter to the vector that will store the output values

Implements yarp::dev::IPidControl.

Definition at line 238 of file ControlBoardWrapperPidControl.cpp.

◆ getPidReference()

bool ControlBoardWrapperPidControl::getPidReference	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double *	ref
	)

overridevirtual

Get the current reference of the pid controller for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	pointer to storage for return value

Returns: reference value

Implements yarp::dev::IPidControl.

Definition at line 339 of file ControlBoardWrapperPidControl.cpp.

◆ getPidReferences()

bool ControlBoardWrapperPidControl::getPidReferences	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		double *	refs
	)

overridevirtual

Get the current reference of all pid controllers.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	vector that will store the output.

Implements yarp::dev::IPidControl.

Definition at line 361 of file ControlBoardWrapperPidControl.cpp.

◆ getPids()

bool ControlBoardWrapperPidControl::getPids	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		yarp::dev::Pid *	pids
	)

overridevirtual

Get current pid value for a specific joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	vector that will store the values of the pids.

Returns: success/failure

Implements yarp::dev::IPidControl.

Definition at line 312 of file ControlBoardWrapperPidControl.cpp.

◆ isPidEnabled()

bool ControlBoardWrapperPidControl::isPidEnabled	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		bool *	enabled
	)

overridevirtual

Get the current status (enabled/disabled) of the pid.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
enabled	the current status of the pid controller.

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 507 of file ControlBoardWrapperPidControl.cpp.

◆ resetPid()

bool ControlBoardWrapperPidControl::resetPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j
	)

overridevirtual

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.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 438 of file ControlBoardWrapperPidControl.cpp.

◆ setPid()

bool ControlBoardWrapperPidControl::setPid	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		const yarp::dev::Pid &	pid
	)

overridevirtual

Set new pid value for a joint axis.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
pid	new pid value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 17 of file ControlBoardWrapperPidControl.cpp.

◆ setPidErrorLimit()

bool ControlBoardWrapperPidControl::setPidErrorLimit	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	limit
	)

overridevirtual

Set the error limit for the controller on a specifi joint.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
limit	limit value

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 117 of file ControlBoardWrapperPidControl.cpp.

◆ setPidErrorLimits()

bool ControlBoardWrapperPidControl::setPidErrorLimits	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	limits
	)

overridevirtual

Get the error limit for the controller on all joints.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
limits	pointer to the vector with the new limits

Returns: true/false on success/failure

Implements yarp::dev::IPidControl.

Definition at line 140 of file ControlBoardWrapperPidControl.cpp.

◆ setPidOffset()

bool ControlBoardWrapperPidControl::setPidOffset	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	v
	)

overridevirtual

Set offset value for a given controller.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
v	the offset to be added to the output of the pid controller

Returns: true on success, false on failure.

Implements yarp::dev::IPidControl.

Definition at line 265 of file ControlBoardWrapperPidControl.cpp.

◆ setPidReference()

bool ControlBoardWrapperPidControl::setPidReference	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		int	j,
		double	ref
	)

overridevirtual

Set the controller reference for a given axis.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
j	joint number
ref	new reference point

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 67 of file ControlBoardWrapperPidControl.cpp.

◆ setPidReferences()

bool ControlBoardWrapperPidControl::setPidReferences	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const double *	refs
	)

overridevirtual

Set the controller reference, multiple axes.

Warning this method can result in very large torques and should be used carefully. If you do not understand this warning you should avoid using this method. Have a look at other interfaces (e.g. position control).

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
refs	pointer to the vector that contains the new reference points.

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 94 of file ControlBoardWrapperPidControl.cpp.

◆ setPids()

bool ControlBoardWrapperPidControl::setPids	(	const yarp::dev::PidControlTypeEnum &	pidtype,
		const yarp::dev::Pid *	pids
	)

overridevirtual

Set new pid value on multiple axes.

Parameters

pidtype	the id of the pid that will be affected by the command (e.g. position, velocity etc)
pids	pointer to a vector of pids

Returns: true/false upon success/failure

Implements yarp::dev::IPidControl.

Definition at line 44 of file ControlBoardWrapperPidControl.cpp.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ disablePid()

◆ enablePid()

◆ getPid()

◆ getPidError()

◆ getPidErrorLimit()

◆ getPidErrorLimits()

◆ getPidErrors()

◆ getPidOutput()

◆ getPidOutputs()

◆ getPidReference()

◆ getPidReferences()

◆ getPids()

◆ isPidEnabled()

◆ resetPid()

◆ setPid()

◆ setPidErrorLimit()

◆ setPidErrorLimits()

◆ setPidOffset()

◆ setPidReference()

◆ setPidReferences()

◆ setPids()